九、發明說明： 輪 【拥所屬技^1¾ 、本創作是有關於—種電動輪椅絲麟，制是指-種具有二前 驅動輪和二後輪的讀電動輪椅底盤機構 [絲技術】 動輪輪立用以代步的醫療辅具，早期的電 裡四輪戟具，較適合魏於平坦路面，但是在面對 加县的路2稍顯不足，為了增加輪椅的穩定性’出現前'後輪軸距 的穩電動輪椅，但是會有旋轉半徑變大的問題，為了提高輪椅 的穩疋性且避免過大的迴轉半徑’開始出現六輪的電動輪椅。 人"ΐίί，，空間雖*然受到重視’但是落實情況料盡理想’ ’二有；^的局度變化，目此電動輪_跨障能力絲設計重點 電動輪椅底盤機構也隨之產生。電動輪椅的底盤機構安裝 觸下方，為地面與椅座之關介面，主要的目的在於維持 輪子貼地性的同時’也能具餘好鱗障能力與乘坐舒適性。 參，第-隊自美國專利號:2(X)4G酿48)所示為現有底盤機 含一車架裝置11、一前輪架裝置12、一驅動輪架裝 担要《η独裝置14、一彈性回復裝置15及一驅動裝置16。車架 裝置11主要包括車架川、後轉向臂112和後輪113，其中後輪113 向臂112樞接於樞轴1121，後轉向臂n2和車架⑴樞接於 ^ 1113,驅動輪架裝置13,主要包括驅動輪架131和驅動輪 且ί者桓接於姉1311，驅動輪架131 *車架111樞接於樞 仍Λ則輪架裝置12主要包括前輪架121、前轉向臂122和前輪 2^’其中刖輪123和前轉向臂122樞接於樞軸1221，前轉向臂122 :輪架121樞接於轉向軸1213 ’前輪架121和驅動輪架131樞接 =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和樞軸彳彳 j 主要包括彈簀151和彈簧152，彈簧151兩端點分別= 1331913 前端和驅動輪架131的前端相連結，彈簧152的兩端點分別 111的後端和驅動輪架131的後端相連結;驅動裝置16主要包^一二 動馬達161，其安裝於驅動輪架131上。 ^ —電 參閱第-圖所示，底盤機構1主要的特點是將前輪123、驅 132和後輪113分別安裝在前輪架裝置12、驅動輪架裝置13和 裝置11上，使前輪123、驅動輪132和後輪113彼此間可作相^ 動’所以該魏錢鑛於地職倾舰錄，行駛時輪子易 貼地，穩定性高’但在跨障過程令車帛川變化量過大，使得椅座傾Nine, invention description: Wheel [own technology ^13⁄4, this creation is about - an electric wheelchair silk Lin, system refers to a kind of electric wheelchair chassis mechanism with two front drive wheels and two rear wheels [wire technology] Wheeled medical aids for transportation, early electric four-wheeled cookware, more suitable for Wei on flat roads, but in the face of Jiaxian Road 2 is slightly insufficient, in order to increase the stability of the wheelchair 'before' A stable electric wheelchair with a wheelbase, but there is a problem that the radius of rotation becomes large. In order to improve the stability of the wheelchair and avoid an excessive radius of gyration, a six-wheel electric wheelchair begins to appear. People "ΐίί,, although the space is really valued 'but the implementation situation is expected to be ideal' ‘two have; ^ the degree of change, the purpose of this electric wheel _ cross-barrier capacity silk design focus electric wheelchair chassis mechanism also came along. The chassis mechanism of the electric wheelchair is installed under the touch, which is the interface between the ground and the seat. The main purpose is to maintain the grounding of the wheel while also having the ability to scale and ride comfort. The ginseng, the first team from the US patent number: 2 (X) 4G brewing 48) shows that the existing chassis machine includes a frame device 11, a front wheel frame device 12, a driving wheel frame loaded with "n-only device 14, An elastic recovery device 15 and a drive device 16. The frame device 11 mainly includes a frame body, a rear steering arm 112 and a rear wheel 113. The rear wheel 113 is pivotally connected to the arm 112 at the pivot 1121, and the rear steering arm n2 and the frame (1) are pivotally connected to the ^1113. The device 13 mainly includes a driving wheel frame 131 and a driving wheel, and is connected to the cymbal 1311. The driving wheel frame 131 is pivotally connected to the pivot frame. The wheel carrier device 12 mainly includes a front wheel frame 121 and a front steering arm 122. And the front wheel 2^', wherein the wheel 123 and the front steering arm 122 are pivotally connected to the pivot 1221, the front steering arm 122: the wheel frame 121 is pivotally connected to the steering shaft 1213. The front wheel frame 121 and the driving wheel frame 131 are pivoted = pivot 1211 The linkage device 14 mainly includes a linkage rod 141 pivotally connected to the front wheel frame 121 and the drive wheel frame 131 respectively to the pivot shaft 1212 and the pivot shaft 彳彳j mainly including a magazine 151 and a spring 152. 1331913 The front end is coupled to the front end of the driving wheel frame 131, and the rear end of each of the two ends of the spring 152 is coupled to the rear end of the driving wheel frame 131; the driving device 16 mainly includes a second motor 161, which is mounted on the driving On the wheel frame 131. ^ - Electric As shown in the first figure, the main feature of the chassis mechanism 1 is that the front wheel 123, the drive 132 and the rear wheel 113 are respectively mounted on the front wheel frame device 12, the drive wheel frame device 13 and the device 11, so that the front wheel 123, the drive The wheel 132 and the rear wheel 113 can be used to interact with each other. Therefore, the Wei Qian mine is recorded in the ground. The wheels are easy to stick to the ground when driving, and the stability is high, but the amount of change in the car is too large in the cross-barrier process. Pour the seat
角晃動量過大(椅座安裝於車架川上，椅座與車架川傾角的化 量相同），造成舒適性不佳的缺點。 參閱第-ffl底賴構1跨越60mm障礙過程_ 彳 的前輪123開始跨障(狀態1)至完成跨障(狀態2)椅座傾角由〇度變化 至後傾以1度;驅動輪132開始跨障(狀態3)至完成跨障(狀態4)椅座 傾角由賴1.41度變化至後傾7.29度;後輪m開始跨障(狀 ^成跨障(狀態6)猶傾角由後傾7·29度回覆至Q度，底盤機構】跨 =Omm高台的椅座傾角變化量高達7 29度，而電動輪椅使用者都 二、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2QQ4㈤6Q748號專利之底盤機構的The angular sway is too large (the seat is mounted on the frame of the frame, and the seat is the same as the inclination of the frame), resulting in poor comfort. Referring to the -ffl bottom structure 1 spanning 60mm obstacle process _ 彳 front wheel 123 begins to cross the obstacle (state 1) to complete the cross-barrier (state 2) seat inclination angle changes from twist to back 1 degree; drive wheel 132 begins The cross-barrier (state 3) to the completion of the cross-barrier (state 4) seat inclination angle changes from 1.41 degrees to 7.29 degrees backward; the rear wheel m begins to cross-barrier (shape 6 into the cross-barrier (state 6) and the heel angle is backward. ·29 degree response to Q degree, chassis mechanism] span = Omm high table seat tilt angle change up to 7 29 degrees, and electric wheelchair users are second, the body function is poor, it will cause great discomfort for the occupants From the above discussion, we can know that the chassis of the US 2QQ4 (5) 6Q748 patent
疋性佳’但影響舒雜哺鋪肖變化肖度過大有待改善，本創作 明顯地改善了該缺點。 【獅内容】 本創作包括-車架裝置、—前連動裝置、—後連動裝置、一前輪 j置、—驅動輪架裝置、—後輪架裝置、一彈性喊裝置和-驅動 置。本創作之特色在於可使雜時所有輪子維獅地、椅座傾角變 ^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 向電動輪椅的跨障能力、穩定性和舒適性。 該車架裝置’具有-車架和—子轉，兩者以前、後連結段相互 運結。 一與驅動 該驅動輪架裝置，具有一與子車架相樞接的驅動輪架， 輪架相樞接的驅動輪。 7 1331913 相:接 ’ίΓ與前輪架相樞接的前連動桿。 連』 職前連轉和_輪細樞接的後 /彈性嘛置，具有-分顺子車ttirm 馬達 該驅動裝置，具有-安裝在驅動輪架上，用以帶動驅動輪的電動 本創作較佳實施例立體圖，底盤機構3的上方 ^方可裝SX身體支承裝置2，包括椅座21、靠f 22、扶手23、頭 踏板％，雜缺乏社行触力狀士在日常生活中用以 代少、便用。 圖所示係本創作較佳實施例爆炸圖，底盤機構3包括- 34 i t前輪架裝置32、二驅動輪架裝置33、二後輪架裝置 34、二前連動裝置35、二後連動裝置36、二彈性回復裝置37和二 驅動裝置38 ’其中前輪架裝置32、驅動 34、前連動裝置35、後連動裝置36、彈性回復裝置37 === H別f右對稱安餘車雜置m針料賴構的組成 進仃描迷。 參閱第四、五騎示㈣林解較佳纽鄕賴及前 各裝置之組成說明如下： 車架裝置31 ’主要包括一車架311、一子車架312和一子車架 3 ’其中子車架M2和子車架313左右對稱安裝於車架3”上子 =312和子車架313上都具有—前連結段3121、—後連結段 3122，用以連結車架3”。 8 驅叙架裝置33主要包含一驅動輪架331，及-由電動馬達381 3123。動輪332，驅動輪架331與子車架312樞接於子車架樞軸 輪32^輪32主要包含一前輪架321、一前轉向臂322和一前 向臂奶、則輪323和前轉向臂322插接於前輪栖轴3221，前轉 功福接^接於轉向抽3213，前輪架321和驅動輪架 輪架含一前連動桿351，該前連動桿351和前 前連ίΐΐίί 36主要包含一後連動桿361，後連動桿36彳分別和 亍’、驅動輪架331樞接於樞轴3511和插轴3312。 輪34^if置34主要包含一後輪架341、一後轉向臂342和一後 向眢wit後輪343和後轉向臂342樞接於後輪樞軸3421，後轉 牟3194^ ^輪架341樞接於轉向軸3412，後輪架34彳分別與子車 眾312和後連動桿361樞接於摇轴3124及姉如卜 371彈ίΓίΐ置37主要包含受力時產生可回復地彈性形變的彈筹 相反的兩端分別連結於子車架3彳2上的彈簧扣環 3從，以及驅動輪架331上的彈菁扣環3313。 的彈黃扣裱 動輪要包含—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3泣轉動。 所f係本創作較佳實施之前輪跨障示意圖，當前輪 ，刖輪323會先與障礙物4的碰撞點41接觸，此時 驅動輪332仍持續轉動帶動底盤 泣 的向前推動，前輪架321、前韓_ w媒動輪332 帶動子車架312、驅動輪架331和前連動桿 Ϊΐί 帶動後連動桿361和後輪架341逆時針轉動。 其中則輪323跨越障礙物過程中，前輪323會相對於 ΐΪΪί==二前輪323相對於子車架姉3仍為例，ΐ O^L ,>L ”)，錢缩且掠二子車架樞轴3123的水平距離^逐漸減少 (F F F ) “動作可減低前輪323與碰撞點41間的阻 1331913 力，因此可減低前輪323跨障所需的驅動力矩。This is a good improvement. However, this design has significantly improved this shortcoming. [Lion Content] This creation includes a frame device, a front linkage device, a rear linkage device, a front wheel arrangement, a drive wheel carrier device, a rear wheel carrier device, a resilient shouting device, and a drive. The feature of this creation is that it can make the wheel lions and the seat angle of the all-times of the time-changing small and small, and can retract and improve the movement relative to the chassis mechanism itself, so it can improve the cross-barrier capability and stability of the electric wheelchair. Sex and comfort. The frame device ' has a frame and a sub-rotation, and the front and rear connecting sections are mutually transported. The driving wheel carrier device has a driving wheel frame pivotally connected to the sub-frame, and a driving wheel pivotally connected to the wheel frame. 7 1331913 Phase: Connect the front linkage that is pivotally connected to the front wheel frame. Even after the pre-service rotation and the _ wheel-spinning rear-back/elasticity, the drive unit with the -t-trailer ttirm motor has - mounted on the drive wheel frame to drive the electric drive of the drive wheel A perspective view of a preferred embodiment, the upper side of the chassis mechanism 3 can be equipped with the SX body supporting device 2, including the seat 21, the relying on the f 22, the armrest 23, the head pedal%, and the lack of social contact force in daily life. Use less and use it. The figure shows an exploded view of a preferred embodiment of the present invention. The chassis mechanism 3 includes a - 34 it front wheel carrier device 32, two drive wheel carrier devices 33, two rear wheel carrier devices 34, two front linkage devices 35, and two rear linkage devices 36. , two elastic recovery devices 37 and two driving devices 38 ' wherein the front wheel carrier device 32, the drive 34, the front linkage device 35, the rear linkage device 36, the elastic recovery device 37 === H, the right symmetry, the car is mixed with the m needle The composition of the material structure is fascinated. Refer to the fourth and fifth riding instructions. (4) The solution of the better and the previous devices is as follows: The frame device 31' mainly includes a frame 311, a sub-frame 312 and a sub-frame 3' The frame M2 and the sub-frame 313 are symmetrically mounted on the frame 3" and the sub-frame 312 and the sub-frame 313 have a front connecting section 3121 and a rear connecting section 3122 for connecting the frame 3". The drive bay device 33 primarily includes a drive wheel frame 331, and is powered by an electric motor 381 3123. The driving wheel 332, the driving wheel frame 331 and the sub-frame 312 are pivotally connected to the sub-frame pivot wheel 32. The wheel 32 mainly comprises a front wheel frame 321, a front steering arm 322 and a forward arm milk, then a wheel 323 and a front steering. The arm 322 is inserted into the front wheel axle 3221, and the front turn power is connected to the steering pumping 3213. The front wheel frame 321 and the driving wheel carrier wheel frame include a front linkage lever 351, and the front linkage lever 351 and the front front linkage ίΐΐίί 36 are mainly A rear linkage rod 361 is included, and the rear linkage rod 36 is pivotally connected to the pivot shaft 3511 and the insertion shaft 3312 respectively. The wheel 34^if 34 mainly comprises a rear wheel frame 341, a rear steering arm 342 and a rearward 眢wit rear wheel 343 and a rear steering arm 342 pivoted to the rear wheel pivot 3421, and the rear turn 3194^^ round frame The 341 is pivotally connected to the steering shaft 3412, and the rear wheel frame 34彳 is pivotally connected to the sub-vehicle 312 and the rear linkage rod 361 respectively to the rocking shaft 3124, and the 371 spring Γ Γ 371 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 The opposite ends of the blasting are respectively coupled to the spring clasp 3 of the sub-frame 3彳2, and the elastic crest ring 3313 of the driving wheel frame 331. The yellow buckle 裱 wheel includes an electric motor 381. The electric motor 381 is disposed on the drive wheel frame 331 to provide power to drive the drive wheel 3 to rotate. The f-system is preferably implemented before the wheel cross-barrier diagram. The current wheel and the wheel 323 will first contact the collision point 41 of the obstacle 4, and at this time, the driving wheel 332 continues to rotate to drive the chassis to push forward, the front wheel frame 321 . The front Korean _ w medium wheel 332 drives the sub-frame 312 , the drive wheel frame 331 and the front linkage rod Ϊΐ ί to drive the rear linkage rod 361 and the rear wheel carrier 341 to rotate counterclockwise. In the process of the wheel 323 crossing the obstacle, the front wheel 323 will be relative to the ΐΪΪί== two front wheels 323 with respect to the sub-frame 姊3, for example, ^ O^L , > L ”), the money shrinks and the second frame The horizontal distance of the pivot 3123 is gradually reduced (FFF). "The action can reduce the resistance of the first wheel 323 and the collision point 41 by 1331913, thereby reducing the driving torque required for the front wheel 323 to cross the obstacle.
係本創作健實施之驅動輪跨障示意®，當驅動輪 2跨越障物時，驅動輪332會先與障礙物4的碰撞點41接觸，此 時=輪332仍持續轉動帶動底盤機構3倾移動，接著驅動輪架 和驅動輪332會逐漸後紅提高(逆時針轉動），進峰動子車架 =、前輪架321、後輪架341和後連動桿361麟針轉動，以及帶 =連動桿351逆時針轉動1中驅動輪332跨越障礙物過程，驅 ，輪332會姉於底盤娜3產生後縮且提高的動作，以驅動輪3泣 相對於子車架樞轴3123為例，跨障過程中驅動輪樞轴3311虫子車 ，樞轴3123的水平距離Ld逐漸增加(以。，句，該後縮且提高動 可減低驅動輪332與碰撞點41間的阻力，因此可減低驅動輪332 跨障所需的驅動力矩。 參閱第八@係本創作較佳實施之後輪跨障示意圖，#後輪343 跨越障物時，後輪343會先與障礙物4的碰撞點41接觸，此時驅動 輪332仍持續轉動帶動底盤機構3往前移動，受到驅動輪332的向 前推動’後輪架341、後轉向臂342和後輪343會逐漸後縮且提高(逆 時=轉動），進而帶動驅動輪架331和前連動桿351順時針轉動，以 及f動子車架312、前輪架321和後連動桿361逆時針轉動。其中 後輪34^跨越障礙物過程中’後輪343會相對於底盤機構3產生後 ，且提高的動作，以後輪343相對於子車架樞軸3123為例，跨障過 程中後輪樞轴3421與子車架樞轴3123的水平距離|_Β逐漸增加 (Lb<Lb<Lb”）’該後縮且提高動作可減低後輪343與碰撞點41間的 阻力，因此可減低後輪343跨障所需的驅動力矩。 參閱第九圖係底盤機構3跨越60mm障礙過程示意圖，底盤機 構3前輪323開始跨障(狀態1)至完成跨障(狀態2)椅座傾角由0度 變化至後傾4_17度;驅動輪332開始跨障(狀態3)至完成跨障(狀態4) 椅座傾角由後傾4· 17度變化至後傾4 78度;後輪343開始跨障(狀態 5)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β 10 1331913 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 動會造成乘坐者的不舒適感，若跨障的難度越高(需較大驅動力矩或 較高速度才能跨障），碰撞產生的振動會越大，乘坐者的不舒適感也 會隨之提高，本創作較佳實施之底盤機構3各輪跨障時因具有後縮提 高的特性，故具有良好的跨障能力，能降低跨障過程產生的振動，進 而減低乘坐者的不舒適感，提高舒適性，此外，本創作較佳實施的底 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 的構件上，前輪322、驅動輪332和後輪343彼此間可做相^運動， 不論前輪323、驅動輪332和後輪343跨越障礙時，各個輪子都能 維持貼地’輯於地形變化_應雜，穩定性高；再者，本創作較 角變化量(4.78度)顯著地改善跨障過程因椅座晃動 的缺點，故本創作為一舒適性、跨障能力和安全性 兼、具且新穎性高的發明。 本者’僅為本創作之較佳實施例而已，當不能以此限定 之簡單的較_㈣,各所作 1331913 【圈式簡轉明】 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(η 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 【主要雜#明】 1 底盤機構 11 車架裝置 111 車架 1111 樞軸 1112 極軸 112 後轉向臂 1121 轉向轴 1122 後輪枢轴 113 後輪 12 前輪架裝置 121 前輪架 1211 樞轴 1212 樞轴 122 前轉向臂 1221 轉向轴 1222 刖輪棍轴 123 前輪 13 驅動輪架裝置 131 驅動輪架 1311 驅動輪樞軸 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 12When the driving wheel 2 crosses the obstacle, the driving wheel 332 will first contact the collision point 41 of the obstacle 4, and at this time, the wheel 332 continues to rotate to drive the chassis mechanism 3 to tilt. Moving, then driving the wheel carrier and the driving wheel 332 will gradually increase red (counterclockwise rotation), the peaking mover frame =, the front wheel frame 321, the rear wheel frame 341 and the rear linkage rod 361 are rotated, and the belt = linkage The rod 351 rotates counterclockwise by 1 to drive the wheel 332 across the obstacle process, and the wheel 332 will slam the chassis 3 to produce a retracted and raised motion to drive the wheel 3 to cry relative to the sub-frame pivot 3123 as an example. During the obstacle process, the driving wheel pivot 3311 is driven by the bug, and the horizontal distance Ld of the pivot 3123 is gradually increased (in the sentence, the retracting and increasing the movement can reduce the resistance between the driving wheel 332 and the collision point 41, thereby reducing the driving wheel. 332 The driving torque required for the cross-barrier. Refer to the figure of the wheel spanning obstacle after the eighth implementation of the preferred embodiment. #后轮343 When the obstacle is crossed, the rear wheel 343 will first contact the collision point 41 of the obstacle 4. When the driving wheel 332 continues to rotate, the chassis mechanism 3 is moved forward. When the driving wheel 332 is pushed forward, the rear wheel frame 341, the rear steering arm 342 and the rear wheel 343 are gradually retracted and raised (reverse time = rotation), thereby driving the driving wheel frame 331 and the front linkage lever 351 to rotate clockwise. And the f-movement frame 312, the front wheel frame 321 and the rear linkage rod 361 rotate counterclockwise. wherein the rear wheel 34^ is in the process of crossing the obstacle, the rear wheel 343 is generated relative to the chassis mechanism 3, and the movement is increased, the rear wheel Taking 343 as an example with respect to the sub-frame pivot 3123, the horizontal distance |_Β of the rear wheel pivot 3421 and the sub-frame pivot 3123 gradually increases (Lb<Lb<Lb")' during the cross-barrier process. The resistance between the rear wheel 343 and the collision point 41 can be reduced, so that the driving torque required for the rear wheel 343 to cross the obstacle can be reduced. Referring to the ninth figure, the chassis mechanism 3 spans a 60 mm obstacle process diagram, and the chassis mechanism 3 front wheel 323 starts to cross the obstacle ( State 1) to completion cross-barrier (state 2) seat inclination varies from 0 degrees to 4_17 degrees; drive wheel 332 begins to cross-barrier (state 3) to complete cross-barrier (state 4) seat angle is reversed 4· 17 degrees change to rearward inclination of 4 78 degrees; rear wheel 343 begins to cross barrier (state 5) to complete cross barrier (state 6) The tilt angle of the seat is 4 to 78 degrees back to the twist, and the tilt angle of the seat of the chassis mechanism 3 spanning 60 mm is only 4 78 degrees, so the occupant's discomfort can be reduced. β 10 1331913 The above description shows that the electric wheelchair The vibration generated by the collision between the wheel and the obstacle during the cross-barrier will cause the occupant's discomfort. If the difficulty of the cross-barrier is higher (a larger driving torque or a higher speed is required to cross the obstacle), the vibration generated by the collision will be larger. The occupant's discomfort will also increase. The chassis mechanism 3, which is better implemented in this creation, has good cross-barrier capability and can reduce the vibration generated by the cross-barrier process. Further, the occupant's discomfort is reduced and the comfort is improved. In addition, the chassis mechanism 3 preferably implemented in the present invention respectively mounts the front wheel 323, the driving wheel 332 and the rear wheel 343 on different members, the front wheel 322 and the driving wheel. The 332 and the rear wheel 343 can be moved to each other. When the front wheel 323, the driving wheel 332 and the rear wheel 343 cross the obstacle, each wheel can maintain the grounding and the terrain is changed and the stability is high. Who present a more creative angle change amount (4.78 degrees) improves significantly the disadvantages by the seat across the barrier during shaking, so the creation of a comfort, safety and the ability to cross the barrier and, with a novel and highly invention. I am only a preferred embodiment of this creation. When it is not possible to limit this simple _ (four), each made 1331913 [circle type simple turn] The first picture is a side view of the conventional six-wheel electric wheelchair chassis mechanism The second embodiment of the preferred embodiment of the present invention is a perspective view of the preferred embodiment of the present invention (n fourth embodiment is a preferred embodiment of the present invention) The present invention is a side view of a preferred embodiment of the present invention. The eighth diagram of the obstacle process is a schematic diagram of the rear wheel cross-barrier process of the preferred embodiment of the present invention. The ninth figure is the change of the seat inclination angle of the cross-barrier process of the preferred embodiment of the present invention. [Main Miscellaneous #明] 1 Chassis mechanism 11 car Rack device 111 frame 1111 pivot 1112 pole shaft 112 rear steering arm 1121 steering shaft 1122 rear wheel pivot 113 rear wheel 12 front wheel frame device 121 front wheel frame 1211 pivot 1212 pivot 122 front steering arm 1221 steering shaft 1222 刖 wheel shaft 123 front wheel 13 drive wheel frame device 131 drive wheel frame 1311 drive wheel pivot 132 drive wheel 14 linkage 141 linkage rod 15 elastic return device 151 front spring 152 rear spring 16 drive unit 161 electric motor 2 body support 21 seat 22 backrest 23 armrest 24 headrest 25 foot pedal 12