CN109353436B

CN109353436B - Three-wheeled logistics vehicle capable of adjusting swing angle according to human-computer interaction

Info

Publication number: CN109353436B
Application number: CN201811109757.9A
Authority: CN
Inventors: 王国富
Original assignee: Zhejiang Rap Intelligent Vehigle Co ltd
Current assignee: Zhejiang Rap Intelligent Vehigle Co ltd
Priority date: 2018-09-21
Filing date: 2018-09-21
Publication date: 2020-09-01
Anticipated expiration: 2038-09-21
Also published as: CN109353436A

Abstract

The invention discloses a three-wheeled logistics vehicle for adjusting a swing angle according to human-computer interaction, which adopts the technical scheme that the logistics vehicle comprises a front vehicle body, a rear vehicle body and a swing mechanism, wherein the swing mechanism comprises: the swing mechanism comprises a locking block and a follow-up block, a locking rod is slidably mounted on the follow-up block, a locking groove opposite to the locking rod is formed in the locking block, limiting stop shoulders are arranged on two sides of the locking block, and a driving assembly used for controlling the locking rod to move so as to be inserted into or separated from the locking groove is further arranged in the swing shell; the swing angle adjusting mechanism comprises limiting stop blocks which are slidably mounted on a swing shell and are respectively positioned on two sides of a swing shaft, the limiting stop blocks are opposite to limiting stop shoulders, an adjusting motor is arranged on the swing shell, and an output shaft of the adjusting motor is provided with an adjusting component which is used for driving the limiting stop blocks to slide so as to adjust the distance between the limiting stop shoulders and the limiting stop blocks.

Description

Three-wheeled logistics vehicle capable of adjusting swing angle according to human-computer interaction

Technical Field

The invention relates to the technical field of vehicle control, in particular to a three-wheel logistics vehicle for adjusting a swing angle according to human-computer interaction.

Background

The tricycle has been widely used in the production and life of people, because of its advantages of convenient carrying, simple operation, low price, good quality, durability and the like. Among them, in the field of logistics transportation, the transportation method is often applied to transportation of the electric tricycle.

The known tricycle is a vehicle with a front wheel and two rear wheels, and adopts a front vehicle body supported by the front wheel and a rear vehicle body fixed connection structure supported by the two rear wheels. When the tricycle turns in a certain direction at a higher speed or with a larger turning angle or with a larger loaded cargo volume and a heavier load, the tricycle may be turned over by some carelessness.

The applicant has found that in the prior art, a front body and a rear body of a tricycle are separately arranged, and the front body and the rear body are connected through a swing shaft, so that the front body of the tricycle can swing in the circumferential direction along the swing shaft as an axial direction, and the safety of the tricycle in over-bending is improved.

However, when the tricycle is bent over, the swing range of the front body is fixed, and when the tricycle passes through a large-angle curve, the large-angle swing of the front body can well complete the bending over action. If the tricycle passes through a small-angle curve, the large-angle swing of the front body can easily cause a driver to turn over from the front body, so that the swing angle of the front body cannot be controlled, and the use convenience of the tricycle is influenced.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide the three-wheel logistics vehicle for adjusting the swing angle according to human-computer interaction, and the use convenience of the three-wheel logistics vehicle can be improved to a certain extent.

The technical purpose of the invention is realized by the following technical scheme:

the utility model provides a three-wheeled commodity circulation car of angle modulation sways according to human-computer interaction, includes preceding automobile body, back automobile body and connects in the wabbler mechanism of preceding automobile body and back automobile body, the wabbler mechanism includes:

the swinging shell is fixedly arranged on the front vehicle body;

one end of the swinging shaft is fixedly arranged on the rear vehicle body, and the other end of the swinging shaft is inserted into the swinging shell and is fixed through a bearing;

the locking mechanism is arranged in the swing shell and used for controlling the swing shell to be locked on the swing shaft, the locking mechanism comprises a locking block which is fixedly sleeved on the swing shaft and a follow-up block which is fixedly arranged on the swing shell and covers the swing shaft, a locking rod is slidably arranged on the follow-up block, a locking groove opposite to the locking rod is formed in the locking block, limiting stop shoulders are arranged on two sides of the locking block, and a driving assembly used for controlling the locking rod to move so as to be inserted into or separated from the locking groove is further arranged in the swing shell;

swing angle adjustment mechanism, including slidable mounting just be located the limit stop who sways the axle both sides respectively on swaying the casing, limit stop is relative with the spacing fender shoulder, it is provided with adjusting motor on the casing to sway, install on adjusting motor's the output shaft and be used for ordering about the adjusting part that limit stop slided in order to adjust spacing fender shoulder and spacing between the limit stop.

Through the technical scheme, the front vehicle body and the rear vehicle body of the electric three-wheel logistics vehicle are separated from each other, the swing shell is fixed on the front vehicle body, and one end of the swing shaft is fixed on the rear vehicle body, so that the front vehicle body can circumferentially swing along the axis direction of the swing shaft;

the adjusting assembly is used for adjusting the distance between the limiting stop shoulder and the limiting stop block to achieve the purpose of adjusting the maximum swing angle of the swing shell, namely adjusting the swing angle of the front vehicle body, and when a driver drives the three-wheeled logistics vehicle to pass through a small-angle curve, the adjusting assembly is used for reducing the swing angle of the front vehicle body; when the three-wheeled logistics vehicle passes through a large-angle curve, the swing angle of the front vehicle body is increased through the adjusting assembly, so that the over-curve gravity center of the three-wheeled logistics vehicle is changed, and the three-wheeled logistics vehicle is prevented from toppling due to too high speed when passing through a curve; from this, through adjusting part's setting in this application, the swing angle of automobile body before adjusting to different situations to the use convenience of this tricycle commodity circulation car has been improved.

Preferably, the driving assembly includes:

the device comprises a pushing cylinder, a first connecting section, a second connecting section and a third connecting section are sequentially arranged in the pushing cylinder, the first connecting section and the third connecting section are respectively fixed at two ends of the pushing cylinder through pins, a first sliding rod is connected to the first connecting section, the first sliding rod is slidably mounted on a swinging shell, a first spring is mounted between the second connecting section and the first connecting section, a second spring is mounted between the second connecting section and the third connecting section, and an adaptive groove is formed in the side wall of the pushing cylinder;

one end of the linkage rod penetrates through the adaptive groove and is hinged to the second connecting section, the middle of the linkage rod is hinged to the follow-up block, and the other end of the linkage rod is hinged to the locking rod;

and the driving motor is arranged on the swinging shell, and a driving part for driving the pushing cylinder to slide back and forth is arranged on an output shaft of the driving motor.

Through the technical scheme, the driving motor drives the pushing cylinder to slide towards one side of the front vehicle body, the pushing cylinder drives the linkage rod to rotate, so that the locking rod is separated from the locking groove, and the separation between the swinging shell and the swinging shaft is realized; on the contrary, the driving motor drives the pushing cylinder to slide towards one side of the swinging shaft, the pushing cylinder drives the linkage rod to rotate, at the moment, if the front vehicle body is back, the locking groove is opposite to the locking rod, and the locking rod is inserted into the locking groove under the action of the pushing cylinder, so that the swinging shell is locked on the swinging shaft; if preceding automobile body does not return just, the locking groove does not relative with the locking pole, and the cushioning effect that first spring and second spring provided can avoid driving motor to take place the circumstances of stifled commentaries on classics, returns just until preceding automobile body, and the locking groove is relative with the locking pole, and the elastic potential energy that first spring and second spring provided is in order to enter into the locking groove with the automatic grafting of locking pole, realizes swaing the epaxial locking of casing at the rocking.

Preferably, the driving part comprises a mounting shell fixed in the swinging shell and a first screw rod rotatably mounted in the mounting shell;

the mounting shell is provided with a driving rod which extends into the mounting shell in a sliding mode, the driving rod is arranged in a hollow mode, one end of the driving rod is sleeved on the first screw rod and is in threaded connection with the first screw rod, the other end of the driving rod is provided with a linkage piece, the linkage piece is connected with the third connecting section, and the linkage piece is further arranged on the swinging shell in a sliding mode through the second sliding rod;

and a first gear is installed on an output shaft of the driving motor, and a second gear meshed with the first gear is installed on the first screw rod.

Through above-mentioned technical scheme, driving motor orders about first gear rotation, and first gear drives first lead screw through the second gear and rotates, and actuating lever threaded connection is on first lead screw, and from this, the corotation and the reversal of first lead screw will drive the actuating lever and slide around on the installation shell to slide around driving the promotion section of thick bamboo through the linkage piece.

Preferably, the front vehicle body is provided with a selection switch for controlling the driving motor to rotate forward or backward.

Through above-mentioned technical scheme, through the predetermined cycle of selector switch control driving motor corotation or reversal, drive the locking pole through driving motor from this and break away from or peg graft in the locking groove, improve preceding automobile body swing or the convenience of not swing operation.

Preferably, the adjusting assembly comprises linkage blocks which are slidably mounted on two sides of the bottom of the swinging shell, a first inclined plane is formed on each linkage block, a second inclined plane matched with the first inclined plane is formed on each limit stop, and a linkage assembly is arranged between the first inclined plane and the second inclined plane;

the bottom of the swing shell is rotatably provided with a second lead screw, the second lead screw is connected to an output shaft of the adjusting motor, the linkage blocks on two sides of the bottom of the swing shell are connected with a connecting support, the connecting support is provided with a threaded hole in threaded connection with the second lead screw, and the adjusting motor is connected with a control device for controlling the adjusting of the number of rotating turns of the adjusting motor.

Through the technical scheme, the control device controls the adjusting motor to rotate the number of turns, the adjusting motor rotates to drive the linkage block to slide back and forth, the linkage block drives the limit stop to slide up and down under the action of the first inclined plane and the second inclined plane, the purpose of changing the distance between the limit stop and the limit stop shoulder is achieved, and the adjustment of the swing angle of the front automobile body is achieved.

Preferably, the linkage assembly includes a dovetail block disposed on the first inclined surface, and a dovetail groove disposed on the second inclined surface to mate with the dovetail block.

Through above-mentioned technical scheme, through the cooperation of dovetail block and dovetail in order to realize the linkage between linkage block and the limit stop, improve the stability of being connected between linkage block and the limit stop.

Preferably, the control device includes:

the signal acquisition part comprises an angle sensor for acquiring the rotation angle of a front vehicle body handle to output an angle value A and a vehicle speed sensor for acquiring the vehicle speed of the front vehicle body to output a vehicle speed value B;

the turn number calculating part is used for obtaining the rotation turn number n of the adjusting motor according to a formula n-K1A + K2B, and generating a corresponding pulse signal according to the rotation turn number n so as to control the adjusting motor to rotate through the motor driving circuit;

wherein, K1 is the conversion coefficient of the angle value, and K2 is the conversion coefficient of the vehicle speed value.

According to the technical scheme, when the three-wheeled logistics vehicle turns, the larger the handle rotation angle of the front vehicle body is, the more serious the gravity center deviation of the front vehicle body is, and the faster the vehicle speed of the front vehicle body is, the larger the inertia of the front vehicle body is, and the three-wheeled logistics vehicle is very easy to roll by combining the two conditions, so that the angle value of the handle of the front vehicle body and the vehicle speed of the front vehicle body are collected in real time by the signal collection part, the rotation number of turns of the adjusting motor is calculated by the turn number part, and the swing angle value of the front vehicle body is changed in real;

make under the condition that handle turned angle is big more, the speed of a motor vehicle is faster, the accommodate motor rotates and will improve spacing between limit stop and the spacing fender shoulder, improves preceding automobile body wobbling angle to further improve the convenience that the navigating mate used to tricycle commodity circulation car.

Preferably, the control device further includes:

the monitoring encoder is arranged on the adjusting motor and used for recording an initial station of the adjusting motor;

the rotation angle monitoring part is used for acquiring an angle value output by the angle sensor and judging whether the angle value is larger than a preset angle value or not, and if so, the rotation of the adjusting motor is controlled by the turn number calculating part; otherwise, if not, controlling the adjusting motor to return to the initial station.

Through the technical scheme, the rotation angle monitoring part is used for monitoring the angle value output by the angle sensor, when the rotation angle of the handle is larger than the preset angle, data are collected through the signal collecting part, and the turn number calculating part automatically controls and adjusts the rotation of the motor without intervention of a driver for operation; on the contrary, when the rotation angle of the handle is smaller than the preset angle, namely the handle is back to the right, the control adjusting motor is returned to the initial station, and the adjusting motor is arranged on the initial station, so that the swing angle of the front vehicle body is maintained at a small amplitude.

Preferably, the control device comprises an adjusting switch for controlling and adjusting the number of forward turns or reverse turns of the motor.

Through above-mentioned technical scheme, the navigating mate adjusts motor corotation number of turns and reversal number of turns through regulating switch manual control to automobile body swing angle before the regulation, can dispose according to navigating mate's personal condition manual automation through regulating switch's setting, in order to further improve this tricycle commodity circulation car's use convenience.

Preferably, it is fixed with the damping lantern ring to cup joint on the axle to sway, it is provided with the damping installation cavity to sway the casing to be located damping lantern ring department, the cross setting of personally submitting of damping lantern ring, the damping rubber piece is installed in the four corners department that the damping installation cavity is located the damping lantern ring, the damping rubber piece has the arc disc of contradicting with the damping lantern ring.

Through the technical scheme, when the swinging shell circumferentially rotates along the axial direction of the swinging shaft, the damping rubber block is compressed by the damping lantern ring, so that a certain damping buffer effect is provided for the swinging shell, the resetting force of the swinging shell is provided, the swinging stability of the front automobile body is improved, and the front automobile body is convenient to return;

returning to just at the handle, when adjusting motor replied the station, use through the above-mentioned adjusting motor of damping rubber piece and damping lantern ring cooperation, automobile body returns just to order about before can providing, avoids adjusting motor to take place the circumstances of locked rotor to a certain extent.

In summary, compared with the prior art, the beneficial effects of the invention are as follows:

1. the distance between the limiting stop shoulder and the limiting stop block is adjusted through the adjusting assembly, and the swing angle of the front vehicle body is adjusted according to different conditions, so that the use convenience of the three-wheeled logistics vehicle is improved;

2. the angle value of the front vehicle body handle and the speed of the front vehicle body are collected in real time through the signal collecting part, the number of rotation turns of the adjusting motor is calculated through the turn number calculating part, the swing angle value of the front vehicle body is changed in real time, and the use convenience of a driver for the three-wheeled logistics vehicle is further improved.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic structural diagram of an embodiment;

FIG. 2 is a schematic structural diagram of a swing case in an embodiment;

FIG. 3 is a schematic structural view of a lock mechanism in the embodiment;

FIG. 4 is a schematic structural diagram of a driving part in the embodiment;

FIG. 5 is a schematic structural view of a swing shaft in the embodiment;

FIG. 6 is a schematic structural view of a rocking angle adjusting mechanism in the embodiment;

FIG. 7 is a schematic structural view of a linkage assembly according to an embodiment;

FIG. 8 is a circuit diagram of a control device in one embodiment;

fig. 9 is a circuit diagram of a control device in another embodiment.

Reference numerals: 1. a front vehicle body; 2. a rear body; 3. a swing case; 31. an upper housing; 32. a lower housing; 33. a bearing; 4. a swing shaft; 5. a locking mechanism; 51. a locking block; 52. a follower block; 53. a lock lever; 54. a locking groove; 55. a limiting shoulder; 56. a drive assembly; 561. pushing the barrel; 562. a linkage rod; 563. a drive motor; 564. a first connection section; 565. a second connection section; 566. a third connection section; 567. a first slide bar; 568. a fixed mount; 569. a first spring; 570. a second spring; 571. an adaptation groove; 6. a swing angle adjusting mechanism; 61. a limit stop block; 62. adjusting the motor; 63. an adjustment assembly; 631. a linkage block; 632. a first inclined plane; 633. a second inclined plane; 634. a linkage assembly; 6341. a dovetail block; 6342. a dovetail groove; 635. a second lead screw; 636. connecting a bracket; 7. a handle; 8. a cargo box; 9. a first spline section; 10. a first ring gear; 11. a receiving frame; 12. a drive section; 121. mounting a shell; 122. a first lead screw; 123. a drive rod; 124. a linkage piece; 125. a second slide bar; 126. a first gear; 127. a second gear; 13. a selector switch; 14. a damping collar; 15. a second spline section; 16. a second ring gear; 17. a damping rubber block; 18. abutting edges; 19. a buffer chamber.

Detailed Description

In order to better and clearly show the technical scheme of the invention, the invention is further described with reference to the attached drawings.

As shown in fig. 1, a three-wheeled logistics vehicle for adjusting a swing angle according to human-computer interaction comprises a front vehicle body 1, a rear vehicle body 2 and a swing mechanism, wherein the front vehicle body 1 and the rear vehicle body 2 are arranged in a split manner, a handle 7 is arranged on the front vehicle body 1, a cargo box 8 is arranged on the rear vehicle body 2, the swing mechanism is used for connecting the front vehicle body 1 and the rear vehicle body 2, and the front vehicle body 1 can swing circumferentially along the axial direction of the swing mechanism under the action of the swing mechanism so as to improve the safety of over-bending.

As shown in fig. 2, the rocking mechanism includes a rocking housing 3, a rocking shaft 4, a lock mechanism 5, and a rocking angle adjusting mechanism 6. Specifically, the swing shell 3 is fixedly mounted on the front vehicle body 1 by bolts, the swing shell 3 includes an upper shell 31 and a lower shell 32, the upper shell 31 is fixedly mounted on the lower shell 32 by bolts, and the upper shell 31 and the lower shell 32 are combined to form a mounting space for mounting the swing shaft 4, the locking mechanism 5 and the swing angle adjusting mechanism 6.

One end of the rocking shaft 4 is fixed to the rear body 2 by a bolt, and the other end of the rocking shaft 4 is inserted into the mounting space of the rocking housing 3 and fixed by a bearing 33, whereby the rocking shaft 4 can be held stationary and the rocking housing 3 can be rocked in the circumferential direction along the axial direction of the rocking shaft 4.

A locking mechanism 5 is provided in the swing housing 3 for controlling the swing housing 3 to be locked on the swing shaft 4 or controlling the swing housing 3 to be freely swingable on the swing shaft 4.

As shown in fig. 3 and 5, the locking mechanism 5 includes a locking block 51 fixed to the rocking shaft 4 in a sleeved manner, and a follower block 52 fixed to the rocking housing 3 by a bolt and covering the rocking shaft 4. In this embodiment, the swing shaft 4 has a first spline section 9, the locking block 51 has a first ring gear 10, and the locking block 51 is sleeved on the swing shaft 4 through the first ring gear 10 and is matched with the first spline section 9, so as to realize the sleeved fixing of the locking block 51 on the swing shaft 4.

A locking rod 53 is slidably mounted on the follower block 52, a locking groove 54 opposite to the locking rod 53 is formed in the locking block 51, limiting blocking shoulders 55 are arranged on two sides of the locking block 51, and a driving assembly 56 for controlling the locking rod 53 to move so as to be inserted into or separated from the locking groove 54 is further arranged in the swing shell 3.

The driving assembly 56 includes a pushing cylinder 561, a linkage 562 and a driving motor 563, the pushing cylinder 561 is hollow, a first connection section 564, a second connection section 565 and a third connection section 566 are sequentially arranged in the pushing cylinder 561, the first connection section 564 and the third connection section 566 are respectively fixed at two ends of the pushing cylinder 561 through pins, the first connection section 564 is connected with a first sliding rod 567, two ends of the pushing cylinder 561 of the swinging housing 3 are respectively provided with a fixing frame 568, the first sliding rod 567 is slidably mounted on the fixing frame 568 of the swinging housing 3, a first spring 569 is mounted between the second connection section 565 and the first connection section 564, a second spring 570 is mounted between the second connection section 565 and the third connection section 566, and an adaptive groove 571 is formed in a side wall of the pushing cylinder 561.

One end of the linkage rod 562 passes through the adapting groove 571 and is hinged on the second connecting section 565, the middle part of the linkage rod 562 is hinged on the bearing frame 11 extending out of the follow-up block 52, and the other end of the linkage rod 562 is hinged on the locking rod 53.

As shown in fig. 3 and 4, the driving motor 563 is mounted on the swing case 3, and a driving portion 12 for driving the pushing cylinder 561 to slide back and forth is mounted on an output shaft of the driving motor 563. The driving portion 12 includes a mounting shell 121 fixed in the swing shell 3, and a first lead screw 122 rotatably installed in the mounting shell 121, a driving rod 123 extending into the mounting shell 121 is slidably installed on the mounting shell 121, the driving rod 123 is a hollow setting, one end of the driving rod 123 is sleeved on the first lead screw 122 and is in threaded connection with the first lead screw 122, a linkage piece 124 is installed at the other end of the driving rod 123, the linkage piece 124 is connected with the third connecting section 566, and the linkage piece 124 is further slidably installed on a fixing frame 568 of the swing shell 3 through a second slide bar 125. The output shaft of the driving motor 563 is provided with a first gear 126, and the first lead screw 122 is provided with a second gear 127 engaged with the first gear 126.

As shown in fig. 8, the front body 1 is provided with a selector switch 13 for controlling the forward rotation or reverse rotation of the drive motor 563. Specifically, the three-wheeled logistics vehicle further comprises a vehicle body controller, and the driving motor 563 adopts a servo motor. The selection switch 13 is connected to the vehicle body controller, and the vehicle body controller is connected to the driving motor 563 through the motor driving circuit, so, by toggling the selection switch 13, the vehicle body controller can output a corresponding control signal to the motor driving circuit, the motor driving circuit outputs a PWM signal of a corresponding period, and the driving motor 563 rotates a corresponding number of turns in response to the PWM signal to realize that the locking rod 53 is disengaged from or inserted into the locking groove 54.

In this embodiment, as shown in fig. 6 and 7, the swing angle adjusting mechanism 6 includes a limit stop 61 slidably mounted on the swing housing 3 and respectively located on two sides of the swing shaft 4, the limit stop 61 is opposite to the limit stop shoulder 55, an adjusting motor 62 is disposed on the swing housing 3, the adjusting motor 62 is fixedly disposed at the bottom of the swing housing 3, and an output shaft of the adjusting motor 62 is provided with an adjusting assembly 63 for driving the limit stop 61 to slide to adjust the distance between the limit stop shoulder 55 and the limit stop 61.

The adjusting component 63 includes a linking block 631 slidably mounted on two sides of the bottom of the swing housing 3, a first inclined plane 632 is disposed on the linking block 631, a second inclined plane 633 matched with the first inclined plane 632 is disposed on the limit stop 61, and a linking component 634 is disposed between the first inclined plane 632 and the second inclined plane 633. Specifically, the linkage assembly 634 includes a dovetail block 6341 disposed on the first ramp 632, and a dovetail slot 6342 disposed on the second ramp 633 that mates with the dovetail block 6341. In this embodiment, the inclination angles of the first slope 632 and the second slope 633 are 45 °.

The bottom of the swing shell 3 is rotatably provided with a second lead screw 635, the second lead screw 635 is connected to an output shaft of the adjusting motor 62 through a coupling, a connecting bracket 636 is connected between linkage blocks 631 on two sides of the bottom of the swing shell 3, a threaded hole in threaded connection with the second lead screw 635 is formed in the connecting bracket 636, and the adjusting motor 62 is connected with a control device for controlling the adjusting motor 62 to rotate for adjusting the number of turns.

In one embodiment, as shown in fig. 8, the control device includes a signal collecting part and a lap calculating part, which are respectively electrically connected to the vehicle body controller. Specifically, the signal acquisition section includes an angle sensor for acquiring a rotation angle of the handle 7 of the front vehicle body 1 to output an angle value a, and a vehicle speed sensor for acquiring a vehicle speed of the front vehicle body 1 to output a vehicle speed value B.

The turn number calculating part is used for acquiring an angle value A output by the angle sensor and a vehicle speed value B output by the vehicle speed sensor, acquiring the rotation turn number n of the adjusting motor 62 according to a formula n, namely K1A + K2B, and generating a corresponding pulse signal according to the rotation turn number n by the vehicle body controller so as to control the adjusting motor 62 to rotate through the motor driving circuit; wherein, K1 is the conversion coefficient of the angle value, and K2 is the conversion coefficient of the vehicle speed value.

It is worth to say that the control device further includes a monitoring encoder and a rotation angle monitoring portion, wherein the monitoring encoder is arranged on the adjusting motor 62 and used for recording an initial station and a rotation number n of the adjusting motor 62. In this embodiment, when the adjustment motor 62 is in the initial position, the maximum swing angle of the front body 1 is 5 °.

The rotation angle monitoring part is used for acquiring an angle value A output by the angle sensor and judging whether the angle value A is larger than a preset angle value, if so, the adjusting motor 62 is controlled to rotate by the turn number calculating part. Specifically, the rotation angle monitoring part monitors the rotation angle value of the handle 7 in real time, when the rotation angle value of the handle 7 is larger than the preset angle value, the rotation angle monitoring part is started through the vehicle controller control turn number calculating part, the rotation of the adjusting motor 62 is controlled in real time through the turn number calculating part according to the data feedback of the signal collecting part, and the adjusting motor 62 controls the limit stop 61 to slide downwards so as to improve the distance between the limit stop 61 and the limit stop shoulder 55, so that the maximum swing angle value of the front vehicle body 1 is improved.

In controlling the swing angle of the front body 1 by the turn number calculating part, in the embodiment, the maximum angle value of the swing angle of the front body 1 is 45 °, and the minimum angle value of the swing angle of the front body 1 is 5 ° (i.e., at the initial station of the adjusting motor 62). The inclination angles of the first inclined plane 632 and the second inclined plane 633 are 45 °, so that the moving distance of the limit stop 61 is a fixed value every time the adjusting motor 62 rotates one turn, and the adjustment of the maximum swing angle of the front vehicle body 1 is a fixed value.

On the contrary, when the rotation angle value of the handle 7 is smaller than the preset angle value, the rotation angle monitoring part directly controls the adjusting motor 62 to return to the initial station through the vehicle body controller.

In another embodiment, as shown in FIG. 9, the control means includes an adjustment switch for controlling the number of forward or reverse rotations of the adjustment motor 62. The adjusting switch is arranged on the handle 7 of the front vehicle body 1 and is a knob switch, the adjusting switch is electrically connected with the vehicle body controller, and the vehicle body controller can control the adjusting motor 62 to rotate forward or backward for corresponding turns according to the rotation angle of the adjusting switch so as to adjust the swing angle of the front vehicle body 1.

In the application, as shown in fig. 5, a damping lantern ring 14 is fixedly sleeved on the swing shaft 4, a damping mounting cavity is arranged at the position, located at the damping lantern ring 14, of the swing shell 3, wherein a second spline section 15 is arranged on the swing shaft 4, a second inner gear ring 16 is arranged on the damping lantern ring 14, and the damping lantern ring 14 is sleeved on the swing shaft 4 through the second inner gear ring 16 and is matched with the second spline section 15 to realize the sleeved fixing of the damping lantern ring 14 on the swing shaft 4.

It is worth to be noted that the cross section of the damping lantern ring 14 is in a cross shape, the damping rubber block 17 is installed at the four corners of the damping lantern ring 14 in the damping installation cavity, the damping rubber block 17 is provided with an arc-shaped circular surface abutting against the damping lantern ring 14, the damping lantern ring 14 is provided with an abutting edge 18 abutting against the damping rubber block 17, a buffer cavity 19 is formed in the abutting edge 18, and the abutting edge 18 adjacent to the damping lantern ring 14 is provided with an arc surface contacting with the arc-shaped circular surface.

The damping rubber ring and the damping lantern ring 14 are arranged to provide a certain damping buffering effect for the swing shell 3, so that the reset force of the swing shell 3 is provided, the swing stability of the front automobile body 1 is improved, and the front automobile body 1 is convenient to return to the right. Just, adjust motor 62 and reply the station at handle 7, use through above-mentioned adjust motor 62 of damping rubber block 17 and damping lantern ring 14 cooperation, can provide preceding automobile body 1 and just drive about, avoid adjust motor 62 to a certain extent to take place the circumstances of stifled commentaries on classics.

The working process is as follows:

when a driver wants to swing the front vehicle body 1 when driving the three-wheeled logistics vehicle, the driver controls the driving motor 563 to rotate by toggling the selection switch 13 on the front vehicle body 1, the driving motor 563 drives the pushing cylinder 561 to slide towards one side of the front vehicle body 1, the pushing cylinder 561 drives the linkage rod 562 to rotate, so that the locking rod 53 is separated from the locking groove 54, and the separation between the swinging shell 3 and the swinging shaft 4 is realized;

in one embodiment, at this time, the adjustment motor 62 is in the initial position, the spacing between the limit stop 61 and the limit stop shoulder 55 is small, and the maximum angle value of the front vehicle body 1 swinging is 5 °. At this time, the rotation angle monitoring part constantly monitors the rotation angle value of the handle 7, and when the rotation angle value of the handle 7 is larger than the preset angle value, the vehicle body controller can automatically control the rotation of the adjusting motor 62 according to the data collected by the signal collecting part.

Specifically, the vehicle body controller receives an angle value A output by the angle sensor and a vehicle speed value B output by the vehicle speed sensor, and feeds the angle value A and the vehicle speed value B back to the turn number calculation part, the turn number calculation part obtains a rotation turn number n according to a formula K1A + K2B, the vehicle body controller generates a corresponding pulse signal to the motor driving circuit based on the rotation turn number n, and controls the adjusting motor 62 to rotate a corresponding turn number through the motor driving circuit, so that the distance between the limit stop 61 and the limit stop shoulder 55 is adjusted in real time, and the purpose of adjusting the swing angle of the front vehicle body 1 is achieved.

Therefore, when a driver drives the three-wheeled logistics vehicle to advance, the three-wheeled logistics vehicle can automatically change the swing angle of the front vehicle body 1 according to the angle of the curve and the current vehicle speed, so that the gravity center position of the three-wheeled logistics vehicle is changed, the three-wheeled logistics vehicle is prevented from toppling over, the riding comfort of the driver can be improved, and the use convenience of the three-wheeled logistics vehicle is improved.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims

1. The utility model provides a three-wheeled commodity circulation car of angle modulation sways according to human-computer interaction, includes preceding automobile body (1), back automobile body (2) and connects in the wabbler mechanism of preceding automobile body (1) and back automobile body (2), its characterized in that, wabbler mechanism includes:

the swing shell (3) is fixedly arranged on the front vehicle body (1);

a swing shaft (4) having one end fixedly mounted on the rear body (2) and the other end inserted into the swing housing (3) and fixed by a bearing (33);

the locking mechanism (5) is arranged in the swing shell (3) and used for controlling the swing shell (3) to be locked on the swing shaft (4), the locking mechanism (5) comprises a locking block (51) fixedly sleeved on the swing shaft (4) and a follow-up block (52) fixedly installed on the swing shell (3) and coated outside the swing shaft (4), a locking rod (53) is installed on the follow-up block (52) in a sliding mode, a locking groove (54) opposite to the locking rod (53) is formed in the locking block (51), limiting blocking shoulders (55) are arranged on two sides of the locking block (51), and a driving assembly (56) used for controlling the locking rod (53) to move so as to be inserted into or separated from the locking groove (54) is further arranged in the swing shell (3);

swing angle adjustment mechanism (6), including slidable mounting on swinging casing (3) and be located respectively and swing limit stop (61) of axle (4) both sides, limit stop (61) are relative with limit stop shoulder (55), it is provided with adjusting motor (62) on casing (3) to swing, install on the output shaft of adjusting motor (62) and be used for ordering about limit stop (61) and slide in order to adjust spacing stop shoulder (55) and spacing stop (61) between adjusting component (63) of interval.

2. The three-wheeled logistics vehicle for rocking angle adjustment according to human-computer interaction of claim 1, characterized in that the driving assembly (56) comprises:

the device comprises a pushing barrel (561), wherein a first connecting section (564), a second connecting section (565) and a third connecting section (566) are sequentially arranged in the pushing barrel (561), the first connecting section (564) and the third connecting section (566) are respectively fixed at two ends of the pushing barrel (561) through pins, a first sliding rod (567) is connected onto the first connecting section (564), the first sliding rod (567) is slidably mounted on a swinging shell (3), a first spring (569) is mounted between the second connecting section (565) and the first connecting section (564), a second spring (570) is mounted between the second connecting section (565) and the third connecting section (566), and an adaptive groove (571) is formed in the side wall of the pushing barrel (561);

one end of the linkage rod (562) passes through the adapting groove (571) and is hinged on the second connecting section (565), the middle part of the linkage rod is hinged on the follow-up block (52), and the other end of the linkage rod is hinged on the locking rod (53);

and the driving motor (563) is installed on the swinging shell (3), and a driving part (12) for driving the pushing cylinder (561) to slide back and forth is installed on an output shaft of the driving motor (563).

3. The three-wheeled logistics vehicle for adjusting the swing angle according to the man-machine interaction as claimed in claim 2, characterized in that the driving part (12) comprises a mounting shell (121) fixed in the swing shell (3) and a first screw rod (122) rotatably mounted in the mounting shell (121);

the mounting shell (121) is provided with a driving rod (123) extending into the mounting shell (121) in a sliding manner, the driving rod (123) is arranged in a hollow manner, one end of the driving rod (123) is sleeved on the first screw rod (122) and is in threaded connection with the first screw rod (122), the other end of the driving rod (123) is provided with a linkage piece (124), the linkage piece (124) is connected with the third connecting section (566), and the linkage piece (124) is further arranged on the swinging shell (3) in a sliding manner through the second sliding rod (125);

a first gear (126) is installed on an output shaft of the driving motor (563), and a second gear (127) meshed with the first gear (126) is installed on the first screw rod (122).

4. The three-wheeled logistics vehicle for adjusting the swing angle according to the human-computer interaction as claimed in claim 2, characterized in that the front vehicle body (1) is provided with a selection switch (13) for controlling the driving motor (563) to rotate forwards or backwards.

5. The three-wheeled logistics vehicle for adjusting the swing angle according to human-computer interaction as claimed in claim 1, wherein the adjusting assembly (63) comprises a linkage block (631) slidably mounted on two sides of the bottom of the swing housing (3), a first inclined surface (632) is formed on the linkage block (631), a second inclined surface (633) matched with the first inclined surface (632) is formed on the limit stop (61), and a linkage assembly (634) is arranged between the first inclined surface (632) and the second inclined surface (633);

the bottom of rocking casing (3) is rotated and is installed second lead screw (635), second lead screw (635) are connected on the output shaft of adjusting motor (62), are connected with linking bridge (636) on linkage block (631) of rocking casing (3) bottom both sides, set up the screw hole with second lead screw (635) threaded connection on linking bridge (636), be connected with on adjusting motor (62) and be used for controlling adjusting motor (62) and rotate the controlling means that the number of turns was adjusted.

6. The logistics vehicle of three wheels for swing angle adjustment according to human-computer interaction of claim 5, wherein the linkage assembly (634) comprises a dovetail block (6341) arranged on the first inclined surface (632) and a dovetail groove (6342) arranged on the second inclined surface (633) and matched with the dovetail block (6341).

7. The logistics vehicle with three wheels for adjusting the swing angle according to human-computer interaction as claimed in claim 5, wherein the control device comprises:

the signal acquisition part comprises an angle sensor for acquiring the rotation angle of a handle (7) of the front automobile body (1) to output an angle value A and a vehicle speed sensor for acquiring the vehicle speed of the front automobile body (1) to output a vehicle speed value B;

the turn number calculating part is used for acquiring the turn number n of the adjusting motor (62) according to a formula n-K1A + K2B, and generating a corresponding pulse signal according to the turn number n so as to control the adjusting motor (62) to rotate through a motor driving circuit;

8. The three-wheeled logistics vehicle for adjusting the swing angle according to human-computer interaction as claimed in claim 7, wherein the control device further comprises:

the monitoring encoder is arranged on the adjusting motor (62) and is used for recording the initial station of the adjusting motor (62);

the rotation angle monitoring part is used for acquiring an angle value output by the angle sensor and judging whether the angle value is larger than a preset angle value or not, if so, the rotation of the adjusting motor (62) is controlled by the turn number calculating part; otherwise, if not, the control adjusting motor (62) returns to the initial station.

9. The three-wheeled logistics vehicle for adjusting the swing angle according to the human-computer interaction as claimed in claim 5, wherein the control device comprises an adjusting switch for controlling and adjusting the number of forward turns or the number of reverse turns of the motor (62).

10. The three-wheeled logistics vehicle capable of adjusting the swing angle according to human-computer interaction as claimed in claim 1 or 7, wherein the swing shaft (4) is fixedly sleeved with a damping lantern ring (14), the swing shell (3) is provided with a damping mounting cavity at the position of the damping lantern ring (14), the cross section of the damping lantern ring (14) is in a cross shape, the damping mounting cavity is provided with damping rubber blocks (17) at four corners of the damping lantern ring (14), and the damping rubber blocks (17) are provided with arc-shaped circular surfaces which are abutted against the damping lantern ring (14).