CN109552512A

CN109552512A - Active tilt drive system, active tilt drive control method and delivery vehicle

Info

Publication number: CN109552512A
Application number: CN201811299909.6A
Authority: CN
Inventors: 柳宁
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-11-02
Filing date: 2018-11-02
Publication date: 2019-04-02
Anticipated expiration: 2038-11-02
Also published as: CN109552512B; WO2020088145A1

Abstract

The invention belongs to technical field of transportation means, it is related to a kind of active tilt drive system, active tilt drive control method and delivery vehicle, the active tilt drive system includes speed detector, rotation angle detecting apparatus and incline controller, when the speed detector detects that the travel speed of delivery vehicle is greater than preset value and the rotation angle detecting apparatus and detects that the steering angle of delivery vehicle to the left is more than the first default steering angle, the posture of left low and right high is presented in the incline controller control rack；When the speed detector detects that the travel speed of delivery vehicle is greater than preset value and the rotation angle detecting apparatus and detects that the steering angle of delivery vehicle to the right is more than the second default steering angle, the posture of right low left high is presented in the incline controller control rack.It controls rack by active tilt drive system to tilt to the left or to the right, when so that delivery vehicle traveling turning to, rack is able to maintain stabilization, avoids the rollover that delivery vehicle occurs.

Description

Active tilt drive system, active tilt drive control method and delivery vehicle

Technical field

The invention belongs to technical field of transportation means, drive more particularly to a kind of active tilt drive system, active tilt Flowing control method and delivery vehicle.

Background technique

Existing recumbent bicycle generally includes rack, running and driving system, driving and steering system, driving wheel and deflecting roller, driving Wheel is if front-wheel (1 or 2), then deflecting roller is rear-wheel (1 or 2), and driving wheel is then turned to if rear-wheel (1 or 2) Wheel is front-wheel (1 or 2).Running and driving system is for driving driving wheel to rotate, to drive recumbent bicycle to travel.Driving and steering system For driving steered wheel rotation, to drive recumbent bicycle to turn to.

The running and driving system of existing recumbent bicycle generally includes the portions such as pedal, big sprocket wheel, minor sprocket, chain and drive shaft Part rotates big sprocket wheel by foot pedal, and rotation is passed to minor sprocket by chain, and minor sprocket is fixed on the driving shaft, Thus drive shaft turns so that being directly connected to driving wheel rotation on the driving shaft, and then drive recumbent bicycle traveling.

The driving and steering system of existing recumbent bicycle generally includes handlebar and link mechanism, is driven and is connected by manipulation handlebar rotation Linkage movement, so that steered wheel rotation, and then recumbent bicycle is driven to turn to.

But since existing recumbent bicycle volume is larger, integrally it is difficult to carry (such as being difficult to move into elevator), and existing peace Dress mode, driving wheel and deflecting roller are typically only capable to dismantle, and without foldable, thus existing recumbent bicycle is very not readily portable, deposits Put and enter the small spaces such as elevator.

In addition, existing recumbent bicycle due to not having active tilt drive system, when travelling steering, reaches certain in speed When value, turning to the left or to the right is more than that certain angle is easy to turn on one's side.

Summary of the invention

The technical problems to be solved by the present invention are: reaching certain in speed when travelling steering for existing recumbent bicycle When value, turning to the left or to the right is more than that certain angle is easy to the defect turned on one's side, provide a kind of active tilt drive system, Active tilt drive control method and delivery vehicle.

In order to solve the above technical problems, on the one hand, the embodiment of the present invention provides a kind of active tilt drive system, for transporting Rack inclining control when load tool Turning travel, comprising:

Speed detector, for detecting the travel speed of delivery vehicle；

Rotation angle detecting apparatus, for detecting the steering angle of delivery vehicle；

Incline controller detects that the travel speed of delivery vehicle is greater than preset value and institute in the speed detector State rotation angle detecting apparatus detect the steering angle of delivery vehicle to the left be more than the first default steering angle when, the inclination control Device controls the posture that left low and right high is presented in rack；Detect that the travel speed of delivery vehicle is greater than in the speed detector When preset value and the rotation angle detecting apparatus detect that the steering angle of delivery vehicle to the right is more than the second default steering angle, institute State the posture that right low left high is presented in incline controller control rack.

On the other hand, the embodiment of the present invention also provides a kind of active tilt drive control method, comprising:

The travel speed of speed detector detection delivery vehicle；

The steering angle of rotation angle detecting apparatus detection delivery vehicle；

Detect that the travel speed of delivery vehicle is greater than preset value and roll angle inspection dress in the speed detector It sets when detecting that the steering angle of delivery vehicle to the left is more than the first default steering angle, the incline controller controls rack The posture of left low and right high is presented；

Detect that the travel speed of delivery vehicle is greater than preset value and roll angle inspection dress in the speed detector It sets when detecting that the steering angle of delivery vehicle to the right is more than the second default steering angle, the incline controller controls rack The posture of right low left high is presented.

In another aspect, the embodiment of the present invention also provides a kind of active tilt drive control method, comprising:

The travel speed of speed detector detection delivery vehicle；

Detect that the travel speed of delivery vehicle is greater than preset value and roll angle inspection dress in the speed detector Set incline controller control first when detecting that the steering angle of delivery vehicle to the left is more than the first default steering angle Damper and third shock absorbers compression, and control the second damper and the stretching of the 4th damper, either, the control mechanism control It makes first damper and third damper stretches, and control second damper and the 4th shock absorbers compression, so that The posture of left low and right high is presented in rack, at this point, the compression of the first damper and third damper or tensile speed and the second vibration damping The stretching of device and the 4th damper or compression speed are directly proportional to the travel speed of delivery vehicle and steering angle size；

Detect that the travel speed of delivery vehicle is greater than preset value and roll angle inspection dress in the speed detector Set incline controller control first when detecting that the steering angle of delivery vehicle to the right is more than the second default steering angle Damper and third damper stretch, and control the second damper and the 4th shock absorbers compression, either, the control mechanism control First damper and third shock absorbers compression are made, and controls second damper and the stretching of the 4th damper, so that The posture of right low left high is presented in rack, at this point, the stretching of the first damper and third damper or compression speed and described second The compression of damper and the 4th damper or tensile speed are directly proportional to the travel speed of delivery vehicle and steering angle size.

In another aspect, the embodiment of the present invention also provides a kind of active tilt drive control method characterized by comprising

The travel speed of speed detector detection delivery vehicle；

Detect that the travel speed of delivery vehicle is greater than preset value and roll angle inspection dress in the speed detector It sets when detecting that the steering angle of delivery vehicle to the left is more than the first default steering angle, the control mechanism controls the first vibration damping Device compression, and the second damper and the stretching of third damper are controlled, either, the control mechanism controls first damper It stretches, and controls second damper and third shock absorbers compression, so that the posture of left low and right high is presented in rack, at this point, The stretching of the compression of first damper or tensile speed and the second damper and third damper or compression speed with delivery work The travel speed and steering angle size of tool are directly proportional；

Detect that the travel speed of delivery vehicle is greater than preset value and roll angle inspection dress in the speed detector It sets when detecting that the steering angle of delivery vehicle to the right is more than the second default steering angle, the control mechanism controls the first vibration damping Device and third damper stretch, and control the second shock absorbers compression, and either, the control mechanism controls first damper And third shock absorbers compression, and control second damper and stretch, so that the posture of right low left high is presented in rack, at this point, The compression of the stretching of first damper and third damper or compression speed and the second damper or tensile speed with delivery work The travel speed and steering angle size of tool are directly proportional.

In another aspect, the embodiment of the present invention also provides a kind of delivery vehicle comprising above-mentioned active tilt drive system.

Active tilt drive system according to the present invention detects the traveling speed of delivery vehicle in the speed detector Degree is greater than preset value and the rotation angle detecting apparatus detects that the steering angle of delivery vehicle to the left is more than the first default steering angle When spending, the posture of left low and right high is presented in the incline controller control rack, detects delivery in the speed detector The travel speed of tool is greater than preset value and the rotation angle detecting apparatus and detects that the steering angle of delivery vehicle to the right is more than the When two default steering angles, the posture of right low left high is presented in the incline controller control rack.In this way, being turned in traveling When, it is tilted to the left or to the right by active tilt drive system active control rack, when so that delivery vehicle traveling turning to, rack It is able to maintain stabilization, avoids the rollover that delivery vehicle occurs.

Detailed description of the invention

Fig. 1 is the perspective view for the delivery vehicle that first embodiment of the invention provides；

Fig. 2 is the folding schematic diagram for the delivery vehicle that first embodiment of the invention provides；

Fig. 3 is the frame diagram of the active tilt drive system for the delivery vehicle that first embodiment of the invention provides；

Fig. 4 is the structural schematic diagram of the motor spring damper for the delivery vehicle that first embodiment of the invention provides；

Fig. 5 is the schematic diagram of the first control circuit for the delivery vehicle that first embodiment of the invention provides；

Fig. 6 is the schematic diagram of the second control circuit for the delivery vehicle that first embodiment of the invention provides；

Fig. 7 is the perspective view for the delivery vehicle that second embodiment of the invention provides；

Fig. 8 is the folding schematic diagram for the delivery vehicle that second embodiment of the invention provides；

Fig. 9 is the frame diagram of the active tilt drive system for the delivery vehicle that second embodiment of the invention provides；

Figure 10 is the schematic diagram of the first control circuit for the delivery vehicle that second embodiment of the invention provides；

Figure 11 is the schematic diagram of the second control circuit for the delivery vehicle that second embodiment of the invention provides；

Figure 12 is the schematic diagram of the third control circuit for the delivery vehicle that second embodiment of the invention provides；

Figure 13 is the perspective view for the delivery vehicle that third embodiment of the invention provides；

Figure 14 is the top view for the delivery vehicle that third embodiment of the invention provides；

Figure 15 is the cross-sectional view in the direction A-A along Figure 14；

Figure 16 is the cross-sectional view in the direction B-B along Figure 14；

Figure 17 is the cross-sectional view in the direction C-C along Figure 14；

Figure 18 is the cross-sectional view in the direction D-D along Figure 14；

Figure 19 is the folding schematic diagram for the delivery vehicle that third embodiment of the invention provides；

Figure 20 is the frame diagram of the active tilt drive system for the delivery vehicle that third embodiment of the invention provides；

Figure 21 is the structural schematic diagram of the oil cylinder spring cushion for the delivery vehicle that third embodiment of the invention provides；

Figure 22 is the schematic diagram of the hydraulic control system for the delivery vehicle that third embodiment of the invention provides；

Figure 23 is the perspective view for the delivery vehicle that fifth embodiment of the invention provides；

Figure 24 is the top view for the delivery vehicle that fifth embodiment of the invention provides；

Figure 25 is in Figure 24 along the cross-sectional view in the direction E-E；

Figure 26 is the folding schematic diagram for the delivery vehicle that fifth embodiment of the invention provides；

Figure 27 is the frame diagram of the active tilt drive system for the delivery vehicle that fifth embodiment of the invention provides；

Figure 28 is the schematic diagram of the hydraulic control system for the delivery vehicle that fifth embodiment of the invention provides.

Appended drawing reference in specification is as follows:

1a, rack；2a, the first damper；3a, the second damper；4a, third damper；5a, the 4th damper；6a, a left side Driving wheel；7a, right driving wheel；8a, the first lever；9a, the first cabinet；10a, the first driving motor；11a, the second lever；12a, Second cabinet；13a, the second driving motor；14a, left steering wheel；15a, right turn wheel；16a, third lever；17a, third case Body；18a, the first steering motor；19a, the 4th cabinet；20a, the second steering motor；21a, the first rotary shaft；22a, first Point；23a, the second fulcrum；24a, third rotary shaft；25a, third fulcrum；26a, the 4th fulcrum；27a, deflecting roller；28a, steering Motor；29a, switching support；30a, the first switching support；31a, the second switching support；32a, the 4th lever；

100a, speed detector；

200a, rotation angle detecting apparatus；

300a, incline controller；301a, control mechanism；

400a, motor spring damper；401a, damper cylinder；402a, shock-absorbing spring；403a, damping column；404a, motor； 405a, threaded rod；406a, threaded rod nut slider；407a, sliding rail；

1, rack；2, the first damper；3, the second damper；4, third damper；5, the 4th damper；6, left driving Wheel；7, right driving wheel；8, left steering wheel；9, right turn wheel；10, drive shaft；11, the first telescoping universal joint；12, second is flexible Universal joint；13, the first hollow lever；14, the second hollow lever；15, the first transmission shaft；16, second driving shaft；17, handle is turned to Hand；18, tooth sector group；1801, fluted disc；1802, tooth shaft；19, longitudinal drive shaft；20, horizontal drive shaft；21, third is flexible Universal joint；22, the 4th telescoping universal joint；23, the hollow lever of third；24, the 4th hollow lever；25, third transmission shaft；26, Four transmission shafts；27, the first fulcrum；28, the second fulcrum；29, third fulcrum；30, the 4th fulcrum；31, the first rotary shaft；32, Three rotary shafts；33, pedal；34, the first sprocket wheel；35, the second sprocket wheel；36, chain；37, first gear group；38, second gear Group；39, third gear set；40, the 4th gear set；41, the 5th gear set；42, the 6th gear set；43, the 7th gear set； 44, Eighth gear group；45, tumbler gear group；4501, worm gear；4502, worm screw；46, differential mechanism；47, oily pump driver gear；48, it passes Moving gear group；49, deflecting roller；50, the first switching support；51, the second switching support；52, adapter frame；

100, speed detector；

200, rotation angle detecting apparatus；

300, incline controller；301, control mechanism；

400, oil cylinder spring cushion；401, damper cylinder；402, shock-absorbing spring；403, oil cylinder；4031, piston；404, sliding Rail；

500, hydraulic control system；501, two-way oil pump；502, left side pipeline；503, right side pipeline；504, intermediate tube Road；505, the first valve；506, the second valve；

600, hydraulic control system；601, two-way oil pump；602, the first pipeline；603, the second pipeline；604, third pipe Road；605, intermediate duct；606, the first valve；607, the second valve；608, third valve.

Specific embodiment

In order to which the technical problems, technical solutions and beneficial effects solved by the present invention is more clearly understood, below in conjunction with Accompanying drawings and embodiments, the present invention is further described in detail.It should be appreciated that specific embodiment described herein is only To explain the present invention, it is not intended to limit the present invention.

First embodiment

As shown in Figures 1 and 2, first embodiment of the invention provide delivery vehicle, be four-wheel form, including rack 1a, First damper 2a, the second damper 3a, third damper 4a, the 4th damper 5a, left driving wheel 6a, right driving wheel 7a, One lever 8a, the first cabinet 9a, the first driving motor 10a, the second lever 11a, the second cabinet 12a, the second driving motor 13a, Left steering wheel 14a, right turn wheel 15a, third lever 16a, third cabinet 17a, the first steering motor 18a, the 4th lever 32a, 4th cabinet 19a and the second steering motor 20a.

One end of the first damper 2a is connected on the rack 1a, and the other end of the first damper 2a is removable It being connected to unloading on the first lever 8a, one end of the second damper 3a is connected on the rack 1a, and described second The other end of damper 3a is detachably connected on the second lever 11a, and the first lever 8a is far from the rack 1a One end be fixedly connected on the first cabinet 9a, the first driving motor 10a is mounted on the first cabinet 9a, institute Left driving wheel 6a described in the output axis connection of the first driving motor 10a is stated to drive the left driving wheel 6a to rotate, described second Lever 11a is fixedly connected on the second cabinet 12a far from one end of the rack 1a, the second driving motor 13a peace On the second cabinet 12a, right driving wheel 7a described in the output axis connection of the second driving motor 13a is described to drive Right driving wheel 7a rotation；One end of the third damper 4a is connected on the rack 1a, and the third damper 4a's is another One end is detachably connected on the third lever 16a, and one end of the 4th damper 5a is connected on the rack 1a, The other end of the 4th damper 5a is detachably connected on the 4th lever 32a, and the third lever 16a is far from institute The one end for stating rack 1a is fixedly connected on the third cabinet 17a, and the first steering motor 18a is mounted on the third case On body 17a, left steering wheel 14a described in the output axis connection of the first steering motor 18a is to drive the left steering wheel 14a It turning to, the 4th lever 32a is fixedly connected on the 4th cabinet 19a far from one end of the rack 1a, and described second Steering motor 20a is mounted on the 4th cabinet 19a, right turn described in the output axis connection of the second steering motor 20a Wheel 15a is to drive the right turn wheel 15a to turn to.

Side on the rack 1a close to the first lever 8a is provided with the first rotary shaft 21a, first lever The first fulcrum 22a being rotatably connected on the first rotary shaft 21a is provided on 8a；Close to described second on the rack 1a The side of lever 11a is provided with the second rotary shaft, is provided on the second lever 11a and is rotatably connected on second rotary shaft On the second fulcrum 23a；Side on the rack 1a close to the third lever 16a is provided with third rotary shaft 24a, described The third fulcrum 25a being rotatably connected on the third rotary shaft 24a is provided on third lever 16a；It is leaned on the rack 1a The side of the nearly 4th lever 32a is provided with the 4th rotary shaft, is provided on the 4th lever 32a and is rotatably connected on institute State the 4th fulcrum 26a in the 4th rotary shaft.

The first lever 8a is divided into first long-armed and the first galianconism by the first fulcrum 22a, and described first is long-armed Outer end is fixedly connected on the first cabinet 9a, and the described first long-armed length is greater than the length of first galianconism；It is described Second lever 11a is divided into second long-armed and the second galianconism by the second fulcrum 23a, and the described second long-armed outer end is fixedly connected On the second cabinet 12a, the described second long-armed length is greater than the length of second galianconism；The third lever 16a It is divided into that third is long-armed and third galianconism by the third fulcrum 25a, the long-armed outer end of the third is fixedly connected on the third On cabinet 17a, the long-armed length of the third is greater than the length of the third galianconism；The 4th lever 32a is by the described 4th Fulcrum 26a is divided into the 4th long-armed and the 4th galianconism, and the 4th long-armed outer end is fixedly connected on the 4th cabinet 19a, The 4th long-armed length is greater than the length of the 4th galianconism.First galianconism, the second galianconism, third galianconism and the 4th galianconism Length can be 0.

The first rotary shaft 21a and the second rotary shaft can be same axis, be also possible to respectively with the first fulcrum 22a And the second two independent axis being rotatably assorted of fulcrum 23a.The third rotary shaft 24a and the 4th rotary shaft can be same root Axis is also possible to two independent axis being rotatably assorted respectively with third fulcrum 25a and the 4th fulcrum 26a.

The first lever 8a, the second lever 11a, third lever 16a and the 4th lever 32a are before the rack 1a Rear direction extends, and the first rotary shaft 21a, the second rotary shaft, third rotary shaft 24a and the 4th rotary shaft are along the rack 1a Left and right directions extend.

First gear group is provided in the first cabinet 9a, described in the output axis connection of the first driving motor 10a The output end of the input terminal of first gear group, the first gear group connects the left driving wheel 6a.In one embodiment, first Gear set includes the bevel gear of two orthogonal engagements, and one of bevel gear is fixed on the output shaft of the first driving motor 10a, Another bevel gear is fixed on the wheel shaft of left driving wheel 6a.

Second gear group is provided in the second cabinet 12a, described in the output axis connection of the second driving motor 13a The output end of the input terminal of second gear group, the second gear group connects the right driving wheel 7a.In one embodiment, second Gear set includes the bevel gear of two orthogonal engagements, and one of bevel gear is fixed on the output shaft of the second driving motor 13a, Another bevel gear is fixed on the wheel shaft of right driving wheel 7a.

Third gear set is provided in the third cabinet 17a, described in the output axis connection of the first steering motor 18a The output end of the input terminal of third gear set, the third gear set connects the left steering wheel 14a.In one embodiment, Three gear sets include two gears (spur gear or helical gear) of coplanar engagement, and one of gear is fixed on the first steering electricity On the output shaft of machine 18a, another gear connects the wheel shaft of left steering wheel 14a.Preferably, in the third gear set, connection The upper and lower ends of the gear of the wheel shaft of left steering wheel 14a connect one first switching support 30a, the first switching support 30a with The wheel shaft of left steering wheel 14a is fixed.In this way, the first steering motor 18a by third gear set drive the first switching support 30a and Left steering wheel 14a is integrally rotated.

The 4th gear set is provided in the 4th cabinet 19a, described in the output axis connection of the second steering motor 20a The output end of the input terminal of 4th gear set, the 4th gear set connects the right turn wheel 15a.In one embodiment, Four gear sets include two gears (spur gear or helical gear) of coplanar engagement, and one of gear is fixed on the second steering electricity On the output shaft of machine 20a, another gear connects the wheel shaft of right turn wheel 15a.Preferably, in the 4th gear set, connection The upper and lower ends of the gear of the wheel shaft of right turn wheel 15a connect one second switching support 31a, the second switching support 31a with The wheel shaft of right turn wheel 15a is fixed.In this way, the second steering motor 20a by the 4th gear set drive the second switching support 31a and Right turn wheel 15a is integrally rotated.

When the other end of the first damper 2a separates the first lever 8a, the first lever 8a, the first case The overall structure that body 9a, the first driving motor 10a and left driving wheel 6a are constituted can be around the first rotary shaft 21a to close The direction of the rack 1a rotates, so that the first lever 8a, the first cabinet 9a, the first driving motor 10a and left drive The overall structure that driving wheel 6a is constituted, which can fold, to be contained in the inner space of the rack 1a；In the second damper 3a Other end when separating the second lever 11a, the second lever 11a, the second cabinet 12a, the second driving motor 13a and The overall structure that right driving wheel 7a is constituted can be rotated around second axial rotary close to the direction of the rack 1a, in turn The overall structure that the second lever 11a, the second cabinet 12a, the second driving motor 13a and right driving wheel 7a are constituted Enough fold is contained in the inner space of the rack 1a；The third lever is separated in the other end of the third damper 4a When 16a, the entirety that the third lever 16a, third cabinet 17a, the first steering motor 18a and left steering wheel 14a are constituted is tied Structure can be rotated around the third rotary shaft 24a to the direction close to the rack 1a, so that the third lever 16a, The overall structure that third cabinet 17a, the first steering motor 18a and left steering wheel 14a are constituted, which can fold, is contained in the machine In the inner space of frame 1a；When the other end of the 4th damper 5a separates the 4th lever 32a, the 4th lever The overall structure that 32a, the 4th cabinet 19a, the second steering motor 20a and right turn wheel 15a are constituted can be around the 4th rotation Turn to rotate axially adjacent to the direction of the rack 1a, so that the 4th lever 32a, the 4th cabinet 19a, the second steering electricity The overall structure that machine 20a and right turn wheel 15a are constituted, which can fold, to be contained in the inner space of the rack 1a.

In this manner it is achieved that delivery vehicle use state is protruded from into the component folding storage of rack 1a in rack 1a, The foldable of delivery vehicle is realized, folded delivery vehicle volume substantially reduces, convenient for carrying, and can be very convenient Enter in the small spaces such as elevator.The folded state of delivery vehicle is as shown in Fig. 2.

In first embodiment, rack 1a is the tower structure welded by more root canal beams.The bottom of rack 1a is complete It opens, in order to fold, the top of rack 1a can install seat.

In first embodiment, driving wheel is front-wheel, and deflecting roller is rear-wheel, drives rear steering before realizing.

In first embodiment, it is further preferable that one end of the first damper 2a is hinged on rack 1a, the first damper 2a The other end be hinged on the first lever 8a, the hinge joint of the first damper 2a and the first lever 8a to the first fulcrum 22a away from At a distance from the hinge joint less than the first damper 2a and the first lever 8a to the first lever 8a other end (road wheel end).Equally, One end of second damper 3a is hinged on rack 1a, and the other end of the second damper 3a is hinged on the second lever 11a, and second Less than the second damper 3a and the second lever at a distance from the hinge joint to the second fulcrum 23a of damper 3a and the second lever 11a Distance of the hinge joint of 11a to the second lever 11a other end (road wheel end).In this way, the biggish bounce of driving wheel passes through the first thick stick The leverage of bar 8a and the second lever 11a improve delivery vehicle so that rack 1a only has moving up and down more by a small margin Riding comfort.

In first embodiment, it is further preferable that one end of third damper 4a is hinged on rack 1a, third damper 4a The other end be hinged on third lever 16a, the hinge joint of third damper 4a and third lever 16a are to third fulcrum 25a's At a distance from hinge joint to the third lever 16a other end (road wheel end) of the distance less than third damper 4a and third lever 16a.Together One end of sample, the 4th damper 5a is hinged on rack 1a, and the other end of the 4th damper 5a is hinged on the 4th lever 32a, 4th damper 5a is at a distance from the hinge joint to the 4th fulcrum 26a of the 4th lever 32a less than the 4th damper 5a and the 4th thick stick Distance of the hinge joint of bar 32a to the 4th lever 32a other end (road wheel end).In this way, the biggish bounce of deflecting roller passes through third The leverage of lever 16a and the 4th lever 32a improve delivery work so that rack 1a only has moving up and down more by a small margin The riding comfort of tool.

In some modified embodiments of first embodiment, driving wheel is also possible to rear-wheel, and deflecting roller is front-wheel, realizes Forward back-drives.

It, can also be by damper (the first damper 2a, the second damper in some modified embodiments of first embodiment 3a, third damper 4a, the 4th damper 5a) with corresponding lever (the first lever 8a, the second lever 11a, third lever 16a, 4th lever 32a) transposition.That is, one end of damper is connected to below rack 1a, the other end of damper and corresponding thick stick Bar connection, lever are connected to above rack 1a.

In addition, as shown in figure 3, the delivery vehicle further includes active tilt drive system, the active tilt drive system Include:

Speed detector 100a, for detecting the travel speed of delivery vehicle；

Rotation angle detecting apparatus 200a, for detecting the steering angle of delivery vehicle；

Incline controller 300a detects that the travel speed of delivery vehicle is greater than in advance in the speed detector 100a If value and the rotation angle detecting apparatus 200a detect that the steering angle of delivery vehicle to the left is more than the first default steering angle, The posture of left low and right high is presented in the incline controller 300a control rack 1a；It is detected in the speed detector 100a The travel speed of delivery vehicle is greater than preset value and the rotation angle detecting apparatus 200a detects the steering angle of delivery vehicle to the right When degree is more than the second default steering angle, the posture of right low left high is presented in the incline controller 300a control rack 1a.

In first embodiment, the incline controller 300a include control mechanism 301a, the first above-mentioned damper 2a, Above-mentioned the second damper 3a, above-mentioned third damper 4a and the 4th above-mentioned damper 5a.

The first damper 2a is connected between rack 1a and left driving wheel 6a, and the second damper 3a is connected to Between rack 1a and right driving wheel 7a, the third damper 4a is connected between rack 1a and left steering wheel 14a, and the described 4th Damper 5a is connected between fortune rack 1a and right turn wheel 15a.

Detect that the travel speed of delivery vehicle is greater than preset value and corner inspection in the speed detector 100a When survey device 200a detects that the steering angle of delivery vehicle to the left is more than the first default steering angle, the control mechanism 301a The first damper 2a and third damper 4a compression is controlled, and controls the second damper 3a and the 4th damper 5a and draws It stretches, so that the posture of left low and right high is presented in rack 1a, at this point, the compression speed of the first damper 2a and third damper 4a Degree and the second damper 3a and the 4th damper 5a tensile speed with the travel speed of delivery vehicle and steering angle Size is directly proportional.

Detect that the travel speed of delivery vehicle is greater than preset value and corner inspection in the speed detector 100a When survey device 200a detects that the steering angle of delivery vehicle to the right is more than the second default steering angle, the control mechanism 301a It controls the first damper 2a and third damper 4a to stretch, and controls the second damper 3a and the 4th damper 5a pressure Contracting, so that the posture of right low left high is presented in rack 1a, at this point, the stretching speed of the first damper 2a and third damper 4a Degree and the second damper 3a and the 4th damper 5a compression speed with the travel speed of delivery vehicle and steering angle Size is directly proportional.

Herein, the preset value of travel speed is a value for being greater than 0, such as 5km/h.First default steering angle is greater than for one 0 angle, such as 5 degree.Second default steering angle is an angle for being greater than 0, such as 5 degree.First default steering angle and Two default steering angles may be the same or different.

In first embodiment, the first damper 2a, the second damper 3a, third damper 4a and the 4th damper 5a It is motor spring damper 400a shown in Fig. 4, the motor spring damper 400a includes damper cylinder 401a, shock-absorbing spring 402a, damping column 403a, motor 404a, threaded rod 405a, threaded rod nut slider 406a and sliding rail 407a, the shock-absorbing spring 402a, damping column 403a, motor 404a, threaded rod 405a, threaded rod nut slider 406a and sliding rail 407a setting subtract described In vibration cylinder 401a, the sliding rail 407a is fixed on the inner wall of the damper cylinder 401a, and the shell of the motor 404a is sliding Dynamic to be arranged in the sliding rail 407a, the threaded rod 405a is connected on the output shaft of the motor 404a, the threaded rod Nut slider 406a is threadedly engaged with the threaded rod 405a, the outer surface of the threaded rod nut slider 406a and the cunning Rail 407a sliding contact, the sliding rail 407a limit the rotation of the threaded rod nut slider 406a, and the damping column 403a connects It connects on the threaded rod nut slider 406a, one end of the damping column 403a stretches out the damper cylinder 401a and is connected to machine On frame 1a, one end of the shock-absorbing spring 402a is connected to the inner end of the motor 404a, and the shock-absorbing spring 402a's is another End is connected on the inside of the bottom end of the damper cylinder 401a.

The Basolateral of the damper cylinder 401a is connected on corresponding lever, that is, the vibration damping of the first damper 2a The Basolateral of cylinder 401a is connected on the first lever 8a, and the Basolateral of the damper cylinder 401a of the second damper 3a connects It connecing on the second lever 11a, the Basolateral of the damper cylinder 401a of the third damper 4a is connected on third lever 16a, The Basolateral of the damper cylinder 401a of the 4th damper 5a is connected on the 4th lever 32a.

When motor 404a is rotated in the forward direction, threaded rod 405a rotation forces threaded rod nut slider 406a and damping column 403a It is slid in and out along sliding rail 407a.When motor 404a is reversely rotated, threaded rod 405a pulls threaded rod nut slider 406a and subtracts Column 403a shake along sliding rail 407a slid inward.In turn, motor spring damper 400a is realized by the positive and negative rotation of motor 404a Retractable.

When not needing to move inside and outside damping column 403a, damping column 403a and threaded rod nut slider 406a are in shock-absorbing spring Home position is returned under the action of 402a, when motor 404a close when, damping column 403a, motor 404a, threaded rod 405a and It is whole composed by threaded rod nut slider 406, it, can be free back and forth on sliding rail 407a under the support of shock-absorbing spring 402a Sliding.So that the function of corresponding damper itself is unrestricted when motor 404a works or closes.

The control mechanism 301a includes single-chip microcontroller and electric machine control system, the single-chip microcontroller respectively with the velocity measuring Device 100a and rotation angle detecting apparatus 200a communication connection, and according to the speed detector 100a and rotation angle detecting apparatus The testing result of 200a issues control instruction to electric machine control system.The electric machine control system first control circuit and the second control Circuit processed, first control circuit and second control circuit can be integrated on single-chip microcontroller.

Speed detector 100a can be arranged on the speed on the wheel shaft of left driving wheel 6a or the wheel shaft of right driving wheel 7a Spend sensor.

Rotation angle detecting apparatus 200a can be arranged on the Hall sensor on left steering wheel 14a or right turn wheel 15a.

Hereinafter, in order to distinguish, the first damper 2a, the second damper 3a, third damper 4a and the 4th are subtracted The motor 404a of vibration device 5a is briefly referred to as motor M1, motor M2, motor M3 and motor M4.

As shown in figure 5, the first control circuit is opened including the first power supply D1, first switch K1, second switch K2, third K3, the 4th switch K4, the first variable resistance R1, the second adjustable resistance R2, third variable resistance R3 and the 4th variable resistance R4 are closed, The motor M1 of the first variable resistance R1, the second adjustable resistance R2 and the first damper 2a connect to form the first branch, The motor M3 of the third variable resistance R3, the 4th variable resistance R4 and the third damper 3a connect to form second branch, The first branch is in parallel with the second branch, and the anode of the first power supply D1 is connected to one end of the first switch K1 And one end of third switch K3, the cathode of the first power supply D1 are connected to one end and the 4th switch of the second switch K2 One end of K4, the other end of the first switch k1 and the other end of the 4th switch K4 be connected to one end of the first branch with Between one end of second branch, the other end of the second switch K2 and the other end of third switch K3 are connected to described first Between the other end on road and the other end of second branch.

As shown in fig. 6, the second control circuit includes second source D2, the 5th switch K5, the 6th switch K6, the 7th opens K7, the 8th switch K8, the 5th variable resistance R5, the 6th variable resistance R6, the 7th variable resistance R7 and the 8th variable resistance R8 are closed, The motor M2 of the 5th variable resistance R5, the 6th variable resistance R6 and the second damper 3a connect to form third branch, The motor M4 of the 7th variable resistance R7, the 8th variable resistance R8 and the 4th damper 5a connect to form the 4th branch, The third branch and the 4th branch circuit parallel connection, the anode of the second source D2 are connected to one end of the 5th switch K5 And the 7th switch K7 one end, the cathode of the second source D2 be connected to the 6th switch K6 one end and the 8th switch One end of K8, the other end of the 5th switch K5 and the other end of the 8th switch K8 be connected to one end of the third branch with Between one end of 4th branch, the other end of the 6th switch K6 and the other end of the 7th switch K7 are connected to the third branch Between the other end on road and the other end of the 4th branch.

The resistance of the first variable resistance R1, third variable resistance R3, the 5th variable resistance R5 and the 7th variable resistance R7 Value and the travel speed of delivery vehicle are inversely proportional.That is, the travel speed for the delivery vehicle that speed detector 100a is detected is got over Greatly, single-chip microcontroller adjusts the first variable resistance R1, third variable resistance R3, the 5th variable resistance R5 and the 7th variable resistance R7 To smaller resistance value.In this way, motor M1, motor M2, electricity bigger by the electric current of motor M1, motor M2, motor M3 and motor M4 The output power of machine M3 and motor M4 are bigger.

The resistance of the second adjustable resistance R2, the 4th variable resistance R4, the 6th variable resistance R6 and the 8th variable resistance R8 Value is inversely proportional with steering angle.That is, the steering angle for the delivery vehicle that rotation angle detecting apparatus 200a is detected is bigger, single-chip microcontroller tune The second adjustable resistance R2, the 4th variable resistance R4, the 6th variable resistance R6 and the 8th variable resistance R8 are saved to smaller resistance Value.In this way, motor M1, motor M2, motor M3 and motor bigger by the electric current of motor M1, motor M2, motor M3 and motor M4 The output power of M4 is bigger.

Delivery vehicle detects that the steering angle of delivery vehicle to the left does not surpass when driving, in the rotation angle detecting apparatus 200a It crosses the first default steering angle or detects that the steering angle of delivery vehicle to the right does not surpass in the rotation angle detecting apparatus 200a When crossing the second default steering angle, the motor M1 of first damper, the motor M2 of the second damper, third damper electricity The motor M4 of machine M3 and the 4th damper does not work.

Detect that the travel speed of delivery vehicle is greater than preset value and corner inspection in the speed detector 100a When survey device 200a detects that the steering angle of delivery vehicle to the left is more than the first default steering angle, first damper The motor M3 of motor M1 and third damper is inverted such that the first damper 2a and third damper 4a compression, described The motor M2 of second damper and the motor M4 of the 4th damper are rotated forward so that the second damper 3a and the 4th damper 5a is stretched.

Detect that the travel speed of delivery vehicle is greater than preset value and corner inspection in the speed detector 100a When survey device 200a detects that the steering angle of delivery vehicle to the right is more than the second default steering angle, first damper The motor M3 of motor M1 and third damper is rotated forward so that the first damper 2a and third damper 4a stretching, described The motor M2 of second damper and the motor M4 of the 4th damper are inverted such that the second damper 3a and the 4th damper 5a compression.

Motor M1, the rotating forward reversion implementation of motor M3 are as follows:

When first switch K1, second switch K2 are connected to, third switch K3, the 4th switch K4 are disconnected, and electric current forward direction passes through electricity Machine M1, motor M3, motor M1, motor M3 are rotated in the forward direction；As third switch K3, the 4th switch K4 connection, first switch K1, second Switch K2 is disconnected, and electric current is rotated backward back through motor M1, motor M3, motor M1, motor M3.

Motor M2, the rotating forward reversion implementation of motor M4 are as follows:

When the 5th switch K5, the 6th switch K6 are connected to, the 7th switch K7, the 8th switch K8 are disconnected, and electric current forward direction passes through electricity Machine M2, motor M4, motor M2, motor M4 are rotated in the forward direction；As the 7th switch K7, the 8th switch K8 connection, the 5th switch K5, the 6th Switch K6 is disconnected, and electric current is rotated backward back through motor M2, motor M4, motor M2, motor M4.

The active tilt drive system of first embodiment drives system by active tilt when delivery vehicle is travelled and turned to System active control rack 1a is tilted to the left or to the right, and when so that delivery vehicle traveling turning to, rack 1a is able to maintain stabilization, keeps away Exempt from the rollover of generation delivery vehicle.

It, can be by damper and corresponding leveraged swaps position in some modified embodiments of first embodiment.At this point, Detect that the travel speed of delivery vehicle is greater than preset value and the rotation angle detecting apparatus in the speed detector 100a 200a detects that the steering angle of delivery vehicle to the left is more than the first default steering angle or in the speed detector 100a detect the travel speed of delivery vehicle be greater than preset value and the rotation angle detecting apparatus 200a detect delivery vehicle to When right steering angle is more than the second default steering angle, same steering direction, the telescopic direction of damper is before transposition Be opposite after transposition.

Second embodiment

As shown in Figures 7 and 8, the delivery vehicle that second embodiment of the invention provides is three-wheel form, including rack 1a, the One damper 2a, the second damper 3a, third damper 4a, left driving wheel 6a, right driving wheel 7a, the first lever 8a, the first case Body 9a, the first driving motor 10a, the second lever 11a, the second cabinet 12a, the second driving motor 13a, deflecting roller 27a, third thick stick Bar 16a, third cabinet 17a and steering motor 28a.

One end of the first damper 2a is connected on the rack 1a, and the other end of the first damper 2a is removable It being connected to unloading on the first lever 8a, one end of the second damper 3a is connected on the rack 1a, and described second The other end of damper 3a is detachably connected on the second lever 11a, and the first lever 8a is far from the rack 1a One end be fixedly connected on the first cabinet 9a, the first driving motor 10a is mounted on the first cabinet 9a, institute Left driving wheel 6a described in the output axis connection of the first driving motor 10a is stated to drive the left driving wheel 6a to rotate, described second Lever 11a is fixedly connected on the second cabinet 12a far from one end of the rack 1a, the second driving motor 13a peace On the first cabinet 9a, right driving wheel 7a described in the output axis connection of the second driving motor 13a is described to drive Right driving wheel 7a rotation；One end of the third damper 4a is connected on the rack 1a, and the third damper 4a's is another One end is detachably connected on the third lever 16a, and the third lever 16a is fixed far from one end of the rack 1a It is connected on the third cabinet 17a, the steering motor 28a is mounted on the third cabinet 17a, the steering motor Deflecting roller 27a described in the output axis connection of 28a is to drive the deflecting roller 27a to turn to.

Side on the rack 1a close to the first lever 8a is provided with the first rotary shaft 21a, first lever The first fulcrum 22a being rotatably connected on the first rotary shaft 21a is provided on 8a；Close to described second on the rack 1a The side of lever 11a is provided with the second rotary shaft, is provided on the second lever 11a and is rotatably connected on second rotary shaft On the second fulcrum 23a；Side on the rack 1a close to the third lever 16a is provided with third rotary shaft 24a, described The third fulcrum 25a being rotatably connected on the third rotary shaft 24a is provided on third lever 16a.

The first lever 8a is divided into first long-armed and the first galianconism by the first fulcrum 22a, and described first is long-armed Outer end is fixedly connected on the first cabinet 9a, and the described first long-armed length is greater than the length of first galianconism；It is described Second lever 11a is divided into second long-armed and the second galianconism by the second fulcrum 23a, and the described second long-armed outer end is fixedly connected On the second cabinet 12a, the described second long-armed length is greater than the length of second galianconism；The third lever 16a It is divided into that third is long-armed and third galianconism by the third fulcrum 25a, the long-armed outer end of the third is fixedly connected on the third On cabinet 17a, the long-armed length of the third is greater than the length of the third galianconism.First galianconism, the second galianconism and third are short The length of arm can be 0.

The first rotary shaft 21a and the second rotary shaft can be same axis, be also possible to respectively with the first fulcrum 22a And the second two independent axis being rotatably assorted of fulcrum 23a.

The first lever 8a, the second lever 11a and third lever 16a extend along the front-rear direction of the rack 1a, institute The left and right directions that the first rotary shaft 21a, the second rotary shaft and third rotary shaft 24a are stated along the rack 1a extends.

Third gear set, third described in the output axis connection of the steering motor 28a are provided in the third cabinet 17a The output end of the input terminal of gear set, the third gear set connects the deflecting roller 27a.In one embodiment, third gear Group includes two gears (spur gear or helical gear) of coplanar engagement, and one of gear is fixed on the output shaft of steering motor On, another gear connects the wheel shaft of deflecting roller 27a.Preferably, in the third gear set, the wheel shaft of deflecting roller 27a is connected The upper and lower ends of gear connect a switching support 29a, the wheel shaft of the switching support 29a and deflecting roller 27a fixes.In this way, Steering motor 28a is integrally rotated by third gear set drive switching support 29a and deflecting roller 27a.

When the other end of the first damper 2a separates the first lever 8a, the first lever 8a, the first case The overall structure that body 9a, the first driving motor 10a and left driving wheel 6a are constituted can be around the first rotary shaft 21a to close The direction of the rack 1a rotates, so that the first lever 8a, the first cabinet 9a, the first driving motor 10a and left drive The overall structure that driving wheel 6a is constituted, which can fold, to be contained in the inner space of the rack 1a；In the second damper 3a Other end when separating the second lever 11a, the second lever 11a, the second cabinet 12a, the second driving motor 13a and The overall structure that right driving wheel 7a is constituted can be rotated around second axial rotary close to the direction of the rack 1a, in turn The overall structure that the second lever 11a, the second cabinet 12a, the second driving motor 13a and right driving wheel 7a are constituted Enough fold is contained in the inner space of the rack 1a；The third lever is separated in the other end of the third damper 4a When 16a, the overall structure that the third lever 16a, third cabinet 17a, steering motor and deflecting roller are constituted can be around described Third rotary shaft 24a is rotated to close to the direction of the rack 1a so that the third lever 16a, third cabinet 17a, The overall structure that steering motor and deflecting roller are constituted, which can fold, to be contained in the inner space of the rack 1a.

In this manner it is achieved that delivery vehicle use state is protruded from into the component folding storage of rack 1a in rack 1a, The foldable of delivery vehicle is realized, folded delivery vehicle volume substantially reduces, convenient for carrying, and can be very convenient Enter in the small spaces such as elevator.The folded state of delivery vehicle is as shown in Fig. 6.

In second embodiment, driving wheel is front-wheel, and deflecting roller is rear-wheel, drives rear steering before realizing.

In second embodiment, it is further preferable that one end of the first damper 2a is hinged on rack 1a, the first damper 2a The other end be hinged on the first lever 8a, the hinge joint of the first damper 2a and the first lever 8a to the first fulcrum 22a away from At a distance from the hinge joint less than the first damper 2a and the first lever 8a to the first lever 8a other end (road wheel end).Equally, One end of second damper 3a is hinged on rack 1a, and the other end of the second damper 3a is hinged on the second lever 11a, and second Less than the second damper 3a and the second lever at a distance from the hinge joint to the second fulcrum 23a of damper 3a and the second lever 11a Distance of the hinge joint of 11a to the second lever 11a other end (road wheel end).In this way, the biggish bounce of driving wheel passes through the first thick stick The leverage of bar 8a and the second lever 11a improve delivery vehicle so that rack 1a only has moving up and down more by a small margin Riding comfort.

In second embodiment, it is further preferable that one end of third damper 4a is hinged on rack 1a, third damper 4a The other end be hinged on third lever 16a, the hinge joint of third damper 4a and third lever 16a are to third fulcrum 25a's At a distance from hinge joint to the third lever 16a other end (road wheel end) of the distance less than third damper 4a and third lever 16a.This Sample, the biggish bounce of deflecting roller 27a by the leverage of third lever 16a so that rack 1a only have more by a small margin up and down Bounce, improves the riding comfort of delivery vehicle.

It, can also be by damper (the first damper 2a, the second damper in some modified embodiments of second embodiment 3a, third damper 4a) with corresponding lever (the first lever 8a, the second lever 11a, third lever 16a) transposition.That is, One end of damper is connected to below rack 1a, and the other end of damper is connected with corresponding lever, and lever is connected to rack 1a Top.

As shown in figure 9, the delivery vehicle further includes active tilt drive system, which includes:

Speed detector 100a, for detecting the travel speed of delivery vehicle；

In second embodiment, the incline controller 300a include control mechanism 301a, the first above-mentioned damper 2a, The second above-mentioned damper 3a and above-mentioned third damper 4a.

The first damper 2a is connected between rack 1a and left driving wheel 6a, and the second damper 3a is connected to Between rack 1a and right driving wheel 7a, the third damper 4a is connected between rack 1a and left steering wheel 14a.

Detect that the travel speed of delivery vehicle is greater than preset value and corner inspection in the speed detector 100a When survey device 200a detects that the steering angle of delivery vehicle to the left is more than the first default steering angle, the control mechanism 301a The first damper 2a compression is controlled, and controls the second damper 3a and third damper 4a and stretches, so that rack The posture of left low and right high is presented in 1a, at this point, the compression speed and the second damper 3a and third of the first damper 2a The tensile speed of damper 4a is directly proportional to the travel speed of delivery vehicle and steering angle size.

Detect that the travel speed of delivery vehicle is greater than preset value and corner inspection in the speed detector 100a When survey device 200a detects that the steering angle of delivery vehicle to the right is more than the second default steering angle, the control mechanism 301a It controls the first damper 2a and third damper 4a to stretch, and controls the second damper 3a compression, so that rack The posture of right low left high is presented in 1a, at this point, the tensile speed and described second of the first damper 2a and third damper 4a The compression speed of damper 3a is directly proportional to the travel speed of delivery vehicle and steering angle size.

In second embodiment, the first damper 2a, the second damper 3a and third damper 4a are the first implementation Example in motor spring damper 400a, the motor spring damper 400a include damper cylinder 401a, shock-absorbing spring 402a, Damping column 403a, motor 404a, threaded rod 405a, threaded rod nut slider 406a and sliding rail 407a, the shock-absorbing spring 402a, damping column 403a, motor 404a, threaded rod 405a, threaded rod nut slider 406a and sliding rail 407a setting subtract described In vibration cylinder 401a, the sliding rail 407a is fixed on the inner wall of the damper cylinder 401a, and the shell of the motor 404a is sliding Dynamic to be arranged in the sliding rail 407a, the threaded rod 405a is connected on the output shaft of the motor 404a, the threaded rod Nut slider 406a is threadedly engaged with the threaded rod 405a, the outer surface of the threaded rod nut slider 406a and the sliding rail 407a sliding contact, the sliding rail 407a limit the rotation of the threaded rod nut slider 406a, the damping column 403a connection On the threaded rod nut slider 406a, one end of the damping column 403a stretches out the damper cylinder 401a and is connected to rack On 1a, one end of the shock-absorbing spring 402a is connected to the inner end of the motor 404a, the other end of the shock-absorbing spring 402a It is connected on the inside of the bottom end of the damper cylinder 401a.

The Basolateral of the damper cylinder 401a is connected on corresponding lever, that is, the vibration damping of the first damper 2a The Basolateral of cylinder 401a is connected on the first lever 8a, and the Basolateral of the damper cylinder 401a of the second damper 3a connects It connects on the second lever 11a, the Basolateral of the damper cylinder 401a of the third damper 4a is connected on third lever 16a.

In second embodiment, the control mechanism 301a includes single-chip microcontroller and electric machine control system, the single-chip microcontroller difference Communicate connection with the speed detector 100a and rotation angle detecting apparatus 200a, and according to the speed detector 100a and The testing result of rotation angle detecting apparatus 200a issues control instruction to electric machine control system, and the electric machine control system includes first Control circuit, second control circuit and third control circuit, first control circuit, second control circuit and third control circuit can It is integrated on single-chip microcontroller.

Rotation angle detecting apparatus 200a can be arranged on the Hall sensor on deflecting roller 27a.

Hereinafter, in order to distinguish, by the motor of the first damper 2a, the second damper 3a and third damper 4a 404a is briefly referred to as motor M1, motor M2 and motor M3.

As shown in Figure 10, the first control circuit includes the first power supply D1, first switch K1, second switch K2, third Switch K3, the 4th switch K4, the first variable resistance R1 and the second adjustable resistance R2, the first power supply D1, first switch K1, One variable resistance R1, the motor M1 of first damper, the second adjustable resistance R2 and second switch K2 series connection forming circuit, institute The anode for stating the first power supply D1 is connected to one end of the first switch K1 and one end of the 4th switch K4, the first power supply D1 Cathode be connected to one end of the second switch K2 and one end of third switch K3, the other end connection of the first switch K1 Between the other end and the first variable resistance R1 of the third switch K3, the other end of the 4th switch K4 is connected to institute It states between the other end of second switch K2 and the second adjustable resistance R2.

As shown in figure 11, the second control circuit includes second source D2, the 5th switch K5, the 6th switch K6, the 7th Switch K7, the 8th switch K8, third variable resistance R3 and the 4th variable resistance R4, the second source, the 5th switch K5, Third variable resistance R2, the motor M2 of second damper, the 4th variable resistance R4 and the 6th switch K6 series connection forming circuit, The anode of the second source D2 is connected to one end of the 5th switch K5 and one end of the 8th switch K8, the second source The cathode of D2 is connected to one end of the 6th switch K6 and one end of the 7th switch K7, and the other end of the 5th switch K5 connects It connects between the other end and third variable resistance R3 of the 7th switch K7, the other end of the 8th switch K8 is connected to Between the other end and the 4th variable resistance R4 of the 6th switch K6.

As shown in figure 12, the third control circuit includes third power supply D3, the 9th switch K9, the tenth switch K10, the tenth One switch K11, the 12nd switch K12, the 5th variable resistance R5 and the 6th variable resistance R6, the third power supply D3, the 9th open Close K9, the 5th variable resistance R5, the motor M3 of the third damper, the 6th variable resistance R6 and the tenth switch K10 series connection shape At circuit, the anode of the third power supply D3 is connected to one end of the 9th switch K9 and one end of the 12nd switch K12, institute The cathode for stating third power supply D3 is connected to one end of the tenth switch K10 and one end of the 11st switch K11, and the described 9th The other end of switch K9 is connected between the other end and the 5th variable resistance R5 of the 11st switch K11, and the described 12nd The other end of switch K12 is connected between the other end and the 6th variable resistance R6 of the tenth switch K10.

The row of the resistance value and delivery vehicle of the first variable resistance R1, third variable resistance R3 and the 5th variable resistance R5 Speed is sailed to be inversely proportional.That is, the travel speed for the delivery vehicle that speed detector 100a is detected is bigger, described in single-chip microcontroller adjusting First variable resistance R1, third variable resistance R3 and the 5th variable resistance R5 and extremely smaller resistance value.In this way, by motor M1, The electric current of motor M2 and motor M3 are bigger, and the output power of motor M1, motor M2 and motor M3 are bigger.

The resistance value and steering angle of the second adjustable resistance R2, the 4th variable resistance R4 and the 6th variable resistance R6 are at anti- Than.That is, the steering angle for the delivery vehicle that rotation angle detecting apparatus 200a is detected is bigger, single-chip microcontroller adjusts described second can power transformation R2, the 4th variable resistance R4 and the 6th variable resistance R6 are hindered to smaller resistance value.In this way, passing through motor M1, motor M2 and motor The electric current of M3 is bigger, and the output power of motor M1, motor M2 and motor M3 are bigger.

Delivery vehicle detects that the steering angle of delivery vehicle to the left does not surpass when driving, in the rotation angle detecting apparatus 200a It crosses the first default steering angle or detects that the steering angle of delivery vehicle to the right does not surpass in the rotation angle detecting apparatus 200a When crossing the second default steering angle, the motor M1 of first damper, the motor M2 of the second damper and third damper Motor M3 does not work.

Detect that the travel speed of delivery vehicle is greater than preset value and corner inspection in the speed detector 100a When survey device 200a detects that the steering angle of delivery vehicle to the left is more than the first default steering angle, first damper Motor M1 is inverted such that the first damper 2a compression, the motor M2 of second damper and the motor of third damper M3 is rotated forward so that the second damper 3a and third damper 4a is stretched.

Detect that the travel speed of delivery vehicle is greater than preset value and corner inspection in the speed detector 100a When survey device 200a detects that the steering angle of delivery vehicle to the right is more than the second default steering angle, first damper The motor M3 of motor M1 and third damper is rotated forward so that the first damper 2a and third damper 4a stretching, described The motor M2 of second damper is inverted such that the second damper 3a compression.

The principle of the active tilt drive system of second embodiment is as follows:

Delivery vehicle detects that the steering angle of delivery vehicle to the left does not surpass when driving, in the rotation angle detecting apparatus 200a It crosses the first default steering angle or detects that the steering angle of delivery vehicle to the right does not surpass in the rotation angle detecting apparatus 200a When crossing the second default steering angle, shows delivery vehicle forward travel or close to forward travel, first control circuit, second are controlled Circuit and all switches of third control circuit are all off, the first damper 2a, the second damper 3a and third damper 4a In intermediate home position, rack 1a is parallel to road surface.

Detect that the travel speed of delivery vehicle is greater than preset value and corner inspection in the speed detector 100a It surveys device 200a and detects and (show that delivery vehicle is in when the steering angle of delivery vehicle to the left is more than the first default steering angle Left steering state in traveling), at this point, the 5th switch K5, the 6th switch K6 and third control electricity in second control circuit The 9th switch K9, the tenth switch K10 connection in road, the 7th switch K7, the 8th switch K8 in second control circuit and the The 11st switch K11, the 12nd switch K12 in three control circuits are disconnected, first switch K1 in first control circuit, second Switch K2 is disconnected, and third switch K3, the 4th switch K4 in first control circuit are connected to, at this point, motor M2, motor M3 rotating forward with So that the second damper 3a and third damper 4a is stretched, motor M1 is inverted such that the first damper 2a compression. Rack 1a is in the posture of left low and right high.

When delivery vehicle replys forward travel by turning left, at this point, the 5th switch K5 in second control circuit, the 6th opening The 9th switch K9, the tenth switch K10 closed in K6 and third control circuit is disconnected, the 7th switch in second control circuit The 11st switch K11, the 12nd switch K12 connection in K7, the 8th switch K8 and third control circuit, first control circuit In first switch K1, second switch K2 connection, third switch K3, the 4th switch the K4 disconnection in first control circuit, at this point, Second damper 3a, third damper 4a compress (shortening), and the first damper 2a stretches (elongation).Rack 1a is from left low and right high shape State is returned to horizontality.

Detect that the travel speed of delivery vehicle is greater than preset value and corner inspection in the speed detector 100a It surveys device 200a and detects and (show that delivery vehicle is in when the steering angle of delivery vehicle to the right is more than the second default steering angle Right turn state in traveling), at this point, first switch K1, second switch K2 and third control electricity in first control circuit The 9th switch K9, the tenth switch K10 connection in road, third switch K3, the 4th switch K4 in first control circuit and the The 11st switch K11, the 12nd switch K12 in three control circuits are disconnected, and the 5th switch K5, the 6th open in second control circuit K6 is closed to disconnect, the 7th switch K7, the 8th switch K8 are connected to, at this point, the motor M1 of first damper and third damper Motor M3 is rotated forward so that the first damper 2a and third damper 3a stretching, the motor reversal of the second damper 3a So that the second damper 3a compression.Rack 1a is in the posture of right low left high.

When delivery vehicle replys forward travel by turning right, at this point, first switch K1 in first control circuit, second opening The 9th switch K9, the tenth switch K10 closed in K2 and third control circuit is disconnected, the third switch in first control circuit The 11st switch K11, the 12nd switch K12 connection in K3, the 4th switch K4 and third control circuit, second control circuit In the 5th switch K5, the 6th switch K6 connection, the 7th switch K7, the 8th switch K8 disconnection, motor M1, motor M3 are inverted such that First damper 2a, third damper 4a compression, motor M2 is rotated forward so that the second damper 3a is stretched.Rack 1a is right from left height Low replying state is to horizontality.

It, can be by damper and corresponding leveraged swaps position in some modified embodiments of second embodiment.At this point, Detect that the travel speed of delivery vehicle is greater than preset value and the rotation angle detecting apparatus in the speed detector 100a 200a detects that the steering angle of delivery vehicle to the left is more than the first default steering angle or in the speed detector 100a detect the travel speed of delivery vehicle be greater than preset value and the rotation angle detecting apparatus 200a detect delivery vehicle to When right steering angle is more than the second default steering angle, same steering direction, the telescopic direction of damper is before transposition Be opposite after transposition.

3rd embodiment

As shown in Figure 13 to Figure 22, third embodiment of the invention provide delivery vehicle, be four-wheel form, including rack 1, First damper 2, the second damper 3, third damper 4, the 4th damper 5, left driving wheel 6, right driving wheel 7, traveling driving System, left steering wheel 8, right turn wheel 9 and driving and steering system.

The running and driving system includes power device, drive shaft 10, the first torque transmission mechanism and the transmitting of the second torque Mechanism, first torque transmission mechanism include the first telescoping universal joint 11, the first hollow lever 13 and the first transmission shaft 15, Second torque transmission mechanism includes the second telescoping universal joint 12, the second hollow lever 14 and second driving shaft 16, the drive Moving axis 10 extends along the left and right directions of the rack 1, and the first hollow lever 13 and the second hollow lever 14 are along the rack 1 Front-rear direction extend, 15 rotational support of the first transmission shaft is in the described first hollow lever 13, the second driving shaft In in the described second hollow lever 14, one end of first damper 2 is connected in the rack 1 16 rotational supports, described The other end of first damper 2 is connected on the described first hollow lever 13, and one end of second damper 3 is connected to described In rack 1, the other end of second damper 3 is connected on the described second hollow lever 14.

One end of first telescoping universal joint 11 is connect with the left end of the drive shaft 10, first telescoping universal joint 11 other end is connect with one end of first transmission shaft 15, the other end and the left driving wheel of first transmission shaft 15 6 connections；One end of second telescoping universal joint 12 is connect with the right end of the drive shaft 10, second telescoping universal joint 12 other end is connect with one end of the second driving shaft 16, the other end of the second driving shaft 16 and the right driving wheel 7 connections.

Setting is parallel to the first rotary shaft 31 and the second rotary shaft of the drive shaft 10 in the rack 1, and described the The first fulcrum 27 being rotatably connected in first rotary shaft 31, the first hollow lever are provided on one hollow lever 13 13 by first fulcrum 27 to be divided into first far from first telescoping universal joint 11 long-armed and close to described first flexible ten thousand To the first galianconism of section 11, the described first long-armed length is greater than the length of first galianconism；The second hollow lever 14 On be provided with the second fulcrum 28 being rotatably connected in second rotary shaft, the second hollow lever 14 is by described second Put the second long-armed and close second telescoping universal joint 12 that 28 are divided into separate second telescoping universal joint 12 second is short Arm, the described second long-armed length are greater than the length of second galianconism.

The power device for driving the drive shaft 10 to rotate, stretch by described first by the rotation of the drive shaft 10 Contracting universal joint 11 and the first transmission shaft 15 are transferred to the left driving wheel 6, drive the left driving wheel 6 to rotate with this, the drive The rotation of moving axis 10 is transferred to the right driving wheel 7 by second telescoping universal joint 12 and second driving shaft 16, with this band The right driving wheel 7 is moved to rotate.

The driving and steering system includes steering handle 17, tooth sector group 18, longitudinal drive shaft 19, horizontal drive shaft 20 Third torque transmission mechanism and the 4th torque transmission mechanism, the third torque transmission mechanism include third telescoping universal joint 21, The hollow lever 23 of third and third transmission shaft 25, the 4th torque transmission mechanism include that the 4th telescoping universal joint the 22, the 4th is empty Heart lever 24 and the 4th transmission shaft 26, the horizontal drive shaft 20 extend along the left and right directions of the rack 1, longitudinal transmission The hollow lever 23 of axis 19, third and the 4th hollow lever 24 extend along the front-rear direction of the rack 1, the third transmission shaft 25 Rotational support is in the hollow lever 23 of the third, and 26 rotational support of the 4th transmission shaft is in the described 4th hollow lever 24 Interior, one end of the third damper 4 is connected in the rack 1, and the other end of the third damper 4 is connected to described On three hollow levers 23, one end of the 4th damper 5 is connected in the rack 1, the 4th damper 5 it is another End is connected on the described 4th hollow lever 24.

One end of the third telescoping universal joint 21 is connect with the left end of the horizontal drive shaft 20, the third flexible ten thousand It is connect to the other end of section 21 with one end of the third transmission shaft 25, the other end of the third transmission shaft 25 and the left side Deflecting roller 8 connects；One end of 4th telescoping universal joint 22 is connect with the right end of the horizontal drive shaft 20, and the described 4th stretches The other end of contracting universal joint 22 is connect with one end of the 4th transmission shaft 26, the other end of the 4th transmission shaft 26 and institute State the connection of right turn wheel 9.

Setting is parallel to the third rotary shaft 32 and the 4th transmission shaft of the horizontal drive shaft 20, institute in the rack 1 It states and is provided with the third fulcrum 29 being rotatably connected in the third rotary shaft 32 on the hollow lever 23 of third, the third is hollow Lever 23 is divided into the long-armed and close third of the third far from the third telescoping universal joint 21 by the third fulcrum 29 and stretches The third galianconism of contracting universal joint 21, the long-armed length of the third are greater than the length of the third galianconism；The 4th hollow thick stick The 4th fulcrum 30 being rotatably connected in the 4th rotary shaft is provided on bar 24, the 4th hollow lever 24 is by described It is long-armed and close to the 4th telescoping universal joint 22 that four fulcrums 30 are divided into the far from the 4th telescoping universal joint 22 the 4th Four galianconism, the 4th long-armed length are greater than the length of the 4th galianconism.Third rotary shaft 32 can be by entirety Axis is constituted, and is also possible to be made of two axis being rotatably assorted with third fulcrum 29 and the 4th fulcrum 30 respectively.

First rotary shaft 31 and the second rotary shaft can be same axis, be also possible to respectively with the first fulcrum 27 and Two independent axis that second fulcrum 28 is rotatably assorted.The third rotary shaft 32 and the 4th rotary shaft can be same axis, It is also possible to two independent axis being rotatably assorted respectively with third fulcrum 29 and the 4th fulcrum 30.

The tooth sector group 18 be connected to the steering handle 17 lower end and the longitudinal drive shaft 19 one end it Between, the other end of the longitudinal drive shaft 19 is connect by a tumbler gear group 45 with the horizontal drive shaft 20, the steering The rotation of handle 17 passes through the tooth sector group 18, longitudinal drive shaft 19, tumbler gear group 45, horizontal drive shaft 20, third Telescoping universal joint 21 and third transmission shaft 25 are transferred to the left steering wheel 8, and the rotation of the steering handle 17 also passes through described Tooth sector group 18, longitudinal drive shaft 19, tumbler gear group 45, horizontal drive shaft 20, the 4th telescoping universal joint 22 and the 4th pass Moving axis 26 is transferred to the right turn wheel 9, drives the left steering wheel 8 and the synchronous steering of right turn wheel 9 with this.

The power device includes pedal 33, the first sprocket wheel 34, the second sprocket wheel 35 and chain 36, and the chain 36 is wound around On first sprocket wheel 34 and the second sprocket wheel 35, the pedal 33 is fixed on the two sides of first sprocket wheel 34, second sprocket wheel 35 It is fixed in drive shaft 10, driver drives the first sprocket wheel 34 to rotate by trampling the pedal 33, and passes through the chain 36 And second sprocket wheel 35 drive drive shaft 10 rotate.

The other end of first damper 2 is detachably connected on the described first hollow lever 13, and described second subtracts The other end of vibration device 3 is detachably connected on the described second hollow lever 14；It is separated in the other end of first damper 2 The first hollow lever 13, and when the other end of second damper 3 separates the second hollow lever 14, described first 7 hollow lever 13, the first transmission shaft 15, left driving wheel 6, the second hollow lever 14, second driving shaft 16 and right driving wheel structures At overall structure can be rotated around first rotary shaft 31 and the second axial rotary close to the direction of the rack 1, in turn So that the first hollow lever 13, the first transmission shaft 15, left driving wheel 6, the second hollow lever 14, second driving shaft 16 and the right side The overall structure that driving wheel 7 is constituted, which can fold, to be contained in the inner space of the rack 1.

The other end of the third damper 4 is detachably connected on the hollow lever 23 of the third, and the described 4th subtracts The other end of vibration device 5 is detachably connected on the described 4th hollow lever 24；It is separated in the other end of the third damper 4 The hollow lever 23 of third, when the other end of the 4th damper 5 separates the four hollow lever 24, the when because folding Two sections of three telescoping universal joints 21 and the 4th telescoping universal joint 22 are separation, and left steering wheel 8 and right turn wheel 9 can be rolled over respectively It is folded.

In 3rd embodiment, the first telescoping universal joint 11, the second telescoping universal joint 12 and drive shaft 10 are coaxially disposed.It is described Delivery vehicle further includes first gear group 37, second gear group 38, third gear set 39 and the 4th gear set 40, first tooth Wheel group 37 is connected between the other end of first telescoping universal joint 11 and one end of first transmission shaft 15, and described second Gear set 38 is connected between the other end and the left driving wheel 6 of first transmission shaft 15, and the third gear set 39 connects It connects between the other end of second telescoping universal joint 12 and one end of the second driving shaft 16, the 4th gear set 40 It is connected between the other end and the right driving wheel 7 of the second driving shaft 16.

First gear group 37 includes the bevel gear of two orthogonal engagements, and one of bevel gear is fixed on the first transmission shaft 15 One end, another bevel gear is fixed on the other end of the first telescoping universal joint 11, the external setting first of first gear group 37 Gear-box, to accommodate first gear group 37, first gear case and the first hollow lever 13 are fixed.Thus, when folding, the first tooth Roller box can be rotated together with the first hollow lever 13.Equally, third gear set 39 includes the bevel gear of two orthogonal engagements, One of bevel gear is fixed on one end of second driving shaft 16, another bevel gear is fixed on the another of the second telescoping universal joint 12 Third gear-box is arranged in one end, the external of third gear set 39, to accommodate third gear set 39, third gear-box and second hollow Lever 14 is fixed.Thus, when folding, third gear-box can be rotated together with the second hollow lever 14.

Second gear group 38 includes the bevel gear of two orthogonal engagements, and one of bevel gear is fixed on the first transmission shaft 15 The other end, another bevel gear is fixed on the wheel shaft of left driving wheel 6, and second gear is arranged in the external of second gear group 38 Case, to accommodate second gear group 38, second gear case and the first hollow lever 13 are fixed.Equally, the 4th gear set 40 includes two The bevel gear of a orthogonal engagement, one of bevel gear are fixed on the other end of second driving shaft 16, another bevel gear is fixed On the wheel shaft of right driving wheel 7, the 4th gear-box is arranged in the external of the 4th gear set 40, to accommodate the 4th gear set 40, the 4th Gear-box and the second hollow lever 14 are fixed.

In 3rd embodiment, third telescoping universal joint 21 and the 4th telescoping universal joint 22 are sagging with horizontal drive shaft 20 Less than 45 degree of the angle a1 of line L1 (as shown in figure 14).The delivery vehicle further include the 5th gear set 41, the 6th gear set 42, 7th gear set 43 and eighth gear group 44, the 5th gear set 41 are connected to one end of the third telescoping universal joint 21 Between the left end of the horizontal drive shaft 20, the 6th gear set 42 be connected to the other end of the third transmission shaft 25 with Between the left steering wheel 8, the 7th gear set 43 be connected to the 4th telescoping universal joint 22 one end and the transverse direction Between the right end of transmission shaft 20, the eighth gear group 44 be connected to the 4th transmission shaft 26 the other end and the right turn Between wheel 9.

5th gear set 41 includes the bevel gear of two orthogonal engagements, and one of bevel gear is fixed on the laterally transmission The left end of axis 20, another bevel gear are fixed on one end of third telescoping universal joint 21, the external setting of the 5th gear set 41 the Five gear-boxes, to accommodate the 5th gear set 41, the 5th gear-box and rack 1 are fixed.When folding, third telescoping universal joint 21 Two sections can be separated from each other, to avoid interference when folding.Equally, the 7th gear set 43 includes the cone tooth of two orthogonal engagements Wheel, one of bevel gear are fixed on the right end of the horizontal drive shaft 20, another bevel gear be fixed on the 4th stretch it is universal One end of section 22, the 7th gear-box is arranged in the external of the 7th gear set 43, to accommodate the 7th gear set 43, the 7th gear-box and machine Frame 1 is fixed.When folding, two sections of the 4th telescoping universal joint 22 can be separated from each other, to avoid interference when folding.

6th gear set 42 is worm gear mechanism, and worm screw is fixed on the third transmission shaft 25, and worm gear is fixed on a left side On the wheel shaft of deflecting roller 8, the 6th gear-box is arranged in the external of the 6th gear set 42, to accommodate the 6th gear set 42, the 6th gear Case and the hollow lever 23 of third are fixed.Worm screw rotates together with third transmission shaft 25, and the worm gear level engaged is driven to turn It is dynamic, to realize being horizontally diverted for left steering wheel 8.Preferably, the upper and lower ends of the worm gear of the 6th gear set 42 connect one first turn Bracket 50 is connect, the wheel shaft of first switching support 50 and left steering wheel 8 is fixed.In this way, worm gear, the first switching support 50 and a left side Deflecting roller 8 integrally rotates.

Equally, eighth gear group 44 is worm gear mechanism, and worm screw is fixed on the 4th transmission shaft 26, and worm gear is fixed On the wheel shaft of right turn wheel 9, eighth gear case is arranged in the external of eighth gear group 44, to accommodate eighth gear group 44, the 8th Gear-box and the 4th hollow lever 24 are fixed.Worm screw rotates together with the 4th transmission shaft 26, and drives the worm gear water engaged Flat turn is dynamic, to realize being horizontally diverted for right turn wheel 9.Preferably, the upper and lower ends connection one the of the worm gear of eighth gear group 44 The wheel shaft of two switching supports 51, second switching support 51 and right turn wheel 9 is fixed.In this way, worm gear, the second switching support 51 And right turn wheel 9 integrally rotates.

In 3rd embodiment, the tooth sector group 18 includes intermeshing fluted disc 1801 and tooth shaft 1802, the tooth Disk 1801 is connected to the lower end of the steering handle 17, and the tooth shaft 1802 is fixed or is integrally formed in the longitudinal drive shaft 19 One end.

In 3rd embodiment, the tumbler gear group 45 is worm gear mechanism, and worm gear 4501 is fixed on the laterally biography On moving axis 20, worm screw 4502 is fixed or is integrally formed on the other end of the longitudinal drive shaft 19.The tumbler gear group 45 Worm screw 4502 rotated together with longitudinal drive shaft 19, and the worm gear 4501 that engages is driven to rotate, to realize longitudinal biography The torque of moving axis 19 is transferred to horizontal drive shaft 20.

In 3rd embodiment, the middle part of the drive shaft 10 is provided with differential mechanism 46, and the drive shaft 10 includes being connected to The left half axle in 46 left side of differential mechanism and the right axle shaft for being connected to 46 right side of differential mechanism, the power device provide dynamic Power is via distributing to the left half axle and right axle shaft after the differential mechanism 46.Preferably, the second sprocket wheel 35 is fixed or integrally formed On differential mechanism 46.

In 3rd embodiment, oily pump driver gear 47, the oil pump driver gear can also be set in the drive shaft 10 47 can drive external gear pump.

In 3rd embodiment, rack 1 is the tower structure welded by more root canal beams.The bottom of rack 1 is beaten completely It opens, in order to fold, the top of rack 1 can install seat.Drive shaft 10, longitudinal drive shaft 19, horizontal drive shaft 20 and turn It can be supported in rack 1 by the holder pivots equipped with bearing to the equal part of handle 17.These brackets are fixed in rack 1. The position setting Guan Liang being connect in rack 1 with these brackets.

In 3rd embodiment, first transmission shaft 15 is by first bearing rotational support in the described first hollow lever 13 Interior, the inner ring of the first bearing is fixed on the periphery of first transmission shaft 15, and the outer ring of the first bearing is fixed on On the inner wall of the first hollow lever 13.The second driving shaft 16 is hollow in described second by second bearing rotational support In lever 14, the inner ring of the second bearing is fixed on the periphery of the second driving shaft 16, the outer ring of the second bearing It is fixed on the inner wall of the described second hollow lever 14.The third transmission shaft 25 is by 3rd bearing rotational support in described the In three hollow levers 23, the inner ring of the 3rd bearing is fixed on the periphery of the third transmission shaft 25, the 3rd bearing Outer ring be fixed on the inner wall of the hollow lever 23 of the third.4th transmission shaft 26 by fourth bearing rotational support in In the 4th hollow lever 24, the inner ring of the fourth bearing is fixed on the periphery of the 4th transmission shaft 26, and described The outer ring of four bearings is fixed on the inner wall of the described 4th hollow lever 24.

In 3rd embodiment, the first hollow lever 13, the second hollow lever 14, the hollow lever 23 of third are located in rack 1 And the position setting evacuation vacancy of 24 top of the 4th hollow lever.So that the first hollow lever 13, the second hollow lever 14, The hollow lever 23 of third and the 4th hollow lever 24 will not interfere when folding with rack 1.

In 3rd embodiment, driving wheel is front-wheel, and deflecting roller is rear-wheel, drives rear steering before realizing.

Telescoping universal joint used by herein is existing product, connects two sections by spline, is provided with splined shaft One section of another section for capable of being relatively set with splined hole slides, flexible to realize.When being provided with one section of splined shaft from splined hole When middle abjection, two sections of telescoping universal joint are separated from each other.During installation, it needs again to connect two sections of separation.

Delivery vehicle according to a third embodiment of the present invention, when driving wheel (left driving wheel 6 and right driving wheel 7) is jumped up and down When dynamic, the first transmission shaft 15 and the first hollow lever 13 is whole rotates around the first fulcrum 27, since the first hollow lever 13 is by the One fulcrum 27 is divided into the first first galianconism long-armed and close to the first telescoping universal joint 11 close to left driving wheel 6, and first is long-armed Length be greater than the first galianconism length, thus, according to lever principle, the first hollow lever 13 is close to the first telescoping universal joint 11 The up and down motion amplitude of one end be less than the amplitude that the first hollow lever 13 moves up and down close to 6 one end of left driving wheel so that First telescoping universal joint 11 left driving wheel 6 occur by a relatively large margin when moving up and down also only have lesser up and down motion amplitude, Very good solution drive shaft 10 passes through first transmission shaft 15 (first hollow lever of first telescoping universal joint 11 to up and down motion 13) the problem of transmitting torque.Similarly, up and down motion width of the second hollow lever 14 close to one end of the second telescoping universal joint 12 Degree is less than the amplitude that the second hollow lever 14 moves up and down close to 7 one end of right driving wheel, so that the second telescoping universal joint 12 exists Right driving wheel 7 occur by a relatively large margin also there was only lesser up and down motion amplitude, very good solution drive shaft when moving up and down 10 pass through the problem of the second telescoping universal joint 12 transmits torque to the second driving shaft 16 (the second hollow lever 14) of up and down motion. Herein, it is further preferable that one end of the first damper 2 is hinged in rack 1, the other end of the first damper 2 is hinged on first On hollow lever 13, the first damper 2 subtracts at a distance from the hinge joint to the first fulcrum 27 of the first hollow lever 13 less than first Device 2 shake at a distance from the hinge joint to the first hollow 13 other end of lever (road wheel end) of the first hollow lever 13.Equally, second subtracts One end of vibration device 3 is hinged in rack 1, and the other end of the second damper 3 is hinged on the second hollow lever 14, the second damper 3 at a distance from the hinge joint to the second fulcrum 28 of the second hollow lever 14 less than the second damper 3 and the second hollow lever 14 Distance of the hinge joint to the second hollow 14 other end of lever (road wheel end).In this way, the biggish bounce of driving wheel is hollow by first The leverage of lever 13 and the second hollow lever 14 improves delivery work so that rack 1 only has moving up and down more by a small margin The riding comfort of tool.

In addition, third transmission shaft 25 and third are hollow when deflecting roller (left steering wheel 8 and right turn wheel 9) moves up and down Lever 23 is whole to be rotated around third fulcrum 29, since the hollow lever 23 of third is divided by third fulcrum 29 close to left steering wheel 8 Long-armed and close to third telescoping universal joint 21 the third galianconism of third, the long-armed length of third are greater than the length of third galianconism, because And according to lever principle, the up and down motion amplitude of the one end of the hollow lever 23 of third close to third telescoping universal joint 21 is less than The amplitude that the hollow lever 23 of third moves up and down close to 8 one end of left steering wheel, so that third telescoping universal joint 21 is in left steering wheel 8 Occur by a relatively large margin also there was only lesser up and down motion amplitude when moving up and down, very good solution horizontal drive shaft 20 passes through The problem of third telescoping universal joint 21 transmits torque to the third transmission shaft 25 (the hollow lever 23 of third) of up and down motion.Similarly, The up and down motion amplitude of the one end of the 4th hollow lever 24 close to the 4th telescoping universal joint 22 is less than the 4th hollow lever 24 and leans on The amplitude that nearly 9 one end of right turn wheel moves up and down, so that in right turn wheel 9 by a relatively large margin upper occurs for the 4th telescoping universal joint 22 Also there was only lesser up and down motion amplitude when lower bounce, very good solution horizontal drive shaft 20 passes through the 4th telescoping universal joint 22 The problem of transmitting torque to the 4th transmission shaft 26 (the 4th hollow lever 24) of up and down motion.Herein, it is further preferable that third subtracts One end of vibration device 4 is hinged in rack 1, and the other end of third damper 4 is hinged on the hollow lever 23 of third, third damper 4 are less than third damper 4 and the hollow lever 23 of third at a distance from the hinge joint to third fulcrum 29 of the hollow lever 23 of third Distance of the hinge joint to hollow 23 other end of lever (road wheel end) of third.Equally, one end of the 4th damper 5 is hinged on rack 1 On, the other end of the 4th damper 5 is hinged on the 4th hollow lever 24, the hinge of the 4th damper 5 and the 4th hollow lever 24 Contact to the 4th fulcrum 30 distance less than the hinge joint of the 4th damper 5 and the 4th hollow lever 24 to the 4th hollow lever 24 The distance of the other end (road wheel end).In this way, the biggish bounce of deflecting roller passes through the hollow lever 23 of third and the 4th hollow lever 24 Leverage improve the riding comfort of delivery vehicle so that rack 1 only has moving up and down more by a small margin.

In addition, when the other end of the first damper 2 separates the first hollow lever 13, and the other end of the second damper 3 When separating the second hollow lever 14, the first hollow lever 13, the first transmission shaft 15, left driving wheel 6, the second hollow lever 14, The overall structure that two transmission shafts 16 and right driving wheel 7 are constituted can be around the first rotary shaft 31 and the second axial rotary close to rack 1 direction rotates, so that the first hollow lever 13, the first transmission shaft 15, left driving wheel 6, the second hollow lever 14, The overall structure that two transmission shafts 16 and right driving wheel 7 are constituted, which can fold, to be contained in the inner space of rack 1.

When folding, two sections of third telescoping universal joint 21 and two sections of the 4th telescoping universal joint 22 can be separated from each other, The overall structure that the hollow lever 23 of third, third transmission shaft 25 and left steering wheel 8 are constituted is relative to the 4th hollow lever 24, The overall structure that four transmission shafts 26 and right turn wheel 9 are constituted independent can turn folding.That is, the hollow lever of third 23, the overall structure that third transmission shaft 25 and left steering wheel 8 are constituted, which independently folds, is contained in the rack 1, and described The overall structure that four hollow levers 24, the 4th transmission shaft 26 and right turn wheel 9 are constituted can independently fold be contained in it is described In rack 1.

In this manner it is achieved that by the component folding storage for protruding from rack 1 in rack 1, realize delivery vehicle can It folds, folded delivery vehicle volume substantially reduces, and convenient for carrying, and can very easily enter the narrow skies such as elevator In.The folded state of delivery vehicle is as shown in figure 19.

In some modified embodiments of 3rd embodiment, power device can also be using the inhuman power drive dress such as motor It sets.Motor can directly drive the drive shaft 10 to rotate by retarder.

In some modified embodiments of 3rd embodiment, power device can also with gear drive or belt transmission come It is driven instead of above-mentioned chain 36.

In some modified embodiments of 3rd embodiment, driving wheel is also possible to rear-wheel, and deflecting roller is front-wheel, realizes Forward back-drives.

It, can also be by damper and hollow leveraged swaps position in some modified embodiments of 3rd embodiment.That is, subtracting One end of vibration device is connected to below rack, and the other end of damper is connect with hollow lever, and hollow lever is connected to above rack.

In addition, as shown in figure 20, the delivery vehicle further includes active tilt drive system, the active tilt drive system Include:

Speed detector 100, for detecting the travel speed of delivery vehicle；

Rotation angle detecting apparatus 200, for detecting the steering angle of delivery vehicle；

Incline controller 300 detects that the travel speed of delivery vehicle is greater than in the speed detector 100 and presets When value and the rotation angle detecting apparatus 200 detect that the steering angle of delivery vehicle to the left is more than the first default steering angle, institute It states incline controller 300 and controls the posture that left low and right high is presented in rack 1；Delivery is detected in the speed detector 100 The travel speed of tool is greater than preset value and the rotation angle detecting apparatus 200 detects that the steering angle of delivery vehicle to the right is more than When the second default steering angle, the incline controller 300 controls the posture that right low left high is presented in rack 1.

In 3rd embodiment, the incline controller 300 include control mechanism 301, the first above-mentioned damper 2, on The second damper 3, above-mentioned third damper 4 and the 4th above-mentioned damper 5 stated.

Detect that the travel speed of delivery vehicle is greater than preset value and the roll angle inspection in the speed detector 100 When device 200 detects that the steering angle of delivery vehicle to the left is more than the first default steering angle, the control mechanism 301 is controlled First damper 2 and third damper 4 compress, and control second damper 3 and the stretching of the 4th damper 5, so that The posture of left low and right high is presented in rack 1, at this point, the compression speed of first damper 2 and third damper 4 and described the The tensile speed of two dampers 3 and the 4th damper 5 is directly proportional to the travel speed of delivery vehicle and steering angle size.

Detect that the travel speed of delivery vehicle is greater than preset value and the roll angle inspection in the speed detector 100 When device 200 detects that the steering angle of delivery vehicle to the right is more than the second default steering angle, the control mechanism 301 is controlled First damper 2 and third damper 4 stretch, and control the second damper 3a and the compression of the 4th damper 5, so that The posture of right low left high is presented in rack 1a, at this point, the tensile speed of first damper 2 and third damper 4 and described The compression speed of second damper 3 and the 4th damper 5 is with the travel speed of delivery vehicle and steering angle size at just Than.

In 3rd embodiment, as shown in figure 21, first damper 2, the second damper 3, third damper 4 and the 4th Damper 5 is oil cylinder spring cushion 400, the oil cylinder spring cushion 400 include damper cylinder 401, shock-absorbing spring 402, Oil cylinder 403 and sliding rail 404, the shock-absorbing spring 402, oil cylinder 403 and sliding rail 404 are arranged in the damper cylinder 401, described Sliding rail 404 is fixed on the inner wall of the damper cylinder 401, and the cylinder body of the oil cylinder 403 is slidably arranged in the sliding rail In 404, the piston 4031 of the oil cylinder 403 stretches out the damper cylinder 401, and one end of the shock-absorbing spring 402 is connected to described The inner end of oil cylinder 403, the other end of the shock-absorbing spring 402 are connected to the bottom end of the damper cylinder 401.

The Basolateral of the damper cylinder 401 is connected on corresponding hollow lever, that is, first damper 2 subtracts The Basolateral of vibration cylinder 401 is connected on the first hollow lever 13, the Basolateral of the damper cylinder 401 of second damper 3 It is connected on the second hollow lever 14, the Basolateral of the damper cylinder 401 of the third damper 4 is connected to the hollow thick stick of third On bar 23, the Basolateral of the damper cylinder 401 of the 4th damper 5 is connected on the 4th hollow lever 24.

The control mechanism 301 includes single-chip microcontroller and hydraulic control system 500, and the single-chip microcontroller is examined with the speed respectively Device 100 and the communication connection of rotation angle detecting apparatus 200 are surveyed, and according to the speed detector 100 and rotation angle detecting apparatus 200 testing result issues control instruction to hydraulic control system.

As shown in figure 22, the hydraulic control system 500 includes two-way oil pump 501, left side pipeline 502, right side pipeline 503, intermediate duct 504, the first valve 505 and the second valve 506, one end of the left side pipeline 502 are connected to described two-way In one of oil pump 501 opening, the other end of the left side pipeline 502 connects first damper 2 and third damper 4 Oil cylinder 403, one end of the right side pipeline 503 are connected in another opening of the two-way oil pump 501, the right side pipeline 503 other end connects the oil cylinder 403 of second damper 3 and the 4th damper 5, and one end of the intermediate duct 504 connects It connecing on the left side pipeline 502, the other end of the intermediate duct 504 is connected on the right side pipeline 503, and described first Valve 505 is arranged on the left side pipeline 502 or right side pipeline 503, and second valve 506 is arranged in the intermediate tube On road 504.

The output power of the two-way oil pump 501 is directly proportional to the travel speed of delivery vehicle, first valve 505 Aperture is directly proportional to steering angle.Speed detector 100 can be arranged on the wheel shaft of left driving wheel 6, right driving wheel 7 Velocity sensor on wheel shaft or drive shaft 10.Rotation angle detecting apparatus 200 can be arranged on fluted disc 1801 or steering handle 17 On Hall sensor.

Delivery vehicle detects that the steering angle of delivery vehicle to the left does not surpass when driving, in the rotation angle detecting apparatus 200 It crosses the first default steering angle or detects that the steering angle of delivery vehicle to the right is no more than in the rotation angle detecting apparatus 100 When the second default steering angle, first valve 505 is closed, and second valve 506 is opened, and the two-way oil pump 501 closes It closes.By intermediate duct 504, the hydraulic oil in the oil cylinder 403 of the damper of two sides is flowed freely, and keeps balance.

In the present embodiment, it is preferable that two-way oil pump 501 is gear pump, and the oil pump gear in two-way oil pump 501 passes through electromagnetism Clutch is connect with the oily pump driver gear 47 in drive shaft 10.When electromagnetic clutch engagement, the power of drive shaft 10 passes through Oil pump gear rotation in oily pump driver gear 47 and electromagnetic clutch driving two-way oil pump 501, realizes the work of two-way oil pump 501 Make, also, the travel speed of delivery vehicle is faster, the oil pump gear rotation in two-way oil pump 501 is faster, two-way oil pump 501 Output power is bigger.When electromagnetic clutch disconnects, two-way oil pump 501 does not work.

Detect that the travel speed of delivery vehicle is greater than preset value and the roll angle inspection in the speed detector 100 When device 200 detects that the steering angle of delivery vehicle to the left is more than the first default steering angle, second valve 506 is closed It closes, first valve 505 is opened, and the two-way oil pump 501 starts, and hydraulic oil is by first damper 2 and third vibration damping The oil cylinder 403 of device 4 flows to the oil cylinder 403 of second damper 3 and the 4th damper 5 through the two-way oil pump 501.Rack 1 The posture of left low and right high is presented.

Detect that the travel speed of delivery vehicle is greater than preset value and the roll angle inspection in the speed detector 100 When device 200 detects that the steering angle of delivery vehicle to the right is more than the second default steering angle, second valve 506 is closed It closes, first valve 505 is opened, and the two-way oil pump 501 starts, and hydraulic oil is by second damper 3 and the 4th vibration damping The oil cylinder of device 5 flows to the oil cylinder 403 of first damper 2 and third damper 3 through the two-way oil pump 501.Rack 1 is presented The posture of right low left high.

It, can be by damper and corresponding leveraged swaps position in some modified embodiments of 3rd embodiment.At this point, Detect that the travel speed of delivery vehicle is greater than preset value and the rotation angle detecting apparatus 200 in the speed detector 100 Detect that the steering angle of delivery vehicle to the left is more than the first default steering angle or detects in the speed detector 100 Travel speed to delivery vehicle is greater than preset value and the rotation angle detecting apparatus 200 detects the steering angle of delivery vehicle to the right Degree more than the second default steering angle when, same steering direction, the telescopic direction of damper before transposition with transposition It is opposite afterwards.

Fourth embodiment (not shown)

The active tilt drive system that fourth embodiment of the invention provides, the difference with 3rd embodiment is, oil cylinder Spring cushion replaces with cylinder spring cushion.

First damper, the second damper, third damper and the 4th damper are cylinder spring cushion, institute Stating cylinder spring cushion includes damper cylinder, shock-absorbing spring, cylinder and sliding rail, and the shock-absorbing spring, cylinder and sliding rail setting exist In the damper cylinder, the sliding rail is fixed on the inner wall of the damper cylinder, and the cylinder body of the cylinder is slidably arranged in institute It states in sliding rail, the piston of the cylinder stretches out the damper cylinder and connects on the rack, and one end of the shock-absorbing spring is connected to The inner end of the cylinder, the other end of the shock-absorbing spring are connected to the bottom end of the damper cylinder.

The control mechanism includes single-chip microcontroller and pneumatic control system, the single-chip microcontroller respectively with the speed detector And rotation angle detecting apparatus communication connection, the pneumatic control system includes two-way air pump, left side pipeline, right side pipeline, intermediate tube Road, the first valve and the second valve, one end of the left side pipeline are connected in an opening of the two-way air pump, the left side The other end of lateral line connects the cylinder of first damper and third damper, and one end of the right side pipeline is connected to institute It states in another opening of two-way air pump, the other end of the right side pipeline connects second damper and the 4th damper Cylinder, one end of the intermediate duct are connected on the left side pipeline, and the other end of the intermediate duct is connected to the right side On lateral line, first valve is arranged on the left side pipeline or right side pipeline, and the second valve setting is in described Between on pipeline.

The output power of the two-way air pump is directly proportional to the travel speed of delivery vehicle, the aperture of first valve with Steering angle is directly proportional.

Delivery vehicle detects that the steering angle of delivery vehicle to the left is no more than the when driving, in the rotation angle detecting apparatus One default steering angle detects that the steering angle of delivery vehicle to the right is no more than second in advance in the rotation angle detecting apparatus If when steering angle, first valve is closed, second valve is opened, and the two-way air pump is closed.

Detect that the travel speed of delivery vehicle is greater than preset value and roll angle inspection dress in the speed detector It sets when detecting that the steering angle of delivery vehicle to the left is more than the first default steering angle, second valve is closed, and described the One valve is opened, and the two-way air pump starting, gas is by the cylinder of first damper and third damper through described two-way Air pump flows to the cylinder of second damper and the 4th damper.

Detect that the travel speed of delivery vehicle is greater than preset value and roll angle inspection dress in the speed detector It sets when detecting that the steering angle of delivery vehicle to the right is more than the second default steering angle, second valve is closed, and described the One valve is opened, and the two-way air pump starting, gas is by the cylinder of second damper and the 4th damper through described two-way Air pump flows to the cylinder of first damper and third damper.

It, can be by damper and corresponding leveraged swaps position in some modified embodiments of fourth embodiment.At this point, The travel speed of delivery vehicle is detected greater than preset value in the speed detector and the rotation angle detecting apparatus detects The steering angle of delivery vehicle to the left is more than the first default steering angle or detects delivery work in the speed detector The travel speed of tool is greater than preset value and the rotation angle detecting apparatus detects that the steering angle of delivery vehicle to the right is more than second When default steering angle, same steering direction, the telescopic direction of damper is opposite with being after transposition before transposition.

5th embodiment

As shown in Figure 23 to Figure 28, fifth embodiment of the invention provide delivery vehicle, be three-wheel form, including rack 1, First damper 2, the second damper 3, third damper 4, left driving wheel 6, right driving wheel 7, running and driving system, deflecting roller 49 And driving and steering system.

One end of first telescoping universal joint 11 is connect with the left end of the drive shaft 10, first telescoping universal joint 11 other end is connect by a first gear group 37 with one end of first transmission shaft 15, first transmission shaft 15 it is another One end is connect by a second gear group 38 with the left driving wheel 6；One end of second telescoping universal joint 12 and the drive The right end of moving axis 10 connects, and the other end of second telescoping universal joint 12 passes through a third gear set 39 and second transmission One end of axis 16 connects, and the other end of the second driving shaft 16 is connect by one the 4th gear set 40 with the right driving wheel 7.

The power device for driving the drive shaft 10 to rotate, stretch by described first by the rotation of the drive shaft 10 Contracting universal joint 11, first gear group 37, the first transmission shaft 15 pass and second gear group 38 is transferred to the left driving wheel 6, with this The left driving wheel 6 is driven to rotate, the rotation of the drive shaft 10 passes through second telescoping universal joint 12, third gear set 39, second driving shaft 16 and the 4th gear set 40 are transferred to the right driving wheel 7, drive the right driving wheel 7 to rotate with this.

The driving and steering system includes that steering handle 17, tooth sector group 18, longitudinal drive shaft 19 and third torque pass Pass mechanism, the third torque transmission mechanism includes third telescoping universal joint 21, the hollow lever 23 of third and third transmission shaft 25, The longitudinal drive shaft 19 and the hollow lever 23 of third extend along the front-rear direction of the rack 1,25 turns of the third transmission shaft Dynamic to be supported in the hollow lever 23 of the third, one end of the third damper 4 is connected in the rack 1, the third The other end of damper 4 is connected on the hollow lever 23 of the third.

The tooth sector group 18 be connected to the steering handle 17 lower end and the longitudinal drive shaft 19 one end it Between, the other end of the longitudinal drive shaft 19 is connect with one end of the third telescoping universal joint 21, and the third is stretched universal The other end of section 21 is connect with one end of the third transmission shaft 25, and the other end of the third transmission shaft 25 passes through a driving cog Wheel group 48 is connect with the deflecting roller 49.

The third rotary shaft 32 of the longitudinal drive shaft 19, the hollow thick stick of third are provided perpendicular in the rack 1 The third fulcrum 29 being rotatably connected in the third rotary shaft 32 is provided on bar 23, the hollow lever 23 of third is described Third fulcrum 29 is divided into long-armed and close to the third telescoping universal joint 21 the third galianconism of third close to the deflecting roller 49, The long-armed length of the third is greater than the length of the third galianconism.

The rotation of the steering handle 17 passes through the tooth sector group 18, longitudinal drive shaft 19, third telescoping universal joint 21,25 driving gear set 48 of third transmission shaft is transferred to the deflecting roller 49, drives the deflecting roller 49 to turn to this.

The other end of the third damper 4 is detachably connected on the hollow lever 23 of the third；In the third When the other end of damper 4 separates the third hollow lever 23, the hollow lever 23 of the third, third transmission shaft 25 and turn to The overall structure that wheel 49 is constituted can be rotated around the third rotary shaft 32 to the direction close to the rack 1, so that The overall structure that the hollow lever 23 of the third, third transmission shaft 25 and deflecting roller 49 are constituted, which can fold, is contained in the machine In the inner space of frame 1.

In 5th embodiment, first rotary shaft 31 and the second rotary shaft can be same axis, be also possible to distinguish Two independent axis being rotatably assorted with the first fulcrum 27 and the second fulcrum 28.

In 5th embodiment, the tooth sector group 18 includes intermeshing fluted disc 1801 and tooth shaft 1802, the tooth Disk 1801 is connected to the lower end of the steering handle 17, and the tooth shaft 1802 is fixed or is integrally formed in the longitudinal drive shaft 19 One end.

In 5th embodiment, the middle part of the drive shaft 10 is provided with differential mechanism 46, and the drive shaft 10 includes being connected to The left half axle in 46 left side of differential mechanism and the right axle shaft for being connected to 46 right side of differential mechanism, the power device provide dynamic Power is via distributing to the left half axle and right axle shaft after the differential mechanism 46.Preferably, the second sprocket wheel 35 is fixed or integrally formed On differential mechanism 46.

In 5th embodiment, oily pump driver gear 47, the oil pump driver gear can also be set in the drive shaft 10 47 can drive external gear pump.

In 5th embodiment, rack 1 is the tower structure welded by more root canal beams.The bottom of rack 1 is beaten completely It opens, in order to fold, the top of rack 1 can install seat.The parts such as drive shaft 10, longitudinal drive shaft 19 and steering handle 17 It can be supported in rack 1 by the holder pivots equipped with bearing.These brackets are fixed in rack 1.It is propped up in rack 1 with these Guan Liang is arranged in the position of frame connection.

In 5th embodiment, first transmission shaft 15 is by first bearing rotational support in the described first hollow lever 13 Interior, the inner ring of the first bearing is fixed on the periphery of first transmission shaft 15, and the outer ring of the first bearing is fixed on On the inner wall of the first hollow lever 13.The second driving shaft 16 is hollow in described second by second bearing rotational support In lever 14, the inner ring of the second bearing is fixed on the periphery of the second driving shaft 16, the outer ring of the second bearing It is fixed on the inner wall of the described second hollow lever 14.The third transmission shaft 25 is by 3rd bearing rotational support in described the In three hollow levers 23, the inner ring of the 3rd bearing is fixed on the periphery of the third transmission shaft 25, the 3rd bearing Outer ring be fixed on the inner wall of the hollow lever 23 of the third.

In 5th embodiment, the first hollow lever 13, the second hollow lever 14 and the hollow lever 23 of third are located in rack 1 The position setting evacuation vacancy of top.So that the first hollow lever 13, the second hollow lever 14 and the hollow lever 23 of third It will not be interfered with rack 1.

In 5th embodiment, driving wheel is front-wheel, and deflecting roller 49 is rear-wheel, drives rear steering before realizing.

In 5th embodiment, the first telescoping universal joint 11, the second telescoping universal joint 12 and drive shaft 10 are coaxially disposed.It is described Delivery vehicle further includes first gear group 37, second gear group 38, third gear set 39 and the 4th gear set 40, first tooth Wheel group 37 is connected between the other end of first telescoping universal joint 11 and one end of first transmission shaft 15, and described second Gear set 38 is connected between the other end and the left driving wheel 6 of first transmission shaft 15, and the third gear set 39 connects It connects between the other end of second telescoping universal joint 12 and one end of the second driving shaft 16, the 4th gear set 40 It is connected between the other end and the right driving wheel 7 of the second driving shaft 16.

In 5th embodiment, third telescoping universal joint 21 and longitudinal drive shaft 19 are coaxially disposed.The delivery vehicle also wraps Include driving gear set 48, the driving gear set 48 be connected to the third transmission shaft 25 the other end and the deflecting roller 49 it Between.When folding, two sections of third telescoping universal joint 21 can be separated from each other, to avoid interference when folding.

Driving gear set 48 is worm gear mechanism, and worm screw is fixed on the third transmission shaft 25, and worm gear, which is fixed on, to be turned To on the wheel shaft of wheel 49, gear-box is arranged in the external of driving gear set 48, and to accommodate driving gear set, gear-box is hollow with third Lever 23 is fixed.Worm screw rotates together with third transmission shaft 25, and the worm gear engaged is driven to horizontally rotate, and is turned to realizing Wheel is horizontally diverted.Preferably, the upper and lower ends of the worm gear of driving gear set 48 connect an adapter frame 52, the adapter frame 52 It is fixed with the wheel shaft of deflecting roller 49.In this way, worm gear, adapter frame 52 and deflecting roller 49 integrally rotate.

The delivery vehicle of fifth embodiment of the invention, when driving wheel (left driving wheel 6 and right driving wheel 7) moves up and down, First transmission shaft 15 and the first hollow lever 13 are whole around the rotation of the first fulcrum 27, since the first hollow lever 13 is by the first fulcrum 27 are divided into the first first galianconism long-armed and close to the first telescoping universal joint 11 close to left driving wheel 6, the first long-armed length Greater than the length of the first galianconism, thus, according to lever principle, the first hollow lever 13 is close to one end of the first telescoping universal joint 11 Up and down motion amplitude be less than the amplitude that the first hollow lever 13 moves up and down close to 6 one end of left driving wheel so that first stretches Contracting universal joint 11 left driving wheel 6 occur by a relatively large margin when moving up and down also only have lesser up and down motion amplitude, well It solves drive shaft 10 and is passed by the first telescoping universal joint 11 to the first transmission shaft 15 (the first hollow lever 13) of up and down motion The problem of sending torque.Similarly, up and down motion amplitude of the second hollow lever 14 close to one end of the second telescoping universal joint 12 wants small In the amplitude that the second hollow lever 14 moves up and down close to 7 one end of right driving wheel, so that the second telescoping universal joint 12 is in right driving Wheel 7 occur by a relatively large margin also there was only lesser up and down motion amplitude when moving up and down, very good solution drive shaft 10 passes through The problem of second telescoping universal joint 12 transmits torque to the second driving shaft 16 (the second hollow lever 14) of up and down motion.Herein, It is further preferable that one end of the first damper 2 is hinged in rack 1, the other end of the first damper 2 is hinged on the first hollow thick stick On bar 13, the first damper 2 at a distance from the hinge joint to the first fulcrum 27 of the first hollow lever 13 less than the first damper 2 with Distance of the hinge joint of first hollow lever 13 to the first hollow 13 other end of lever (road wheel end).Equally, second damper 3 One end is hinged in rack 1, and the other end of the second damper 3 is hinged on the second hollow lever 14, the second damper 3 and second The distance of the hinge joint of hollow lever 14 to the second fulcrum 28 is arrived less than the hinge joint of the second damper 3 and the second hollow lever 14 The distance of second hollow 14 other end of lever (road wheel end).In this way, the biggish bounce of driving wheel by the first hollow lever 13 and The leverage of second hollow lever 14 improves the seating of delivery vehicle so that rack 1 only has moving up and down more by a small margin Comfort.

When deflecting roller moves up and down, third transmission shaft 25 and hollow 23 entirety of lever of third are rotated around third fulcrum 29, The long-armed and close third telescoping universal joint of third that close deflecting roller 49 is divided by third fulcrum 29 due to the hollow lever 23 of third 21 third galianconism, the long-armed length of third are greater than the length of third galianconism, thus, according to lever principle, the hollow lever of third The 23 up and down motion amplitude close to one end of third telescoping universal joint 21 is less than the hollow lever 23 of third close to deflecting roller 49 1 Hold move up and down amplitude so that third telescoping universal joint 21 deflecting roller occur by a relatively large margin when moving up and down also only compared with Small up and down motion amplitude, very good solution longitudinal drive shaft 19 pass through third of the third telescoping universal joint 21 to up and down motion Transmission shaft 25 (the hollow lever 23 of third) transmits the problem of torque.Herein, it is further preferable that one end of third damper 4 is hinged In rack 1, the other end of third damper 4 is hinged on the hollow lever 23 of third, third damper 4 and the hollow lever of third The distance of 23 hinge joint to third fulcrum 29 is less than third damper 4 and the hinge joint of the hollow lever 23 of third is hollow to third The distance of 23 other end of lever (road wheel end).In this way, the biggish bounce of deflecting roller 49 is made by the lever of the hollow lever 23 of third With improving the riding comfort of delivery vehicle so that rack 1 only has moving up and down more by a small margin.

The delivery vehicle of fifth embodiment of the invention separates the first hollow lever 13 in the other end of the first damper 2, and When the other end of second damper 3 separates the second hollow lever 14, the first hollow lever 13, the first transmission shaft 15, left driving wheel 6, the overall structure that the second hollow lever 14, second driving shaft 16 and right driving wheel 7 are constituted can around the first rotary shaft 31 and Second axial rotary is rotated close to the direction of rack 1, so that the first hollow lever 13, the first transmission shaft 15, left driving wheel 6, the overall structure that the second hollow lever 14, second driving shaft 16 and right driving wheel 7 are constituted, which can fold, is contained in rack 1 In inner space.When the other end of third damper 4 separates the hollow lever 23 of third, the hollow lever 23 of third, third transmission The overall structure that axis 25 and deflecting roller are constituted can be rotated around third rotary shaft 32 to the direction close to rack 1, so that The overall structure that the hollow lever 23 of third, third transmission shaft 25 and deflecting roller are constituted can fold the inside for being contained in rack 1 In space.

In this manner it is achieved that by the component folding storage for protruding from rack 1 in rack 1, realize delivery vehicle can It folds, folded delivery vehicle volume substantially reduces, and convenient for carrying, and can very easily enter the narrow skies such as elevator In.The folded state of delivery vehicle of 5th embodiment is as shown in figure 26.

In addition, as shown in figure 27, the delivery vehicle further includes active tilt drive system, the active tilt drive system Include:

Speed detector 100, for detecting the travel speed of delivery vehicle；

In 5th embodiment, the incline controller 300 include control mechanism 301, the first above-mentioned damper 2, on The second damper 3 and above-mentioned third damper 4 stated.

Detect that the travel speed of delivery vehicle is greater than preset value and the roll angle inspection in the speed detector 100 When device 200 detects that the steering angle of delivery vehicle to the left is more than the first default steering angle, the control mechanism 301 is controlled First damper 2 compresses, and controls second damper 3 and the stretching of third damper 4, so that a left side is presented in rack 1 Low right high posture, at this point, the compression speed of first damper 2 and second damper 3 and third damper 4 Tensile speed is directly proportional to the travel speed of delivery vehicle and steering angle size.

Detect that the travel speed of delivery vehicle is greater than preset value and the roll angle inspection in the speed detector 100 When device 200 detects that the steering angle of delivery vehicle to the right is more than the second default steering angle, the control mechanism 301 is controlled First damper 2 and third damper 4 stretch, and control the second damper 3a compression, so that rack 1a is presented The posture of right low left high, at this point, the tensile speed and second damper 3 of first damper 2 and third damper 4 Compression speed it is directly proportional to the travel speed of delivery vehicle and steering angle size.

In 5th embodiment, first damper 2, the second damper 3 and third damper 4 are as shown in figure 21 Oil cylinder spring cushion 400, the oil cylinder spring cushion 400 include damper cylinder 401, shock-absorbing spring 402, oil cylinder 403 and Sliding rail 404, the shock-absorbing spring 402, oil cylinder 403 and sliding rail 404 are arranged in the damper cylinder 401, and the sliding rail 404 is fixed It is arranged on the inner wall of the damper cylinder 401, the cylinder body of the oil cylinder 403 is slidably arranged in the sliding rail 404, the oil cylinder 403 piston 4031 stretches out the damper cylinder, and one end of the shock-absorbing spring 402 is connected to the inner end of the oil cylinder 403, described The other end of shock-absorbing spring 402 is connected to the bottom end of the damper cylinder 401.

The Basolateral of the damper cylinder 401 is connected on corresponding hollow lever, that is, first damper 2 subtracts The Basolateral of vibration cylinder 401 is connected on the first hollow lever 13, the Basolateral of the damper cylinder 401 of second damper 3 It is connected on the second hollow lever 14, the Basolateral of the damper cylinder 401 of the third damper 4 is connected to the hollow thick stick of third On bar 23.

The control mechanism 301 include single-chip microcontroller and hydraulic control system, the single-chip microcontroller respectively with the velocity measuring Device 100 and the communication connection of rotation angle detecting apparatus 200, and according to the speed detector 100 and rotation angle detecting apparatus 200 Testing result to hydraulic control system issue control instruction.As shown in figure 28, the hydraulic control system includes two-way oil pump 601, the first pipeline 602, the second pipeline 603, third pipeline 604, intermediate duct 605, the first valve 606, the second valve 607 And third valve 608, one end of first pipeline 602 are connected in the first opening of the two-way oil pump 601, described first The other end of pipeline 602 connects the oil cylinder 403 of first damper 2, and one end of second pipeline 603 is connected to described double To in the second opening of oil pump 601, the other end of second pipeline 603 connects the oil cylinder 403 of second damper 3, institute The one end for stating third pipeline 604 is connected in the intermediate duct 605, the other end of the third pipeline 604 connection described the The oil cylinder 403 of three dampers 4, the intermediate duct 605 are used for first pipeline 602, the second pipeline 603 and third pipeline 604 are interconnected, and first valve 606 is arranged on second pipeline 603, second valve 607 and third valve 608 are arranged in the intermediate duct 605.

The output power of the two-way oil pump 601 is directly proportional to the travel speed of delivery vehicle, first valve 606 Aperture is directly proportional to steering angle.Speed detector 100 can be arranged on the wheel shaft of left driving wheel 6, right driving wheel 7 Velocity sensor on wheel shaft or drive shaft 10.Rotation angle detecting apparatus 200 can be arranged on fluted disc or steering handle 17 Hall sensor.

Delivery vehicle detects that the steering angle of delivery vehicle to the left does not surpass when driving, in the rotation angle detecting apparatus 200 It crosses the first default steering angle or detects that the steering angle of delivery vehicle to the right is no more than in the rotation angle detecting apparatus 200 When the second default steering angle, first valve 606 is closed, and second valve 607 and third valve 608 are opened, described Two-way oil pump 601 is closed.By intermediate duct 605, the in-oil cylinder hydraulic oil of three dampers is flowed freely, and keeps balance.

Detect that the travel speed of delivery vehicle is greater than preset value and the roll angle inspection in the speed detector 100 When device 200 detects that the steering angle of delivery vehicle to the left is more than the first default steering angle, the third valve 608 is closed It closes, first valve 606 and the second valve 607 are opened, and the two-way oil pump 601 starts, and hydraulic oil is by first vibration damping The oil cylinder 403 of device 2 flows to the oil cylinder 403 of second damper 3 and third damper 4 through the two-way oil pump 601.Rack 1 The posture of left low and right high is presented.

Detect that the travel speed of delivery vehicle is greater than preset value and the roll angle inspection in the speed detector 100 When device 200 detects that the steering angle of delivery vehicle to the right is more than the second default steering angle, second valve 607 is closed It closes, first valve 606 and third valve 608 are opened, and the two-way oil pump 601 starts, and hydraulic oil is by second vibration damping The oil cylinder 403 of device 3 flows to the oil cylinder 403 of first damper 2 and third damper 4.The appearance of the presentation right low left high of rack 1 State.

In the present embodiment, it is preferable that two-way oil pump 601 is gear pump, and the oil pump gear in two-way oil pump 601 passes through electromagnetism Clutch is connect with the oily pump driver gear 47 in drive shaft 10.When electromagnetic clutch engagement, the power of drive shaft 10 passes through Oil pump gear rotation in oily pump driver gear 47 and electromagnetic clutch driving two-way oil pump 601, realizes the work of two-way oil pump 601 Make, also, the travel speed of delivery vehicle is faster, the oil pump gear rotation in two-way oil pump 601 is faster, two-way oil pump 601 Output power is bigger.When electromagnetic clutch disconnects, two-way oil pump 601 does not work.

It, can be by damper and corresponding leveraged swaps position in some modified embodiments of the 5th embodiment.At this point, Detect that the travel speed of delivery vehicle is greater than preset value and the rotation angle detecting apparatus 200 in the speed detector 100 Detect that the steering angle of delivery vehicle to the left is more than the first default steering angle or detects in the speed detector 100 Travel speed to delivery vehicle is greater than preset value and the rotation angle detecting apparatus 200 detects the steering angle of delivery vehicle to the right Degree more than the second default steering angle when, same steering direction, the telescopic direction of damper before transposition with transposition It is opposite afterwards.

Sixth embodiment (not shown)

The delivery vehicle of sixth embodiment of the invention, the difference with the 5th embodiment are that oil cylinder spring cushion replaces It is changed to cylinder spring cushion.First damper, the second damper and third damper are cylinder spring cushion, institute Stating cylinder spring cushion includes damper cylinder, shock-absorbing spring, cylinder and sliding rail, and the shock-absorbing spring, cylinder and sliding rail setting exist In the damper cylinder, the sliding rail is fixed on the inner wall of the damper cylinder, and the cylinder body of the cylinder is slidably arranged in institute It states in sliding rail, the piston of the cylinder stretches out the damper cylinder, and one end of the shock-absorbing spring is connected to the inner end of the cylinder, The other end of the shock-absorbing spring is connected to the bottom end of the damper cylinder.

The control mechanism includes single-chip microcontroller and pneumatic control system, the single-chip microcontroller respectively with the speed detector And rotation angle detecting apparatus communication connection, and according to the testing result of the speed detector and rotation angle detecting apparatus to air pressure control System processed issues control instruction, the pneumatic control system include two-way air pump, the first pipeline, the second pipeline, third pipeline, in Between pipeline, the first valve, the second valve and third valve, one end of first pipeline is connected to the first of the two-way air pump In opening, the other end of first pipeline connects the cylinder of first damper, and one end of second pipeline is connected to In second opening of the two-way air pump, the other end of second pipeline connects the cylinder of second damper, and described the One end of three pipelines is connected in the intermediate duct, and the other end of the third pipeline connects the gas of the third damper Cylinder, the intermediate duct is for first pipeline, the second pipeline and third pipeline to be interconnected, the first valve setting On second pipeline, second valve and third valve are arranged in the intermediate duct.

The output power of the two-way air pump is directly proportional to speed, first valve, the second valve and third valve Aperture is directly proportional to steering angle.

Delivery vehicle detects that the steering angle of delivery vehicle to the left is no more than the when driving, in the rotation angle detecting apparatus One default steering angle detects that the steering angle of delivery vehicle to the right is no more than second in advance in the rotation angle detecting apparatus If when steering angle, first valve is closed, second valve and third valve are opened, and the two-way air pump is closed, institute State the first pipeline, the second pipeline and third pipeline connection.

Detect that the travel speed of delivery vehicle is greater than preset value and roll angle inspection dress in the speed detector It sets when detecting that the steering angle of delivery vehicle to the left is more than the first default steering angle, the third valve is closed, and described the One valve and the second valve are opened, and the two-way air pump starting, gas is by the cylinder of first damper through the two-way gas Pump flows to the cylinder of second damper and third damper.

Detect that the travel speed of delivery vehicle is greater than preset value and roll angle inspection dress in the speed detector It sets when detecting that the steering angle of delivery vehicle to the right is more than the second default steering angle, second valve is closed, and described the One valve and third valve are opened, and the two-way air pump starting, gas is by the cylinder of two damper through the two-way air pump Flow to the cylinder of first damper and third damper.

It, can be by damper and corresponding leveraged swaps position in some modified embodiments of sixth embodiment.At this point, The travel speed of delivery vehicle is detected greater than preset value in the speed detector and the rotation angle detecting apparatus detects The steering angle of delivery vehicle to the left is more than the first default steering angle or detects delivery work in the speed detector The travel speed of tool is greater than preset value and the rotation angle detecting apparatus detects that the steering angle of delivery vehicle to the right is more than second When default steering angle, same steering direction, the telescopic direction of damper is opposite with being after transposition before transposition.

7th embodiment

Seventh embodiment of the invention provides a kind of active tilt drive control method, comprising:

The travel speed of speed detector detection delivery vehicle.

The steering angle of rotation angle detecting apparatus detection delivery vehicle.

Detect that the travel speed of delivery vehicle is greater than preset value and roll angle inspection dress in the speed detector It sets when detecting that the steering angle of delivery vehicle to the left is more than the first default steering angle, the incline controller controls rack The posture of left low and right high is presented.

8th embodiment

Eighth embodiment of the invention provides a kind of active tilt drive control method, comprising:

The travel speed of speed detector detection delivery vehicle.

Detect that the travel speed of delivery vehicle is greater than preset value and roll angle inspection dress in the speed detector Set incline controller control first when detecting that the steering angle of delivery vehicle to the left is more than the first default steering angle Damper and third shock absorbers compression, and control the second damper and the stretching of the 4th damper, either, the control mechanism control It makes first damper and third damper stretches, and control second damper and the 4th shock absorbers compression, so that The posture of left low and right high is presented in rack, at this point, the compression of the first damper and third damper or tensile speed and the second vibration damping The stretching of device and the 4th damper or compression speed are directly proportional to the travel speed of delivery vehicle and steering angle size.

9th embodiment

Ninth embodiment of the invention provides a kind of active tilt drive control method, comprising:

The travel speed of speed detector detection delivery vehicle.

Detect that the travel speed of delivery vehicle is greater than preset value and roll angle inspection dress in the speed detector It sets when detecting that the steering angle of delivery vehicle to the left is more than the first default steering angle, the control mechanism controls the first vibration damping Device compression, and the second damper and the stretching of third damper are controlled, either, the control mechanism controls first damper It stretches, and controls second damper and third shock absorbers compression, so that the posture of left low and right high is presented in rack, at this point, The stretching of the compression of first damper or tensile speed and the second damper and third damper or compression speed with delivery work The travel speed and steering angle size of tool are directly proportional.

The delivery vehicle of above embodiments, be with wheeled delivery vehicle (such as bicycle and man, recumbent bicycle, it is electronic from Driving) the present invention will be described.That is, rack is vehicle frame, walking mechanism is wheel, and driving walking mechanism is driving wheel (left drive Dynamic walking mechanism is left driving wheel, and right driving walking mechanism is right driving wheel), turning and running mechanism is deflecting roller (left steering row Walking mechanism is left steering wheel, and right turn walking mechanism is right turn wheel).

However, technology of the invention is equally applicable to the delivery vehicles such as ski bob, ship and wet bike.

Corresponding to ski bob, walking mechanism is driven to can be gear tooth-type driving wheel or Athey wheel, turning and running mechanism can be with It is sled.It drives walking mechanism and turning and running mechanism is to be detachably connected with the connection of rack.When folding, will first drive Dynamic walking mechanism and turning and running mechanism are separated with the connecting pin of rack.

Corresponding to marine vehicles such as ship and wet bikes, walking mechanism is driven to can be cylinder type floating wheel, turned It can be streamlined floating drum to walking mechanism.It drives walking mechanism and turning and running mechanism is detachable with the connection of rack Connection.When folding, first driving walking mechanism and turning and running mechanism are separated with the connecting pin of rack.

The delivery vehicles such as ski bob, ship and wet bike, preferably forward back-drive.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.

Claims

1. a kind of active tilt drive system, rack inclining control when for delivery vehicle Turning travel, which is characterized in that packet It includes:

Speed detector, for detecting the travel speed of delivery vehicle；

Incline controller detects that the travel speed of delivery vehicle is greater than preset value and described turn in the speed detector When angle detecting device detects that the steering angle of delivery vehicle to the left is more than the first default steering angle, the incline controller Control the posture that left low and right high is presented in rack；It detects that the travel speed of delivery vehicle is greater than in the speed detector to preset It is described to incline when value and the rotation angle detecting apparatus detect that the steering angle of delivery vehicle to the right is more than the second default steering angle The posture of right low left high is presented in oblique control device control rack.

2. active tilt drive system according to claim 1, which is characterized in that the incline controller includes control Mechanism, the first damper, the second damper, third damper and the 4th damper；Delivery vehicle includes rack, left driving walking Mechanism, right driving walking mechanism, left steering walking mechanism and right turn walking mechanism；

First damper is connected between rack and left driving walking mechanism, and second damper is connected to rack and the right side It drives between walking mechanism, the third damper is connected between rack and left steering walking mechanism, the 4th damper It is connected between rack and right turn walking mechanism；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the left more than the first default steering angle, the control mechanism controls first vibration damping Device and third shock absorbers compression, and control second damper and the stretching of the 4th damper, either, the control mechanism control It makes first damper and third damper stretches, and control second damper and the 4th shock absorbers compression, so that The posture of left low and right high is presented in rack, at this point, the compression of first damper and third damper or tensile speed and described The stretching of second damper and the 4th damper or compression speed with the travel speed of delivery vehicle and steering angle size at Direct ratio；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the right more than the second default steering angle, the control mechanism controls first vibration damping Device and third damper stretch, and control second damper and the 4th shock absorbers compression, either, the control mechanism control First damper and third shock absorbers compression are made, and controls second damper and the stretching of the 4th damper, so that The posture of right low left high is presented in rack, at this point, the stretching of first damper and third damper or compression speed and described The compression of second damper and the 4th damper or tensile speed with the travel speed of delivery vehicle and steering angle size at Direct ratio.

3. active tilt drive system according to claim 2, which is characterized in that first damper, the second vibration damping Device, third damper and the 4th damper are oil cylinder spring cushion, and the oil cylinder spring cushion includes damper cylinder, vibration damping Spring, oil cylinder and sliding rail, the shock-absorbing spring, oil cylinder and sliding rail are arranged in the damper cylinder, and the sliding rail is fixed at On the inner wall of the damper cylinder, the cylinder body of the oil cylinder is slidably arranged in the sliding rail, described in the piston stretching of the oil cylinder Damper cylinder simultaneously connects on the rack, and one end of the shock-absorbing spring is connected to the inner end of the oil cylinder, the shock-absorbing spring it is another One end is connected to the bottom end of the damper cylinder；

The control mechanism includes single-chip microcontroller and hydraulic control system, the single-chip microcontroller respectively with the speed detector and turn Angle detecting device communication connection, and according to the testing result of the speed detector and rotation angle detecting apparatus to hydraulic control system System issues control instruction, and the hydraulic control system includes two-way oil pump, left side pipeline, right side pipeline, intermediate duct, the first valve Door and the second valve, one end of the left side pipeline are connected in an opening of the two-way oil pump, the left side pipeline The other end connects the oil cylinder of first damper and third damper, and one end of the right side pipeline is connected to the two-way oil In another opening of pump, the other end of the right side pipeline connects the oil cylinder of second damper and the 4th damper, institute The one end for stating intermediate duct is connected on the left side pipeline, and the other end of the intermediate duct is connected to the right side pipeline On, first valve is arranged on the left side pipeline or right side pipeline, and second valve is arranged in the intermediate duct On；

The output power of the two-way oil pump and the travel speed of delivery vehicle are directly proportional, the aperture and steering of first valve Angle is directly proportional；

It is pre- that delivery vehicle detects that the steering angle of delivery vehicle to the left is no more than first when driving, in the rotation angle detecting apparatus If steering angle detects that the steering angle of delivery vehicle to the right is no more than second default turn in the rotation angle detecting apparatus When to angle, first valve is closed, and second valve is opened, and the two-way oil pump is closed；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the left more than the first default steering angle, second valve is closed, first valve Door is opened, and the two-way oil pump starting, hydraulic oil is by the oil cylinder of first damper and third damper through the two-way oil Pump flows to the oil cylinder of second damper and the 4th damper, and either, hydraulic oil is subtracted by second damper and the 4th The oil cylinder of vibration device flows to the oil cylinder of first damper and third damper through the two-way oil pump；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the right more than the second default steering angle, second valve is closed, first valve Door is opened, and the two-way oil pump starting, hydraulic oil is by the oil cylinder of second damper and the 4th damper through the two-way oil Pump flows to the oil cylinder of first damper and third damper, and either, hydraulic oil is subtracted by first damper and third The oil cylinder of vibration device flows to the oil cylinder of second damper and the 4th damper through the two-way oil pump.

4. active tilt drive system according to claim 2, which is characterized in that first damper, the second vibration damping Device, third damper and the 4th damper are cylinder spring cushion, and the cylinder spring cushion includes damper cylinder, vibration damping Spring, cylinder and sliding rail, the shock-absorbing spring, cylinder and sliding rail are arranged in the damper cylinder, and the sliding rail is fixed at On the inner wall of the damper cylinder, the cylinder body of the cylinder is slidably arranged in the sliding rail, described in the piston stretching of the cylinder Damper cylinder simultaneously connects on the rack, and one end of the shock-absorbing spring is connected to the inner end of the cylinder, the shock-absorbing spring it is another One end is connected to the bottom end of the damper cylinder；

The control mechanism includes single-chip microcontroller and pneumatic control system, the single-chip microcontroller respectively with the speed detector and turn Angle detecting device communication connection, and according to the testing result of the speed detector and rotation angle detecting apparatus to pressure control system System issues control instruction, and the pneumatic control system includes two-way air pump, left side pipeline, right side pipeline, intermediate duct, the first valve Door and the second valve, one end of the left side pipeline are connected in an opening of the two-way air pump, the left side pipeline The other end connects the cylinder of first damper and third damper, and one end of the right side pipeline is connected to the two-way gas In another opening of pump, the other end of the right side pipeline connects the cylinder of second damper and the 4th damper, institute The one end for stating intermediate duct is connected on the left side pipeline, and the other end of the intermediate duct is connected to the right side pipeline On, first valve is arranged on the left side pipeline or right side pipeline, and second valve is arranged in the intermediate duct On；

The output power of the two-way air pump is directly proportional to the travel speed of delivery vehicle, the aperture and steering of first valve Angle is directly proportional；

It is pre- that delivery vehicle detects that the steering angle of delivery vehicle to the left is no more than first when driving, in the rotation angle detecting apparatus If steering angle detects that the steering angle of delivery vehicle to the right is no more than second default turn in the rotation angle detecting apparatus When to angle, first valve is closed, and second valve is opened, and the two-way air pump is closed；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the left more than the first default steering angle, second valve is closed, first valve Door is opened, and the two-way air pump starting, gas is by the cylinder of first damper and third damper through the two-way air pump The cylinder of second damper and the 4th damper is flowed to, either, gas is by second damper and the 4th damper Cylinder the cylinder of first damper and third damper is flowed to through the two-way air pump；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the right more than the second default steering angle, second valve is closed, first valve Door is opened, and the two-way air pump starting, gas is by the cylinder of second damper and the 4th damper through the two-way air pump The cylinder of first damper and third damper is flowed to, either, gas is by first damper and third damper Cylinder the cylinder of second damper and the 4th damper is flowed to through the two-way air pump.

5. active tilt drive system according to claim 2, which is characterized in that first damper, the second vibration damping Device, third damper and the 4th damper are motor spring damper, and the motor spring damper includes damper cylinder, vibration damping Spring, damping column, motor, threaded rod, threaded rod nut slider and sliding rail, the shock-absorbing spring, damping column, motor, threaded rod, Threaded rod nut slider and sliding rail are arranged in the damper cylinder, and the sliding rail is fixed on the inner wall of the damper cylinder, The shell of the motor is slidably arranged in the sliding rail, and the threaded rod is connected on the output shaft of the motor, the spiral shell Rasp bar nut slider is threadedly engaged with the threaded rod, and outer surface and the sliding rail sliding of the threaded rod nut slider connect Touching, the sliding rail limit the rotation of the threaded rod nut slider, and the damping column is connected on the threaded rod nut slider, One end of the damping column is stretched out the damper cylinder and is connected on the rack, and one end of the shock-absorbing spring is connected to the motor Inner end, the other end of the shock-absorbing spring is connected to the bottom end of the damper cylinder；

The control mechanism includes single-chip microcontroller and electric machine control system, the single-chip microcontroller respectively with the speed detector and turn Angle detecting device communication connection, and according to the testing result of the speed detector and rotation angle detecting apparatus to motor control system System issues control instruction, and the electric machine control system includes first control circuit and second control circuit；

The first control circuit can be changed including the first power supply, first switch, second switch, third switch, the 4th switch, first Resistance, the second adjustable resistance, third variable resistance and the 4th variable resistance, first variable resistance, the second adjustable resistance and The motor of first damper connects to form the first branch, the third variable resistance, the 4th variable resistance and the third The motor of damper connects to form second branch, and the first branch is in parallel with the second branch, and first power supply is just Pole is connected to one end of the first switch and one end of third switch, the cathode of first power supply are connected to described second and open The other end of one end of pass and one end of the 4th switch, the other end of the first switch and the 4th switch is connected to described first Between one end of branch and one end of second branch, the other end of the other end and the third switch of the second switch is connected to institute It states between the other end of the first branch and the other end of second branch；

The second control circuit includes second source, the 5th switch, the 6th switch, the 7th switch, the 8th switch, the 5th variable Resistance, the 6th variable resistance, the 7th variable resistance and the 8th variable resistance, the 5th variable resistance, the 6th variable resistance and The motor of second damper connects to form third branch, the 7th variable resistance, the 8th variable resistance and the described 4th The motor of damper connects to form the 4th branch, and the third branch and the 4th branch circuit parallel connection, the second source is just Pole is connected to one end of the 5th switch and one end of the 7th switch, the cathode of the second source are connected to the described 6th and open One end of pass and one end of the 8th switch, the other end of the 5th switch and the other end of the 8th switch are connected to the third Between one end of branch and one end of the 4th branch, the other end of the 6th switch and the other end of the 7th switch are connected to institute It states between the other end of third branch and the other end of the 4th branch；

The resistance value and delivery vehicle of first variable resistance, third variable resistance, the 5th variable resistance and the 7th variable resistance Travel speed be inversely proportional, the resistance of the second adjustable resistance, the 4th variable resistance, the 6th variable resistance and the 8th variable resistance Value is inversely proportional with steering angle；

It is pre- that delivery vehicle detects that the steering angle of delivery vehicle to the left is no more than first when driving, in the rotation angle detecting apparatus If steering angle detects that the steering angle of delivery vehicle to the right is no more than second default turn in the rotation angle detecting apparatus When to angle, the motor of first damper, the motor of the second damper, the motor of third damper and the 4th damper Motor does not work；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the left more than the first default steering angle, the motor and third of first damper subtract The motor reversal of vibration device is so that first damper and third shock absorbers compression, the motor and the 4th of second damper The motor of damper rotates forward so that second damper and the 4th damper stretch, either, first damper The motor of motor and third damper rotates forward so that first damper and the stretching of third damper, second damper Motor and the 4th damper motor reversal so that second damper and the 4th shock absorbers compression；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the right more than the second default steering angle, the motor and third of first damper subtract The motor of vibration device rotates forward so that first damper and the stretching of third damper, the motor and the 4th of second damper The motor reversal of damper is so that second damper and the 4th shock absorbers compression, either, first damper The motor reversal of motor and third damper is so that first damper and third shock absorbers compression, second damper Motor and the motor of the 4th damper rotate forward so that second damper and the 4th damper stretch.

6. active tilt drive system according to claim 1, which is characterized in that the incline controller includes control Mechanism, the first damper, the second damper and third damper；Delivery vehicle includes rack, left driving walking mechanism, right driving Walking mechanism and turning and running mechanism；

First damper is connected between rack and left driving walking mechanism, and second damper is connected to rack and the right side It drives between walking mechanism, the third damper is connected between rack and turning and running mechanism；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the left more than the first default steering angle, the control mechanism controls first vibration damping Device compression, and second damper and the stretching of third damper are controlled, either, the control mechanism control described first subtracts The device that shakes stretches, and controls second damper and third shock absorbers compression, so that the posture of left low and right high is presented in rack, this When, stretching or the compression speed of the compression of first damper or tensile speed and second damper and third damper It is directly proportional to the travel speed of delivery vehicle and steering angle size；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the right more than the second default steering angle, the control mechanism controls first vibration damping Device and third damper stretch, and control second shock absorbers compression, and either, the control mechanism control described first subtracts Shake device and third shock absorbers compression, and controls second damper and stretch, so that the posture of right low left high is presented in rack, this When, the stretching of first damper and third damper or the compression of compression speed and second damper or tensile speed It is directly proportional to the travel speed of delivery vehicle and steering angle size.

7. active tilt drive system according to claim 6, which is characterized in that first damper, the second vibration damping Device and third damper are oil cylinder spring cushion, the oil cylinder spring cushion include damper cylinder, shock-absorbing spring, oil cylinder and Sliding rail, the shock-absorbing spring, oil cylinder and sliding rail are arranged in the damper cylinder, and the sliding rail is fixed at the damper cylinder On inner wall, the cylinder body of the oil cylinder is slidably arranged in the sliding rail, and the piston of the oil cylinder stretches out the damper cylinder and connects On the rack, one end of the shock-absorbing spring is connected to the inner end of the oil cylinder, and the other end of the shock-absorbing spring is connected to institute State the bottom end of damper cylinder；

The control mechanism includes single-chip microcontroller and hydraulic control system, the single-chip microcontroller respectively with the speed detector and turn Angle detecting device communication connection, and according to the testing result of the speed detector and rotation angle detecting apparatus to hydraulic control system System issues control instruction, and the hydraulic control system includes two-way oil pump, the first pipeline, the second pipeline, third pipeline, intermediate tube Road, the first valve, the second valve and third valve, one end of first pipeline are connected to the first opening of the two-way oil pump On, the other end of first pipeline connects the oil cylinder of first damper, and one end of second pipeline is connected to described In second opening of two-way oil pump, the other end of second pipeline connects the oil cylinder of second damper, the third pipe The one end on road is connected in the intermediate duct, and the other end of the third pipeline connects the oil cylinder of the third damper, institute Intermediate duct is stated for first pipeline, the second pipeline and third pipeline to be interconnected, first valve is arranged in institute It states on the second pipeline, second valve and third valve are arranged in the intermediate duct；

The output power of the two-way oil pump and the travel speed of delivery vehicle are directly proportional, first valve, the second valve and The aperture of third valve is directly proportional to steering angle；

It is pre- that delivery vehicle detects that the steering angle of delivery vehicle to the left is no more than first when driving, in the rotation angle detecting apparatus If steering angle detects that the steering angle of delivery vehicle to the right is no more than second default turn in the rotation angle detecting apparatus When to angle, first valve is closed, and second valve and third valve are opened, and the two-way oil pump is closed, and described the One pipeline, the second pipeline and third pipeline connection；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the left more than the first default steering angle, the third valve is closed, first valve Door and the second valve are opened, and the two-way oil pump starting, hydraulic oil is by the oil cylinder of first damper through the two-way oil pump The oil cylinder of second damper and third damper is flowed to, either, hydraulic oil is by second damper and third vibration damping The oil cylinder of device flows to the oil cylinder of first damper through the two-way oil pump；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the right more than the second default steering angle, second valve is closed, first valve Door and third valve are opened, and the two-way oil pump starting, hydraulic oil flows to described first by the oil cylinder of second damper and subtracts The oil cylinder of vibration device and third damper, either, hydraulic oil flows to institute by the oil cylinder of first damper and third damper State the oil cylinder of the second damper.

8. active tilt drive system according to claim 6, which is characterized in that first damper, the second vibration damping Device and third damper are cylinder spring cushion, the cylinder spring cushion include damper cylinder, shock-absorbing spring, cylinder and Sliding rail, the shock-absorbing spring, cylinder and sliding rail are arranged in the damper cylinder, and the sliding rail is fixed at the damper cylinder On inner wall, the cylinder body of the cylinder is slidably arranged in the sliding rail, and the piston of the cylinder stretches out the damper cylinder and connects On the rack, one end of the shock-absorbing spring is connected to the inner end of the cylinder, and the other end of the shock-absorbing spring is connected to institute State the bottom end of damper cylinder；

The control mechanism includes single-chip microcontroller and pneumatic control system, the single-chip microcontroller respectively with the speed detector and turn Angle detecting device communication connection, and according to the testing result of the speed detector and rotation angle detecting apparatus to pressure control system System issues control instruction, and the pneumatic control system includes two-way air pump, the first pipeline, the second pipeline, third pipeline, intermediate tube Road, the first valve, the second valve and third valve, one end of first pipeline are connected to the first opening of the two-way air pump On, the other end of first pipeline connects the cylinder of first damper, and one end of second pipeline is connected to described In second opening of two-way air pump, the other end of second pipeline connects the cylinder of second damper, the third pipe The one end on road is connected in the intermediate duct, and the other end of the third pipeline connects the cylinder of the third damper, institute Intermediate duct is stated for first pipeline, the second pipeline and third pipeline to be interconnected, first valve is arranged in institute It states on the second pipeline, second valve and third valve are arranged in the intermediate duct；

The output power of the two-way air pump is directly proportional to the travel speed of delivery vehicle, first valve, the second valve and The aperture of third valve is directly proportional to steering angle；

It is pre- that delivery vehicle detects that the steering angle of delivery vehicle to the left is no more than first when driving, in the rotation angle detecting apparatus If steering angle detects that the steering angle of delivery vehicle to the right is no more than second default turn in the rotation angle detecting apparatus When to angle, first valve is closed, and second valve and third valve are opened, and the two-way air pump is closed, and described the One pipeline, the second pipeline and third pipeline connection；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the left more than the first default steering angle, the third valve is closed, first valve Door and the second valve are opened, and the two-way air pump starting, gas is by the cylinder of first damper through the two-way air pump stream To second damper and the cylinder of third damper, either, gas is by second damper and third damper Cylinder flows to the cylinder of first damper through the two-way air pump；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the right more than the second default steering angle, second valve is closed, first valve Door and third valve are opened, and the two-way air pump starting, gas is by the cylinder of second damper through the two-way air pump stream To first damper and the cylinder of third damper, either, gas is by first damper and third damper Cylinder flows to the cylinder of second damper through the two-way air pump.

9. active tilt drive system according to claim 6, which is characterized in that first damper, the second vibration damping Device and third damper are motor spring damper, and the motor spring damper includes damper cylinder, shock-absorbing spring, vibration damping Column, motor, threaded rod, threaded rod nut slider and sliding rail, the shock-absorbing spring, damping column, motor, threaded rod, threaded rod spiral shell Female sliding block and sliding rail are arranged in the damper cylinder, and the sliding rail is fixed on the inner wall of the damper cylinder, the motor Shell be slidably arranged in the sliding rail, the threaded rod is connected on the output shaft of the motor, the screw thread stem nut Sliding block is threadedly engaged with the threaded rod, the outer surface of the threaded rod nut slider and the sliding rail sliding contact, the cunning Rail limits the rotation of the threaded rod nut slider, and the damping column is connected on the threaded rod nut slider, the vibration damping One end of column is stretched out the damper cylinder and is connected on the rack, and one end of the shock-absorbing spring is connected to the inner end of the motor, The other end of the shock-absorbing spring is connected to the bottom end of the damper cylinder；

The control mechanism includes single-chip microcontroller and electric machine control system, the single-chip microcontroller respectively with the speed detector and turn Angle detecting device communication connection, and according to the testing result of the speed detector and rotation angle detecting apparatus to motor control system System issues control instruction, and the electric machine control system includes first control circuit, second control circuit and third control circuit；

The first control circuit can be changed including the first power supply, first switch, second switch, third switch, the 4th switch, first Resistance and the second adjustable resistance, first power supply, first switch, the first variable resistance, the motor of first damper, Two variable resistances and second switch series connection forming circuit, the anode of first power supply be connected to the first switch one end and One end of 4th switch, the cathode of first power supply are connected to one end of the second switch and one end of third switch, institute The other end for stating first switch is connected between the other end and the first variable resistance of the third switch, the 4th switch The other end is connected between the other end and the second adjustable resistance of the second switch；

The second control circuit includes that second source, the 5th switch, the 6th switch, the 7th switch, the 8th switch, third are variable Resistance and the 4th variable resistance, the second source, the 5th switch, third variable resistance, the motor of second damper, Four variable resistances and the 6th switch series connection forming circuit, the anode of the second source be connected to it is described 5th switch one end and One end of 8th switch, the cathode of the second source are connected to one end of the 6th switch and one end of the 7th switch, institute The other end for stating the 5th switch is connected between the other end and third variable resistance of the 7th switch, the 8th switch The other end is connected between the other end and the 4th variable resistance of the 6th switch；

The third control circuit includes third power supply, the 9th switch, the tenth switch, the 11st switch, the 12nd switch, the 5th Variable resistance and the 6th variable resistance, the third power supply, the 9th switch, the 5th variable resistance, the third damper electricity Machine, the 6th variable resistance and the tenth switch series connection forming circuit, the anode of the third power supply are connected to the 9th switch One end and one end of the 12nd switch, the cathode of the third power supply are connected to one end and the 11st switch of the tenth switch One end, it is described 9th switch the other end be connected to it is described 11st switch the other end and the 5th variable resistance between, institute The other end for stating the 12nd switch is connected between the other end and the 6th variable resistance of the tenth switch；

First variable resistance, third variable resistance and the resistance value of the 5th variable resistance and the travel speed of delivery vehicle are at anti- Than the resistance value and steering angle of the second adjustable resistance, the 4th variable resistance and the 6th variable resistance are inversely proportional；

It is pre- that delivery vehicle detects that the steering angle of delivery vehicle to the left is no more than first when driving, in the rotation angle detecting apparatus If steering angle detects that the steering angle of delivery vehicle to the right is no more than second default turn in the rotation angle detecting apparatus When to angle, the motor of the motor of first damper, the motor of the second damper and third damper does not work；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the left more than the first default steering angle, the motor reversal of first damper so that First shock absorbers compression is obtained, the motor of second damper and the motor of third damper rotate forward so that described second Damper and third damper stretch, and either, the motor of first damper rotates forward so that first damper is drawn It stretches, the motor of second damper and the motor reversal of third damper are so that second damper and third damper Compression；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the right more than the second default steering angle, the motor and third of first damper subtract The motor of vibration device rotates forward so that first damper and the stretching of third damper, the motor reversal of second damper So that second shock absorbers compression, either, the motor reversal of the motor of first damper and third damper with So that first damper and third shock absorbers compression, the motor of second damper is rotated forward so that described second subtracts The device that shakes stretches.

10. a kind of active tilt drive control method based on active tilt drive system described in claim 1, feature exist In, comprising:

The travel speed of speed detector detection delivery vehicle；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the left more than the first default steering angle, the incline controller control rack is presented The posture of left low and right high；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the right more than the second default steering angle, the incline controller control rack is presented The posture of right low left high.

11. a kind of active tilt drive control side based on active tilt drive system described in claim 2-5 any one Method characterized by comprising

The travel speed of speed detector detection delivery vehicle；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the left more than the first default steering angle, the incline controller controls the first vibration damping Device and third shock absorbers compression, and the second damper and the stretching of the 4th damper are controlled, either, the control mechanism controls institute It states the first damper and third damper stretches, and control second damper and the 4th shock absorbers compression, so that rack Present left low and right high posture, at this point, the compression of the first damper and third damper or tensile speed and the second damper and The stretching of 4th damper or compression speed are directly proportional to the travel speed of delivery vehicle and steering angle size；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the right more than the second default steering angle, the incline controller controls the first vibration damping Device and third damper stretch, and control the second damper and the 4th shock absorbers compression, and either, the control mechanism controls institute The first damper and third shock absorbers compression are stated, and controls second damper and the stretching of the 4th damper, so that rack The posture that right low left high is presented, at this point, the stretching of the first damper and third damper or compression speed and second vibration damping The compression of device and the 4th damper or tensile speed are directly proportional to the travel speed of delivery vehicle and steering angle size.

12. a kind of active tilt drive control side based on active tilt drive system described in claim 6-9 any one Method characterized by comprising

The travel speed of speed detector detection delivery vehicle；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the left more than the first default steering angle, the control mechanism controls the first damper pressure Contracting, and the second damper and the stretching of third damper are controlled, either, the control mechanism controls first damper and draws It stretches, and controls second damper and third shock absorbers compression, so that the posture of left low and right high is presented in rack, at this point, the The stretching of the compression of one damper or tensile speed and the second damper and third damper or compression speed are and delivery vehicle Travel speed and steering angle size it is directly proportional；

Detect that the travel speed of delivery vehicle is greater than preset value and rotation angle detecting apparatus inspection in the speed detector When measuring the steering angle of delivery vehicle to the right more than the second default steering angle, the control mechanism control the first damper and Third damper stretches, and controls the second shock absorbers compression, and either, the control mechanism controls first damper and the Three shock absorbers compressions, and control second damper and stretch, so that the posture of right low left high is presented in rack, at this point, first The compression of the stretching of damper and third damper or compression speed and the second damper or tensile speed with delivery vehicle Travel speed and steering angle size are directly proportional.

13. a kind of delivery vehicle, which is characterized in that including active tilt drive system described in any one of claim 1-9.