200908948 .九、發明說明： 【發明所屬之技術領域】 ' 本發明涉及一種電動輪椅，特別係涉及一種可以全方 位移動之電動輪椅。 【先前技術】 近年來，由於社會結構之發展和變遷，總生育率不斷 下降，國内人口結構走向高齡化，部分老年人由於神經肌 肉機能衰退與運動功能能力降低，另有肢體障礙者由於肌 肉骨骼機能衰退及運動神經損傷，皆需大量仰賴輪椅之代 步° 目前常見之輪椅結構，主要可分為手動輪椅和電動輪 椅兩種，其中電動輪椅可提供年齡偏高之老年人或行動不 便者較為舒適及便利之移動輔助，且操作簡易，而於上、 下坡使用時亦提供更好之爬坡力及制動力，籍以提供使用 者車父佳之便利性及安全性，為現今市場上之主流產品。習 知電動輪椅多為四輪系，主要依靠椅座底部設置之兩個後 方主動輪和兩個前方導向輪實現位移，其中兩個主動輪作 驅動用，兩個導向輪控制方向。然而，該電動輪椅只能沿 其導向輪作前後平移及左右轉向，不能橫向移動及在原地 作無半徑轉向，不方便使用者使用。 【發明内容】 有鑒於此，有必要提供一種具有靈活操控性能，可以 全方位移動之電動輪椅。 7 200908948 種電動輪椅，包括座椅部 』及行走機構之間之控制部 J走機構及位於該座椅 實現該電動 & 、、’走機構包括複數椅輪以 麥克納姆卜^ *移所14椅輪均為麥克納姆輪，每— 幸昆子，每2括—中央圓形之輪體及位於輪體周緣 行走機構還^巾。之減與輪财心之Μ成銳角，兮 達，控制^姆輪對應之複數-動: 椅之操作作 、 控制°卩接收外部對於 ^ 亚轉換成控制信號輸出至驅動$達，> ^ 克納=由控制部通過驅動馬達獨立驅動動馬達，母—麥 子產相比，該電動輪椅通料自輪體周緣之輥 八㈣1輪體之轴向分力，並通過控制部獨立驅動 :卫制该多個麥克納姆輪之轉向與轉速組合，分 =各種不同角度之合力，使電動輪椅在轉:::: 自由地改變方向，實現全方向運動。 【實施方式】 下面參照附圖，結合實施例作進—步說明。 。月併參閱圖1及圖2 ’為本發明電動輪椅之一較佳實 施例，該電動輪椅為一三層式設計，從上往下包括座椅部 10、控制部20及行走機構30。 该座椅部1〇包括一椅架12、安裝在該椅架12上之一 座椅14及位於該座椅14下方之一避震器15。該座椅14之 左右兩側還分別包括一扶手16a、16b及位於扶手i6a、16b 上之搖桿17a、17b。其中，該右扶手16a上之搖桿17a具 有兩個平面自由度’即可分別於前後與左右兩個方向移 8 200908948 動；左扶手16b上之搖桿17b有一個平面自由度，僅可於 左右方向移動，該搖桿17a、17b之移動方向分別對應為電 動輪椅於左右、前後及旋轉方向運動之操作命令。使用者 乘坐於錢動輪椅之錢Μ上時，雙手可分職置於兩扶 手16a 16b上，通過改變搖桿I%、ub之位置來控制電動 輪椅之行走方向。顯然，也可以于左扶手16b上之搖桿17b 設置為具有兩個自由度，而將右扶手16a上之搖桿17a設置 為僅具有-個自由度，而具有該單一之自由度之搖桿i7a (17b)可為僅前後移動，也可以為僅左右移動。該避震器 15為具有緩衝性能之機構，如彈簧式避震器、板簧式避震 器或液壓式避震器等，可以屏除及吸收電動輪騎走與地 面接觸時產生之振動，增加使用者之舒適度。 該行走機構30包括—機架31、位於^架31底部之四 個椅輪、分顺四個椅輪對應之四個減速器及四個驅動馬 達36。該四個椅輪均為麥克納姆輪（他咖職術d )別， 的旋轉地連接於機架31上，如圖3所示，每—麥克納姆 輪34包括Γ位於中央之圓形之輪體340及分佈於該輪體 340周緣之複數鼓形之輥子342，i★此±曰7 k些輥子342之外輪廓線 與〆和輪體340同心之理論圓周 ^ Π相重合，使得該麥克納姆 輪34之外形像一輪齒為鼓形之親 .^ ,, ν ,. 子342之斜齒輪。各辕子 342中心之轴線分別與輪體340中、^ ^ 七n 丄 ^心之軸線成一小於90度 之銳角，在本實轭例中較佳為45许 —200908948. IX. INSTRUCTIONS: [Technical field to which the invention pertains] The present invention relates to an electric wheelchair, and more particularly to an electric wheelchair that can be moved in all directions. [Prior Art] In recent years, due to the development and changes of the social structure, the total fertility rate has been declining, the domestic population structure has become aging, and some elderly people have decreased muscle function and motor function, and other limbs have muscles due to muscle function. Skeletal function decline and motor nerve damage, all need to rely on wheelchairs. The current common wheelchair structure can be divided into manual wheelchairs and electric wheelchairs. Among them, electric wheelchairs can provide older people or people with reduced mobility. Comfortable and convenient mobile assistance, easy to operate, and also provides better climbing and braking force when used up and downhill, to provide users with the convenience and safety of the car, for the current market Mainstream products. It is known that the electric wheelchair is mostly a four-wheel system, and mainly relies on two rear driving wheels and two front guiding wheels disposed at the bottom of the seat to realize displacement, wherein two driving wheels are used for driving, and two guiding wheels are used for controlling directions. However, the electric wheelchair can only be translated back and forth along its guiding wheel, and can not be moved laterally and turned in a corner without a radius, which is inconvenient for the user. SUMMARY OF THE INVENTION In view of the above, it is necessary to provide an electric wheelchair that has flexible handling performance and can be moved in all directions. 7 200908948 kinds of electric wheelchairs, including the seat part 』 and the control part between the running mechanism J walking mechanism and the electric seat in the seat, the 'walking mechanism includes a plurality of chair wheels to the McNaumb 14 chair wheels are Mecanum wheels, each - Fortunately, Kunzi, every 2 brackets - the central round wheel body and the walking mechanism at the circumference of the wheel body are also wiped. The reduction and the round of the financial heart become an acute angle, and the control of the ^m wheel corresponds to the plural-action: the operation of the chair, control ° 卩 receiving external for ^ sub-conversion into control signal output to drive $, > ^ Kna=The control unit drives the motor independently through the drive motor. Compared with the mother-wheat production, the electric wheelchair passes the axial component of the wheel (four) 1 wheel body from the circumference of the wheel body and is independently driven by the control unit: The combination of the steering and speed of the multiple Mecanum wheels, the combined force of various angles, enables the electric wheelchair to rotate:::: freely change direction to achieve omnidirectional movement. [Embodiment] Hereinafter, the following description will be made in conjunction with the embodiments with reference to the accompanying drawings. . Referring to Figures 1 and 2, a preferred embodiment of the electric wheelchair of the present invention is a three-layer design comprising a seat portion 10, a control portion 20 and a running mechanism 30 from top to bottom. The seat portion 1 includes a seat frame 12, a seat 14 mounted on the seat frame 12, and a shock absorber 15 located below the seat 14. The left and right sides of the seat 14 further include an armrest 16a, 16b and rockers 17a, 17b on the armrests i6a, 16b, respectively. Wherein, the rocker 17a on the right armrest 16a has two plane degrees of freedom', which can be moved in the front, rear, left and right directions respectively; 200908948; the rocker 17b on the left handrail 16b has a plane degree of freedom, only Moving in the left-right direction, the moving directions of the rockers 17a, 17b correspond to the operation commands of the electric wheelchair to move in the left and right, front and rear, and the rotational direction, respectively. When the user rides on the money for the wheelchair, the hands can be placed on the two supporters 16a and 16b, and the direction of the electric wheelchair can be controlled by changing the position of the rocker I% and ub. Obviously, it is also possible to set the rocker 17b on the left armrest 16b to have two degrees of freedom, and to set the rocker 17a on the right armrest 16a to have only one degree of freedom, and the rocker having the single degree of freedom I7a (17b) can be moved only backwards or backwards, or only left and right. The shock absorber 15 is a mechanism with cushioning performance, such as a spring type shock absorber, a leaf spring type shock absorber or a hydraulic shock absorber, etc., which can remove and absorb the vibration generated when the electric wheel rides in contact with the ground, and increases User comfort. The running mechanism 30 includes a frame 31, four chair wheels at the bottom of the frame 31, four speed reducers corresponding to the four chair wheels, and four drive motors 36. The four chair wheels are all rotatably connected to the frame 31 by the Mecanum wheel (his servant d). As shown in FIG. 3, each of the Mecanum wheels 34 includes a circular shape in the center. The wheel body 340 and the plurality of drum-shaped rollers 342 distributed around the circumference of the wheel body 340, i) the outer contour of the roller 342 coincides with the theoretical circumference of the wheel and the wheel body 340, so that The outside of the Mecanum wheel 34 is shaped like a tooth of a drum shaped pro. ^ , , ν , . The axis of the center of each of the dice 342 is respectively an acute angle less than 90 degrees with respect to the axis of the wheel body 340, and is preferably 45 in the embodiment of the present invention.
\ ’母一幸昆子342可分KG 繞自身之轴線轉動、繞輪體34〇 .g,, ^ ^ 孝由線轉動，及與輪體340 共同繞觸1^ 342與地面之接觸點轉動。因此，每- 200908948 麥克納姆輪34具有三個自由度，即繞自身輪體340之軸線 轉動，沿輥子342軸線之垂線方向平動及繞觸地之輥子342 與地面之接觸點轉動。因此，該麥克納姆輪％在一個方向 上具有主動驅動能力之同時，在另—方向上具有自由務動 (被動移動）之運動特性。每—麥克納姆輪％通過減速器 由驅動馬達36獨立驅動’通過各自輪體34〇肖緣之親子342 產生相對㈣減之軸向分力，故㈣㈣麥克納姆 輪34之轉向與轉速之組合，可分別形成與地面成各種不同 角度之合力’使電動輪椅在轉動過程中 向，實現衫肖·。 β /控制^ 20包括-數位⑽處判制^ 如贈吨，咖）。控制部2〇分別與座椅部 g 及行走機構3〇之驅動嫩通過電線電 自使用者之操作命令（即使用者分別控制左右=接收來 之移動方向），通過内部程式計算出每m # 17a、17b 行對應動作之控制信號，並通過各驅動、=輪34執 相應之控繼鼓與之對應之麥克納姆輪％，刀別輪出該 姆輪34共同配合而達成使用者所需之運 通過麥克納 操作命令包括三個運動方向之命令信號，其中，該 扶手16^1613上之搖桿171171)之三個移表不為左右 信號則表示為達成所需運動目的時各個麥方向，而控制 向及轉速。當將右扶手16a上之搖桿17&夕往，姆輪34之轉 椅向前運動；往後推時，電動輪椅則對應推時，電動輪 推時，電動輪椅順時針方向旋轉. ^。谈運動；往右 ’推時，電動輪椅則 200908948 逆時針方向旋轉。當將左扶手16b上之搖桿17b往右推時， 電動輪椅向右運動；往左推時，電動輪椅向左運動；同時 推動該《%個搖桿17a、17b ’則可以控制電動輪椅原地旋轉 及任意方向運動，詳如後述。 本實施例中，四個麥克納姆輪34之組合情況及受力分 析如圖4A至圖4D所示’該四個麥克納姆輪34對稱分佈二 矩形之四個頂角上，左右兩輪之輪體34〇之間之軸距為 前後兩輪之輪體34〇之間之軸距為b。每一麥克納姆輪34 之半徑為r，輪中之小斜線表示觸地之輥子342之軸線方 向，可分為左旋和右旋兩種，其中，位於對角線上之兩夫 克納姆輪34中觸地之輥子342之旋向相同，而相鄰之兩^ 克納姆輪34中觸地之報子342之旋向相反。匕為麥克納ς 輪34之輪體340滾動時其輥子342受到之軸向摩擦力，其 方向順沿觀子342各自之轴線向上或者向T，Fr為镜子如 作從動滾動時受到之滾動摩擦力，其方向垂直於輥子342 各自之轴線，且順沿該垂直於轴線之方向向上或者向下。 假設該電動輪椅之前後運動方向為y方向，左右運動方向 為X方向，旋轉運動方向為0方向，控制部30接收之來^ 搖桿17a、l7b之三個移動方向之操作命令分別用Vy、v、\ 'Mother a lucky Kunzi 342 can be divided into KG rotation around its own axis, around the wheel body 34〇.g,, ^ ^ filial rotation by the line, and with the wheel body 340 around 1 ^ 342 contact point with the ground . Thus, each - 200908948 Mecanum wheel 34 has three degrees of freedom, i.e., rotates about the axis of its own wheel body 340, and translates in the direction perpendicular to the axis of the roller 342 and the point of contact of the roller 342 that touches the ground with the ground. Therefore, the Mecanum wheel has an active driving capability in one direction and a free moving (passive moving) motion characteristic in the other direction. Each of the Mecanum wheels is independently driven by the drive motor 36 through the reducer. 'The relative (4) minus the axial component is generated by the parent wheel 342 of the respective wheel body 34, so (4) (four) the steering and speed of the Mecanum wheel 34 The combination can form a combination of different angles with the ground, respectively, to make the electric wheelchair turn in the process of turning, and realize the shirt. β / control ^ 20 includes - digit (10) judgment ^ such as gift ton, coffee). The control unit 2〇 and the driving unit g and the traveling mechanism 3 are respectively driven by the electric wire from the user's operation command (that is, the user controls the left and right = the moving direction of the receiving), and the internal program calculates each m # 17a, 17b correspond to the control signal of the action, and through each drive, = wheel 34, the corresponding control drum is corresponding to the Mecanum wheel %, and the knife wheel cooperates with the wheel 34 to achieve the user's needs. The operation command includes three command directions of the movement direction through the McNan operation command, wherein the three shift tables of the rocker 171171) on the armrest 16^1613 are not left and right signals, and are indicated as the respective wheat directions for achieving the desired motion purpose. And control the direction and speed. When the rocker 17 & on the right armrest 16a is moved, the swivel chair of the m wheel 34 moves forward; when pushed backward, the electric wheelchair is pushed correspondingly, and when the electric wheel is pushed, the electric wheelchair rotates clockwise. Talking about sports; when pushing to the right, the electric wheelchair will rotate counterclockwise in 200908948. When the rocker 17b on the left handrail 16b is pushed to the right, the electric wheelchair moves to the right; when pushed to the left, the electric wheelchair moves to the left; while pushing the "% rocker 17a, 17b" can control the electric wheelchair original Ground rotation and movement in any direction, as described later. In this embodiment, the combination of the four Mecanum wheels 34 and the force analysis are as shown in FIG. 4A to FIG. 4D. The four Mecanum wheels 34 are symmetrically distributed on the four apex angles of the two rectangles, and the left and right wheels are The wheelbase between the wheel bodies 34〇 is the wheelbase between the front and rear wheel bodies 34〇. The radius of each Mecanum wheel 34 is r, and the small diagonal line in the wheel indicates the axial direction of the roller 342 touching the ground, which can be divided into two types: left-handed and right-handed, wherein the two-knocker wheel on the diagonal line The direction of the roller 342 of the ground contact 34 in 34 is the same, and the direction of the 134 of the ground contact 342 in the adjacent two Knock wheels 34 is opposite. When the wheel 340 of the McNaren wheel 34 is rolling, its roller 342 receives the axial frictional force, and its direction is along the axis of the view 342, respectively, or toward the T, and the Fr is the mirror when it is driven to follow the rolling. Rolling friction, the direction of which is perpendicular to the respective axes of the rollers 342, and upward or downward along the direction perpendicular to the axis. It is assumed that the front and rear movement directions of the electric wheelchair are the y direction, the left and right movement directions are the X direction, and the rotation movement direction is the 0 direction, and the operation commands received by the control unit 30 for the three movement directions of the rockers 17a and 17b are respectively Vy, v,
Ve表不’ ωι、ω2、ω3、ω4則分別表示四個麥克納姆 34之旋轉速度，該旋轉速度…、〜、…: 克納姆輪34之轉速與轉向。 卩表不各麥 X方向）、 運動及原 當電動輪椅於前後方向（7方向）、左右方向（ ~各麥克納姆輪34中棍子342之旋向方向之偏移 11 200908948 地旋轉時，此時， 動之精度容4a = ^之運_式簡單，運 運動時，該四個麥克納姆輪34::== y方向向上 針方向旋轉，該運動過程中，成、w相同’為逆時 擦力Fa和向上之滚 力广342文到向上之轴向摩 向向下運動時，节四彳广相反的，電動輪椅沿y方 相同，且轉㈣^之轉向與轉速亦分別 旋轉，因而親子342 π向相反 ’為順時針方向 摩擦力F> 向摩擦力Fa和向下滚動 如圖4B所示，電動輪椅沿X 士 角線上之兩麥克蜗方向向左運動日寸，同一對 兄、，内姆輪34之轉向相 立 下方之兩麥克納姆輪 方及右 古々“ ^ 為順十方向旋轉，右上方及/下 〇/1 為延^針方向旋轉，且四個麥克 34之轉速相同。此時，右上方 、、内姆輪 及左下方之兩麥克納姆輪34 中輕子342受到均向上之軸向摩擦力&及滚動摩擦力巧， 而左上方及右下方之兩麥克納姆輪34中輥子342受到均向 下之轴向摩擦力Fa及滾動摩擦力卜相反的，電動輪椅二 X方向向右運動時，則左上方及右下方之兩麥克納姆輪二 圯時針方向旋轉，且右上方及左下方之兩麥克納姆輪為順 時針方向旋轉，此時位於左上方及右下方之麥克衲姆輪％ 中輥子342受到均向上之軸向摩擦力匕及滚動摩擦力f， 而左上方及右下方之麥克納姆輪34中報子342受到均向 之軸向摩擦力Fa及滾動摩擦力巧。 如圖4C所示，為電動輪椅于從水平向左上方偏移β 12 200908948 度斜向移動時各輪之組合運動及受力分析，此時士 右扶手l6a_L之搖桿17以主前和將左扶手16b上之°才將 在左推移’控制器3〇接受該操作命令後，計算干Hb 動目的時四個麥克納姆輪各自之旋轉速度⑷、運 因4並輪出§玄控制信號至各驅動馬達。其中， 、亲―左上方和右下方之兩麥克納姆輪34自身輪體34〇之备 連均為〇,而該兩麥克納姆輪34中輥子342沿其 轉 、友自由方疋轉，此時’親子342僅受到向下之滚動摩擦力轴 擦力圮為〇。右上方和左下方之兩麥克納; 方向旋轉，棍子342分別受到向上之軸向摩擦力ρ 、向上之滾動摩擦力Fr。 a 6如圖4D所示，為電動輪椅原地逆時針旋轉時，各鈐 、、且合運動情況及受力分析，該四個麥克納姆輪％ 相同，JL由— 评迷均 二宁，左上方及左下方之兩麥克納姆輪34均為順時 卦向方疋轉’且右上方及右下方之兩麥克納姆輪34為逆時 ·=向旋轉’辦，左側之脖克麟輪34巾親子地受 至^別向下之軸向摩擦力&及滾動摩擦力&，右側之兩= 動中報子342受到分別向上之軸向摩擦力Fa及滾 向、軍動輪椅進行其他任意方向，如偏移任意角度之斜 曾所//旋轉同時向其他方向運動時，可通過控制部30計 克納姆輪34之旋轉速度〜 矜3固/、·’内姆輪34之轉向及轉速，並利用各麥克納姆 輪34中輥子342產生相對於其輪體34〇之軸向分力，共同 13 200908948 形成與地面成一定角度之合力，驅使該電動輪椅向使用者 之目的方向運動。該各麥克納姆輪34最後之合成速度即為 電動輪椅之運動方向。其中，旋轉速度ωτ、ω2、ω3、ω4 之計算由控制器30之内部程式完成，具體可通過下面轉換 矩陣獲得。該轉換矩陣中，以控制信號為元素組成一 4維 1 1 (a + b) ry i 1 -1 1 ~~ {jj + • X Vv r 1 1 -1 1 一 (^ci + (a + b) y 向量矩陣，分別對應於所述4個麥克納姆輪各自之旋轉速 'ωχ ⑺2 ω3 度、ω2、ω3、ω4，該控制信號矩陣為一 4x3維矩陣與 一 3維向量矩陣之克羅内克（Kronecker)積，其中，該3 維向量矩陣以外部之操作命令為元素組成，分別對應於來 自外部之前後、左右及旋轉三個方向之速度指令Vx、Vy、 ，該4x3維矩陣之第一列向量之第一、第三個元素為1， 第二、第四個元素為-1，第二列向量為全么向量，第三列向 量之第一、第四個元素為相鄰兩側之兩麥克納姆輪34之間 之轴距a，b之和，第二、第三個元素為相鄰兩侧之兩麥克 納姆輪34之間之轴距a，b之和之相反數。 綜上所述，本發明符合發明專利之要件，爰依法提出 專利申請。惟以上所述者僅為本發明之較佳實施例，舉凡 熟悉本案技藝之人士，在爰依本發明精神所作之等效修飾 或變化，皆應涵蓋於以下之申請專利範圍内。 【圖式簡單說明】 14 200908948 圖1為本發明電動輪椅一較佳實施例之立體示意圖。 圖2為圖1之侧視圖。 • 圖3為圖1中椅輪之放大圖。 圖4A為本發明電動輪椅向上運動時各椅輪之組合情況 及受力分析。 圖4B為本發明電動輪椅向左運動時各椅輪之組合情況 及受力分析。 圖4C為本發明電動輪椅向左上方45度方向運動時各 椅輪之組合情況及受力分析。 圖4D為本發明電動輪椅原地旋轉時各椅輪之組合情況 及受力分析。 :主要元件符號說明】 椅架 12 座椅 14 避震器 15 扶手 16a、16b 搖桿 17a、 17b 控制部 20 行走機構 30 機架 31 麥克納姆輪 34 輪體 340 車昆子 342 驅動馬達 36 操作命令 Vy、VX、V 旋轉速度 ω ]_、ω 2、 轴向摩擦力 Θ (i) 3、 Fa ύΰ 4 滾動摩擦力 Fr 15The Ve table is not ' ωι, ω2, ω3, ω4 respectively representing the rotational speeds of the four McNams 34, the rotational speeds..., ~, ...: the rotational speed and steering of the Knock wheel 34.卩 不 各 各 各 各 各 运动 运动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动When the movement accuracy is 4a = ^, the operation is simple. When the movement is in motion, the four Mecanum wheels 34::== y direction rotates upwards in the direction of the needle. During the movement, the same and the same 'w' When the friction force Fa and the upward rolling force are wide 342 to the upward axial movement, the opposite is the same, the electric wheelchair is the same along the y side, and the steering and the rotation speed of the rotation (4) are also rotated respectively. Thus, the parent-child 342 π is opposite to the 'clockwise frictional force F>. The frictional force Fa and the downward scrolling are as shown in FIG. 4B, and the electric wheelchair moves to the left along the two worm directions on the X-line, the same pair. Brother, the Nemo wheel 34 turns to the opposite of the two Meinam wheel and the right ancient 々 " ^ for the direction of the ten rotation, the upper right and / 〇 / / for the extension of the needle direction, and four microphones The speed of 34 is the same. At this time, the top right, the inner ring and the lower left of the two Meinum In the wheel 34, the lepson 342 is subjected to the upward axial frictional force & and the rolling friction force, while the roller 342 of the two top and bottom right memant wheels 34 receives the downward axial frictional force Fa and rolling. In contrast, when the electric wheelchair is moved to the right in the X direction, the two Mecanum wheels in the upper left and lower right are rotated in the clockwise direction, and the two McNamm wheels in the upper right and lower left are clockwise. Rotating, at this time in the upper left and lower right of the McMulcan wheel%, the roller 342 is subjected to the upward axial friction force and the rolling friction force f, and the upper left and lower right of the Mecanum wheel 34 the middle newspaper 342 The axial frictional force Fa and the rolling friction force are averaged. As shown in Fig. 4C, the combined motion and force analysis of each wheel when the electric wheelchair is shifted obliquely from the horizontal to the upper left by β 12 200908948 degrees. At this time, the rocker 17 of the right armrest l6a_L will be the front of the main arm and the left armrest 16b will be in the left shift 'controller 3〇 after accepting the operation command, calculate the dry Hb movement when the four Mecanum wheels are each Rotation speed (4), transport factor 4 and turn out § 玄控Signaling to each of the driving motors, wherein the two memant wheels 34 of the upper left and the lower right are connected to each other, and the rollers 342 of the two McNamm wheels 34 are rotated along the same. The friend's free side is turned around. At this time, the parent-child 342 is only subjected to the downward rolling friction force rubbing force. The two upper and lower left sides of the McNair; the direction of rotation, the stick 342 is subjected to the upward axial friction. ρ, upward rolling friction force Fr. a 6 as shown in Fig. 4D, when the electric wheelchair rotates counterclockwise in the original direction, the 麦克, 且 movement and stress analysis, the four Mecanum wheels are the same, JL by - comment on the fans of the two, the top left and bottom left of the two Mecanum wheels 34 are clockwise turn to the side of the 'and the top right and bottom right of the two Mecanum wheels 34 is reversed · = direction Rotate 'do, the left side of the neck of the kelin wheel 34 to the child's body to the lower axial friction & and the rolling friction & the right side of the two = the middle of the 342 is subjected to upward axial friction Force Fa and rolling, military wheelchairs in any other direction, such as the deviation of any angle of the obliques / / spin At the same time, when moving in other directions, the rotation speed of the Knock wheel 34 can be counted by the control unit 30, the steering and the rotation speed of the Nm wheel 34, and the roller 342 of each Mecanum wheel 34 can be used. Relative to the axial component of its wheel body 34, the common 13 200908948 forms a combined force with the ground to drive the electric wheelchair to move toward the user's purpose. The final combined speed of each of the Mecanum wheels 34 is the direction of movement of the electric wheelchair. The calculation of the rotational speeds ωτ, ω2, ω3, ω4 is performed by the internal program of the controller 30, and can be obtained by the following conversion matrix. In the conversion matrix, the control signal is composed of elements as a 4-dimensional 1 1 (a + b) ry i 1 -1 1 ~~ {jj + • X Vv r 1 1 -1 1 (^ci + (a + b y vector matrix corresponding to the respective rotational speeds 'ωχ(7)2 ω3 degrees, ω2, ω3, ω4 of the four Mecanum wheels, the control signal matrix being a 4x3 dimensional matrix and a 3D vector matrix Kronecker product, wherein the 3D vector matrix is composed of external operation commands as elements, corresponding to speed commands Vx, Vy, and 4x3 dimensional matrices from external front, back, left, and right directions, respectively. The first and third elements of the first column vector are 1, the second and fourth elements are -1, the second column vector is the full vector, and the first and fourth elements of the third column vector are adjacent. The sum of the wheelbases a, b between the two Mecanum wheels 34 on both sides, the second and third elements are the sum of the wheelbases a, b between the two McNamm wheels 34 on the adjacent sides. In summary, the present invention meets the requirements of the invention patent, and the patent application is filed according to law. However, the above is only a preferred implementation of the present invention. The equivalent modifications or variations made by those who are familiar with the skill of the present invention in the spirit of the present invention shall be covered by the following patent application. [Simplified description of the drawings] 14 200908948 Figure 1 is an electric wheelchair of the present invention. Fig. 2 is a side view of Fig. 1. Fig. 3 is an enlarged view of the chair wheel of Fig. 1. Fig. 4A is a view showing the combination of the chair wheels and the force analysis of the electric wheelchair in the upward movement of the present invention. 4B is a combination of the chair wheels and the force analysis of the electric wheelchair of the present invention when moving to the left. FIG. 4C is a combination of the chair wheels and the force analysis of the electric wheelchair in the direction of the upper left 45 degrees of the present invention. The combination of the chair wheels and the force analysis when the electric wheelchair of the present invention is rotated in situ. : Main component symbol description] Seat frame 12 Seat 14 Shock absorber 15 Handrail 16a, 16b Rocker 17a, 17b Control part 20 Traveling mechanism 30 Rack 31 Mecanum wheel 34 Wheel body 340 Car Kunzi 342 Drive motor 36 Operating commands Vy, VX, V Rotation speed ω ]_, ω 2, Axial friction Θ (i) 3, Fa ύΰ 4 Rolling friction Force Fr 15