CN110936783B - Car body side-tipping linkage mechanism and active side-tipping vehicle using same - Google Patents

Car body side-tipping linkage mechanism and active side-tipping vehicle using same Download PDF

Info

Publication number
CN110936783B
CN110936783B CN201911224025.9A CN201911224025A CN110936783B CN 110936783 B CN110936783 B CN 110936783B CN 201911224025 A CN201911224025 A CN 201911224025A CN 110936783 B CN110936783 B CN 110936783B
Authority
CN
China
Prior art keywords
vehicle
roll
steering
vehicle body
wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201911224025.9A
Other languages
Chinese (zh)
Other versions
CN110936783A (en
Inventor
王亚
魏文军
李海涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to CN201911224025.9A priority Critical patent/CN110936783B/en
Publication of CN110936783A publication Critical patent/CN110936783A/en
Application granted granted Critical
Publication of CN110936783B publication Critical patent/CN110936783B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
    • B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
    • B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K25/00—Axle suspensions
    • B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/02—Tricycles
    • B62K5/06—Frames for tricycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/08—Cycles with handlebars, equipped with three or more main road wheels with steering devices acting on two or more wheels

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)
  • Automatic Cycles, And Cycles In General (AREA)

Abstract

The invention relates to a vehicle body roll linkage mechanism and an active roll vehicle applying the same, belonging to the technical field of vehicle chassis, in particular to the technical field of vehicle body roll driving and control, wherein the vehicle body roll linkage mechanism consists of a roll mechanism and a steering mechanism, the vehicle body roll linkage mechanism rotates relative to a vehicle frame, an actuating angle alpha and a steering angle theta are used as control parameters, and the vehicle body roll and the vehicle steering move in two degrees of freedom, so that the wheels do not roll in the process of vehicle body roll and are suitable for general car tires; the three working conditions of turning and rolling, independent rolling or independent turning can be realized in the running process of the vehicle, and the vehicle body active rolling is applied to the active rolling of the vehicle body when the vehicle turns, so that the vehicle can automatically tilt at a certain angle to resist the centrifugal force or the side turning force when the vehicle turns over a curve or runs on an inclined road surface, and the stable running posture is kept.

Description

Car body side-tipping linkage mechanism and active side-tipping vehicle using same
Technical Field
The invention relates to a vehicle body roll linkage mechanism and an active roll vehicle using the same, belongs to the technical field of vehicle chassis, and particularly relates to the technical field of vehicle body roll driving and control.
Background
The active roll control system improves the operation stability, smoothness, traffic speed and safety of the vehicle during turning by controlling the degree of the vehicle inclining to the inner side of the turning during turning, and the vehicle active roll technology can enable the vehicle to automatically incline for a certain angle during passing a bend or driving on an inclined road surface to generate a balance moment to resist the centrifugal force or the side overturning force applied to the vehicle so as to keep the stable driving posture of the vehicle with a small wheel base.
The active roll technology of the vehicle is generally implemented by two modes of independent roll of a vehicle body and linkage roll of the vehicle body and wheels, wherein: the vehicle body and the wheels are in linkage roll mode, the roll of the vehicle body and the steering motion of the vehicle are mutually influenced, the control stability, the smoothness and the safety of the vehicle during turning are better, two-wheel independent steering or four-wheel independent steering is required to be adopted, or a vehicle steering roll linkage device formed by the linkage of a roll mechanism and a steering mechanism is adopted, but the structure is complex, the manufacturing cost is high, and the vehicle steering roll linkage device is suitable for high-end vehicles; the vehicle body independent side-tipping mode is adopted, the vehicle body moves relative to the vehicle frame, the vehicle body side-tipping and the vehicle steering movement are independently carried out without mutual interference, wheels do not side-tipping in the vehicle body side-tipping process, any steering mechanism and general car tires can be adopted, usually, the actuator directly drives the vehicle body to rotate relative to the vehicle frame to realize the vehicle body side-tipping, and the control stability, the smoothness and the safety reliability are poor when the vehicle turns; the method has the advantages that the side-tipping driving mode of the vehicle body is explored, the side-tipping transmission and control method of the vehicle body is researched, and the theoretical significance and the practical value are achieved for reducing the manufacturing cost of the active side-tipping vehicle and improving the performance of the vehicle body independent side-tipping vehicle.
Disclosure of Invention
The invention aims to provide a vehicle body side-rolling linkage mechanism and an active side-rolling vehicle applying the same, which realize that wheels do not side and adapt to general car tires in the vehicle body side-rolling process by the rotation of a vehicle body relative to a vehicle frame, are applied to the vehicle body actively inclining for a certain angle to resist centrifugal force or side-rolling force when the vehicle passes a bend or runs on an inclined road surface, and keep the stable running posture of the vehicle.
The technical scheme adopted for achieving the aim of the invention comprises the following steps: the car body side-tipping linkage mechanism consists of a side-tipping mechanism and a steering mechanism;
the roll mechanism described above includes: a vehicle body (1), a right lower pull rod (2), a left lower pull rod (3), a right steering knuckle spindle (4), a left steering knuckle spindle (5), a right upper pull rod (6), a left upper pull rod (7), a right steering knuckle (8), a left steering knuckle (9), a right wheel (10), a left wheel (11), a right shock absorber (12), a left shock absorber (13), a balance rod (14), a vehicle frame (15) and a restraint rod (16), sequentially and rotatably connecting the frame (15), the right lower pull rod (2), the right knuckle spindle (4) and the right upper pull rod (6), wherein each relative rotation axis at a connecting point B, C, D, A is parallel to and perpendicular to the vehicle transverse plane to form a quadrilateral ABCD of the same relative movement plane, the right knuckle (8) and the right knuckle spindle (4) are rotatably connected around the axis CD of the right knuckle spindle, and the right knuckle (8) is connected with a right wheel (10) and controls the direction of the right wheel; sequentially and rotatably connecting a frame (15), a left lower pull rod (3), a left steering knuckle spindle (5) and a left upper pull rod (7), wherein the relative rotation axes at the connecting point F, G, H, E are parallel and vertical to the transverse plane of the vehicle to form a quadrilateral EFGH of the same relative movement plane, the left steering knuckle (9) is rotatably connected with the left steering knuckle spindle (5) around the axis GH thereof, the left steering knuckle (9) is connected with a left wheel (11) and controls the direction thereof, and the upper connecting points A, B of the frame (15) are respectively symmetrical with E, F about the central vertical plane of the vehicle; the vehicle body (1) is rotatably connected with the vehicle frame (15), a connecting point W is positioned in a vehicle body vertical plane, the W is positioned in a vehicle central vertical plane, the middle point of a balance rod (14) is rotatably connected with the vehicle body (1), a connecting point U is positioned in the vehicle body vertical plane, two ends of the balance rod (14) are respectively rotatably connected with one end L of a right shock absorber (12) and one end J of a left shock absorber (13), the other end of the right shock absorber (12) is rotatably connected with a point K of a right upper pull rod (6), the other end of the left shock absorber (13) is rotatably connected with a point I of a left upper pull rod (7), relative rotating axes at the connecting point W, U, K, L, I, J are parallel and perpendicular to a vehicle vertical plane, the right shock absorber (12) and the left shock absorber (13) are equal in length and same in performance, WU (KL) is equal to IJ, WK (WI) is equal to UJ, one end of a restraint rod (16) is rotatably connected with a point X of the vehicle frame (15), The other end of the balance rod is rotationally connected with a Z point of a balance rod (14), WU is equal to XZ, WX is equal to UZ, the lengths of a right lower pull rod (2) and a left lower pull rod (3) are equal, the lengths of a right knuckle spindle (4) and a left knuckle spindle (5) are equal, and the lengths of a right upper pull rod (6) and a left upper pull rod (7) are equal, so that a side-tipping mechanism is formed;
wherein: an included angle between the vehicle body (1) and the vehicle frame (15) is an actuating angle alpha, an included angle between a vehicle body vertical plane and a vehicle center vertical plane is a vehicle body roll angle beta, the roll attitude of the vehicle body (1) is controlled by the actuating angle alpha, and when alpha is equal to 0: beta is 0, and the vehicle body does not roll; when α ≠ 0: β ≠ 0, vehicle body rolling, and a rolling function β ═ f (α) of the relationship between the vehicle body rolling angle β and the actuating angle α of the rolling mechanism is obtained, and the wheels do not roll during the vehicle body rolling process.
The steering mechanism described above includes: a right steering knuckle spindle (4) and a right steering knuckle (8) in the roll mechanism, a left steering knuckle spindle (5) and a left steering knuckle (9), a steering swing arm (17), a right steering arm (18), a left steering arm (19), a right connecting rod (20) and a left connecting rod (21) in the roll mechanism, an axis intersection point M of the right steering knuckle spindle (4) and the right steering knuckle (8), and the right steering arm (18) and the right steering knuckle (8) form a whole
Figure BSA0000196459620000021
The angle is fixedly connected and rotates around a CD (compact disc) together, the axis intersection point N of the left steering knuckle spindle (5) and the left steering knuckle (9) is formed, and the left steering arm (19) and the left steering knuckle (9) are the same
Figure BSA0000196459620000022
The angle is fixedly connected and rotates around a GH together; one end of a steering swing arm (17) is rotationally connected with an O point of a frame (15), the rotation axis is positioned in the central vertical plane of the vehicle and is parallel to the transverse plane of the vehicle, one end of a right connecting rod (20) is connected with an S point ball hinge at the tail end of the right steering arm (18), the other end of the right connecting rod is connected with a P point ball hinge of the steering swing arm (17), one end of a left connecting rod (21) is connected with a T point ball hinge at the tail end of a left steering arm (19), the other end of the left connecting rod is connected with a Q point ball hinge of the steering swing arm (17), OP (OQ) is obtained, the right steering arm (18) is equal to the left steering arm (19), the right connecting rod (20) is equal to the left connecting rod (;
wherein: the included angle between the steering swing arm (17) and the frame (15) is a steering angle theta, the directions of the left wheel and the right wheel are controlled by the steering angle theta, when the steering angle theta is 0, the included angle between the right steering arm (18) and the vehicle transverse plane is equal to the included angle between the left steering arm (19) and the vehicle transverse plane, and the included angles are all
Figure BSA0000196459620000023
The vehicle runs straight; when the steering angle theta is not equal to 0, the deflection angle theta of the outer wheeleAnd inner wheel deflection angle thetaiThe Ackerman steering condition is met, and the vehicle can steer to run.
The vehicle body tilting linkage mechanism is formed by the tilting mechanism and the steering mechanism, the frame does not tilt and the wheels do not tilt in the vehicle body tilting process, the tilting mechanism and the steering mechanism move independently, and the independent control of the vehicle body tilting and the vehicle steering is realized by taking the actuating angle alpha and the steering angle theta as control parameters; the left and right steering knuckle main shafts tilt inwards and tilt backwards, and the left and right wheels tilt outwards and toe-in, so that the steering correction and straight-line driving stability of the left and right wheels are realized.
In the above-mentioned roll linkage mechanism, the roll center W is located in the vertical plane of the vehicle center, the height of the roll center W from the ground surface depends on the relative position of W and BF, and when the distance h between W and BF is set, and h is 0, W and BF are overlapped; when h is less than 0, W is positioned below BF; when h is greater than 0, W is positioned on the upper side of BF; two ends of the balance rod (14) are respectively in rotary connection with one end L of the right shock absorber (12) and one end J of the left shock absorber (13), when h is larger, the other end of the right shock absorber (12) is in rotary connection with a point K of the right upper pull rod (6), and the other end of the left shock absorber (13) is in rotary connection with a point I of the left upper pull rod (7), so that the balance rod is called as an upper-pull type vehicle body side-tipping linkage mechanism; when h is smaller, the other end of the right shock absorber (12) is rotationally connected with a point K of the right lower pull rod (2), and the other end of the left shock absorber (13) is rotationally connected with a point I of the left lower pull rod (3), so that the mechanism is called a pull-down type vehicle body side-tipping linkage mechanism; if the conditions of KL, WK, WI, UL, UJ are satisfied, the same roll function β, f (α) is satisfied, and the vehicle wheel does not roll during the roll of the vehicle body.
In the vehicle body roll linkage mechanism, when the connecting points L, U, J on the balance bar (14) are collinear, the corresponding connecting points K, W, I are theoretically collinear; the balance bar (14) upper attachment point L, U, J is located at radius R0Is located at the radius R theoretically, the corresponding connection point K, W, I is located at the radius R0On the other circumference of (a); if the conditions of KL, WK, WI, UL, UJ are satisfied, the same roll function β, f (α) is satisfied, and the vehicle wheel does not roll during the roll of the vehicle body.
In the above-described body roll linkage mechanism, the actuation angle α is generated by an actuator, and the actuator is selected from an electromagnetic actuator, an electromechanical actuator, or an electrohydraulic actuator; the roll mechanism position is determined from the actuation angle α, and the vehicle body roll angle β is obtained from the roll function β ═ f (α).
In the above-mentioned car body heeling linkage mechanism, the steering angle θ is generated by a steering gear, and the steering gear is a rack and pinion steering gear, or a worm crank pin type steering gear, or a recirculating ball type steering gear; determining the position of the steering mechanism according to the steering angle thetaeInner wheel deflection angle thetaiAnd the Ackerman steering condition is met, and the turning radius R of the vehicle is obtained.
A non-steering wheel vehicle body roll mechanism is composed of a roll mechanism: the right knuckle (8) is connected with right knuckle spindle (4) around its axis CD rotation and is changed into perpendicular solid connection, and left knuckle (9) is connected with left knuckle spindle (5) around its axis GH rotation and is changed into perpendicular solid connection and form, includes: a vehicle body (1), a right lower pull rod (2), a left lower pull rod (3), a right steering knuckle spindle (4), a left steering knuckle spindle (5), a right upper pull rod (6), a left upper pull rod (7), a right steering knuckle (8), a left steering knuckle (9), a right wheel (10), a left wheel (11), a right shock absorber (12), a left shock absorber (13), a balance rod (14), a vehicle frame (15) and a restraint rod (16), sequentially and rotatably connecting the frame (15), the right lower pull rod (2), the right knuckle spindle (4) and the right upper pull rod (6), wherein the relative rotation axes at the connecting point B, C, D, A are parallel and vertical to the vehicle transverse plane to form a quadrilateral ABCD with the same relative movement plane, the right knuckle (8) is vertically and fixedly connected with the right knuckle spindle (4), the right knuckle (8) is connected with the right wheel (10), and the rotation axes of the right wheel are positioned in the vehicle transverse plane; sequentially and rotatably connecting a frame (15), a left lower pull rod (3), a left steering knuckle spindle (5) and a left upper pull rod (7), wherein the relative rotation axes at a connecting point F, G, H, E are parallel and vertical to the vehicle transverse plane to form a quadrilateral EFGH of the same relative movement plane, a left steering knuckle (9) is vertically and fixedly connected with the left steering knuckle spindle (5), the left steering knuckle (9) is connected with a left wheel (11), the rotation axis of the left wheel is positioned in the vehicle transverse plane, and the upper connecting point A, B of the frame (15) is respectively symmetrical to E, F about the vehicle central longitudinal vertical plane; the vehicle body (1) is rotatably connected with the vehicle frame (15), a connecting point W is positioned in a vehicle body vertical plane, the W is positioned in a vehicle central vertical plane, the middle point of a balance rod (14) is rotatably connected with the vehicle body (1), a connecting point U is positioned in the vehicle body vertical plane, two ends of the balance rod (14) are respectively rotatably connected with one end L of a right shock absorber (12) and one end J of a left shock absorber (13), the other end of the right shock absorber (12) is rotatably connected with a point K of a right upper pull rod (6), the other end of the left shock absorber (13) is rotatably connected with a point I of a left upper pull rod (7), relative rotating axes at the connecting point W, U, K, L, I, J are parallel and perpendicular to a vehicle vertical plane, the right shock absorber (12) and the left shock absorber (13) are equal in length and same in performance, WU (KL) is equal to IJ, WK (WI) is equal to UJ, one end of a restraint rod (16) is rotatably connected with a point X of the vehicle frame (15), The other end of the steering mechanism is rotationally connected with a Z point of a balance rod (14), WU is XZ, WX is UZ, the length of a right lower pull rod (2) is equal to that of a left lower pull rod (3), the length of a right knuckle spindle (4) is equal to that of a left knuckle spindle (5), the length of a right upper pull rod (6) is equal to that of a left upper pull rod (7), and a non-steering wheel vehicle body side-tipping mechanism is formed;
wherein: an included angle between the vehicle body (1) and the vehicle frame (15) is an actuating angle alpha, an included angle between a vehicle body vertical plane and a vehicle center vertical plane is a vehicle body roll angle beta, the roll attitude of the vehicle body (1) is controlled by the actuating angle alpha, and when alpha is equal to 0: beta is 0, and the vehicle body does not roll; when α ≠ 0: and beta is not equal to 0, the vehicle body rolls, and a roll function beta of the relationship between the vehicle body roll angle beta and the actuating angle alpha of the non-steering wheel vehicle body roll mechanism is obtained, wherein the wheels do not roll in the vehicle body roll process.
In the above non-steerable-wheel roll mechanism, the roll center W is located in the vertical plane of the center of the vehicle, the height of the roll center W from the ground surface depends on the relative position of W and BF, and when the distance h between W and BF is set to 0, W and BF overlap; when h is less than 0, W is positioned below BF; when h is greater than 0, W is positioned on the upper side of BF; two ends of the balancing rod (14) are respectively in rotary connection with one end L of the right shock absorber (12) and one end J of the left shock absorber (13), when h is larger, the other end of the right shock absorber (12) is in rotary connection with a point K of the right upper pull rod (6), and the other end of the left shock absorber (13) is in rotary connection with a point I of the left upper pull rod (7); when h is smaller, the other end of the right shock absorber (12) is rotationally connected with a point K of the right lower pull rod (2), and the other end of the left shock absorber (13) is rotationally connected with a point I of the left lower pull rod (3); if the conditions of KL, WK, WI, UL, UJ are satisfied, the same roll function β, f (α) is satisfied, and the vehicle wheel does not roll during the roll of the vehicle body.
The front-wheel steering active-roll four-wheel vehicle includes: a group of vehicle body rolling linkage mechanisms and a group of non-steering wheel vehicle body rolling mechanisms are arranged on the same vehicle body according to a given axle distance L0The front and the back are arranged and share the same frame, and have the same vehicle central vertical plane, the double front wheels are turned, the double rear wheels are driven, the vehicle body side-tipping linkage mechanism controls the vehicle body side tipping, the actuating angle alpha in the non-turning wheel vehicle body side-tipping mechanism is changed in a self-adaptive way, and the non-turning wheel vehicle body side-tipping mechanism is tilted in a self-adaptive way, so that a front wheel turning active side-tipping four-wheel vehicle is formed; the automobile has the advantages of improving the running stability and high-speed bending performance of the automobile, along with large adhesive force and good ground adaptability.
The tricycle with the front wheel steered and actively inclined and tilted comprises a tricycle body; is preceded by a set of body-side-tipping linkages, on the same body, according to a given wheelbase L0The single wheel is arranged at the rear part and shares the central vertical plane of the same vehicle, the double front wheels are used for steering, the rear wheel is used for driving, the vehicle body roll linkage mechanism is used for controlling the vehicle body roll, and the single rear wheel and the vehicle body roll together to form a front wheelThe tricycle is tilted to the active side; has the characteristics of small volume, mobility and flexibility.
The positive tricycle that leans is initiatively leaned on to front wheel steering includes: the rear part of a non-steering wheel vehicle body side-tipping mechanism is arranged on the same vehicle body according to a given wheel base L0The single wheel is arranged in front and shares the central vertical plane of the same vehicle, the double rear wheel drives, the front wheel steers, the non-steering wheel vehicle body tilting mechanism controls the vehicle body to tilt, the single front wheel tilts with the vehicle body together to form the front wheel steering active tilting positive tricycle; the device has the characteristics of large bearing capacity, small turning radius and good ground adaptability.
The rear wheel steering active side-tipping tricycle includes: with a set of non-steering wheels, arranged in front of the body-rolling mechanism, on the same body, according to a given wheel base L0The single wheel is arranged at the rear part and shares the central vertical plane of the same vehicle, the double front wheels drive and the rear wheel steer, the non-steering wheel vehicle body side-tipping mechanism controls the vehicle body to tip, and the single rear wheel and the vehicle body side-tipping together form the rear wheel steering active side-tipping tricycle; has the characteristics of large climbing capacity, small volume, mobility and flexibility.
In the active roll vehicle using the body roll linkage mechanism, the distance K between the main shafts of the left and right steering knuckles is set0The vehicle running speed v and the gravity acceleration g are adopted, the vehicle body side-tipping linkage mechanism is a two-degree-of-freedom motion system, and the vehicle body side-tipping and the vehicle steering can be independently carried out or simultaneously finished, so that three operation modes of turning side-tipping, independent side-tipping or independent steering can be realized in the vehicle running process:
firstly, when the vehicle runs at high speed and turns, a steering angle theta is given, and a steering gear drives a steering mechanism to obtain an outer wheel deflection angle thetaeInner wheel deflection angle thetaiAnd the Ackerman steering condition is met: cot (theta)e)-cot(θi)＝K0/L0The turning radius R is L0cot(θi)+K0And/2, force balance condition during turning: mg × tan β ═ mv2R, from tan β ═ v2The roll angle beta of the vehicle body is solved, the actuating angle alpha is obtained from the roll function beta as f (alpha), the actuating angle alpha is generated by the actuator to drive the roll mechanism, and the roll of the vehicle body and the resistance to the turning separation are realizedThe centrifugal force is used for keeping the stability of the vehicle running at high speed;
when the vehicle runs on a transverse slope ground, dynamically reading a ground transverse slope angle p by using an inclination angle sensor, obtaining a vehicle side inclination angle beta as-p, obtaining an actuating angle alpha by using a roll function beta as f (alpha), and generating the actuating angle alpha by using an actuator to drive a roll mechanism so as to realize vehicle body roll and resist the side turning force of the vehicle caused by terrain change, thereby keeping the stable running posture of the vehicle;
when the vehicle runs at low speed, alpha is 0, beta is 0, theta can be arbitrarily taken within a certain range, and the steering gear drives the steering mechanism to obtain the corresponding outer wheel deflection angle thetaeInner wheel deflection angle thetaiThe Ackerman steering condition is met, low-speed running and steering without heeling are realized, and the running smoothness of the vehicle is kept.
In the active-roll tricycle using the non-steered wheel body-roll mechanism, the vehicle running speed v and the gravity acceleration g are set, when the vehicle runs on a curve, the steering angle theta is given by single-wheel steering, and the turning radius R is equal to L0And/tan theta, satisfying the force balance condition during turning: mg × tan β ═ mv2R, from tan β ═ v2Solving a roll angle beta, obtaining an actuating angle alpha from a roll function beta as f (beta 0), and generating the actuating angle alpha by an actuator to drive a non-steering wheel vehicle body roll mechanism so as to roll the vehicle body and resist the turning centrifugal force to keep the stability of the vehicle in curve running; when the vehicle runs on a transverse slope ground, a ground transverse slope angle p is dynamically read by an inclination angle sensor, a vehicle body side inclination angle beta is equal to-p, an actuating angle alpha is obtained by a rolling function beta is equal to f (alpha), and an actuating angle alpha is generated by an actuator to drive a non-steering wheel vehicle body rolling mechanism, so that vehicle body rolling is realized, and vehicle rollover force caused by resisting terrain change is resisted, so that the stable running posture of the vehicle is maintained.
The invention has the beneficial effects that the provided vehicle body side-tipping linkage mechanism and the active side-tipping vehicle applying the mechanism realize the independent control of the vehicle steering and the vehicle body side-tipping movement by the rotation of the vehicle body relative to the vehicle frame, and the wheels do not side-tipping in the vehicle body side-tipping process, thereby being suitable for the general car tire; the vehicle body active side-tipping device is applied to vehicle steering, so that the vehicle can automatically tip at a certain angle to resist centrifugal force or side-tipping force when passing a bend or a slope road surface, and a stable driving posture is kept.
Drawings
FIG. 1 is a diagrammatic view of a roll mechanism;
FIG. 2 is a schematic view of a steering mechanism;
FIG. 3 is a schematic diagram of the roll linkage mechanism of the vehicle body;
FIG. 4 is a schematic diagram of the drop-down body roll linkage assembly;
FIG. 5 is a schematic diagram of the assembly of the pull-up type car body side-tipping linkage mechanism;
FIG. 6 is a schematic view of a non-steerable wheel vehicle body roll mechanism;
FIG. 7 is a three-dimensional schematic diagram of a non-steerable wheel body roll mechanism;
FIG. 8 is a schematic diagram of the roll operation of the roll linkage;
FIG. 9 is a schematic view of the steering operation of the body roll linkage;
FIG. 10 is a schematic diagram of a body roll linkage for cross-slope roll travel;
FIG. 11 is a schematic diagram of a front wheel steering actively heeled four-wheel vehicle assembly;
FIG. 12 is a schematic diagram of the front wheel steering active side-tipping tricycle assembly;
FIG. 13 is a schematic diagram of a front wheel steering actively heeling positive tricycle;
FIG. 14 is a schematic diagram of the rear wheel steering active side-tipping tricycle;
in the figure: 1-vehicle body, 2-right lower pull rod, 3-left lower pull rod, 4-right knuckle spindle, 5-left knuckle spindle, 6-right upper pull rod, 7-left upper pull rod, 8-right knuckle, 9-left knuckle, 10-right wheel, 11-left wheel, 12-right shock absorber, 13-left shock absorber, 14-balancing rod, 15-vehicle frame, 16-restraining rod, 17-steering swing arm, 18-right steering arm, 19-left steering arm, 20-right connecting rod and 21-left connecting rod.
Detailed Description
Embodiments of the present invention are described below with reference to the accompanying drawings;
the vehicle body roll linkage mechanism consists of a roll mechanism and a steering mechanism (shown in figure 3);
fig. 1 shows a diagrammatic view of a roll mechanism comprising: a vehicle body (1), a right lower pull rod (2), a left lower pull rod (3), a right knuckle spindle (4), a left knuckle spindle (5), a right upper pull rod (6), a left upper pull rod (7), a right knuckle (8), a left knuckle (9), a right wheel (10), a left wheel (11), a right shock absorber (12), a left shock absorber (13), a balancing rod (14), a vehicle frame (15) and a restraint rod (16), sequentially and rotatably connecting the frame (15), the right lower pull rod (2), the right knuckle spindle (4) and the right upper pull rod (6), wherein each relative rotation axis at a connecting point B, C, D, A is parallel to and perpendicular to the vehicle transverse plane to form a quadrilateral ABCD of the same relative movement plane, the right knuckle (8) and the right knuckle spindle (4) are rotatably connected around the axis CD of the right knuckle spindle, and the right knuckle (8) is connected with a right wheel (10) and controls the direction of the right wheel; sequentially and rotatably connecting a frame (15), a left lower pull rod (3), a left steering knuckle spindle (5) and a left upper pull rod (7), wherein the relative rotation axes at the connecting point F, G, H, E are parallel and vertical to the transverse plane of the vehicle to form a quadrilateral EFGH of the same relative movement plane, the left steering knuckle (9) is rotatably connected with the left steering knuckle spindle (5) around the axis GH thereof, the left steering knuckle (9) is connected with a left wheel (11) and controls the direction thereof, and the upper connecting points A, B of the frame (15) are respectively symmetrical with E, F about the central vertical plane of the vehicle; the vehicle body (1) is rotatably connected with the vehicle frame (15), a connecting point W is positioned in a vehicle body vertical plane, the W is positioned in a vehicle central vertical plane, the middle point of a balance rod (14) is rotatably connected with the vehicle body (1), a connecting point U is positioned in the vehicle body vertical plane, two ends of the balance rod (14) are respectively rotatably connected with one end L of a right shock absorber (12) and one end J of a left shock absorber (13), the other end of the right shock absorber (12) is rotatably connected with a point K of a right upper pull rod (6), the other end of the left shock absorber (13) is rotatably connected with a point I of a left upper pull rod (7), relative rotating axes at the connecting point W, U, K, L, I, J are parallel and perpendicular to a vehicle vertical plane, the right shock absorber (12) and the left shock absorber (13) are equal in length and same in performance, WU (KL) is equal to IJ, WK (WI) is equal to UJ, one end of a restraint rod (16) is rotatably connected with a point X of the vehicle frame (15), The other end of the balance rod is rotationally connected with a Z point of a balance rod (14), WU is XZ, WX is UZ, the right lower pull rod (2) is equal to the left lower pull rod (3) in length, BC is FG, the right knuckle spindle (4) is equal to the left knuckle spindle (5) in length, CD is GH, the right upper pull rod (6) is equal to the left upper pull rod (7) in length, AD is EH, the right knuckle (8) is equal to the left knuckle (9) in length, the right wheel (10) is equal to the left wheel (11) in radius, and a roll mechanism is formed;
wherein: an included angle between the vehicle body (1) and the vehicle frame (15) is an actuating angle alpha, an included angle between a vehicle body vertical plane and a vehicle center vertical plane is a vehicle body roll angle beta, the roll attitude of the vehicle body (1) is controlled by the actuating angle alpha, and when alpha is equal to 0: beta is 0, and the vehicle body does not roll; when α ≠ 0: β ≠ 0, rolling the vehicle body (as shown in fig. 8), and obtaining a rolling function β ≠ f (α) of the relationship between the vehicle body roll angle β and the actuating angle α of the rolling mechanism, wherein the wheel does not roll and the wheel track of the vehicle does not change during the rolling process of the vehicle body; roll function β ═ α, α > 0: beta is more than 0, the vehicle body inclines to the left side, and alpha is less than 0; beta is less than 0, and the vehicle body inclines to the right.
The steering mechanism shown in fig. 2 is a schematic view, the steering mechanism comprising: a right steering knuckle spindle (4) and a right steering knuckle (8) in the roll mechanism, a left steering knuckle spindle (5) and a left steering knuckle (9), a steering swing arm (17), a right steering arm (18), a left steering arm (19), a right connecting rod (20) and a left connecting rod (21) in the roll mechanism, an axis intersection point M of the right steering knuckle spindle (4) and the right steering knuckle (8), and the right steering arm (18) and the right steering knuckle (8) form a whole
Figure BSA0000196459620000071
The angle is fixedly connected and rotates around a CD (compact disc) together, the axis intersection point N of the left steering knuckle spindle (5) and the left steering knuckle (9) is formed, and the left steering arm (19) and the left steering knuckle (9) are the same
Figure BSA0000196459620000072
The angle is fixedly connected and rotates around a GH together; one end of a steering swing arm (17) is rotationally connected with an O point of a frame (15), a rotating axis is positioned in a central longitudinal vertical plane of the vehicle and is parallel to a transverse plane of the vehicle, one end of a right connecting rod (20) is connected with an S point ball hinge at the tail end of a right steering arm (18), the other end of the right connecting rod is connected with a P point ball hinge of the steering swing arm (17), one end of a left connecting rod (21) is connected with a T point ball hinge at the tail end of a left steering arm (19), the other end of the left connecting rod is connected with a Q point ball hinge of the steering swing arm (17), OP is OQ, the length of the right steering arm (18) is equal to that of the left steering arm (19), MS is NT, the length of the right connecting rod (Equal, SP is TQ, and a steering mechanism is formed;
wherein: the included angle between the steering swing arm (17) and the frame (15) is a steering angle theta, the directions of the left wheel and the right wheel are controlled by the steering angle theta, when the steering angle theta is 0, the included angle between the right steering arm (18) and the vehicle transverse plane is equal to the included angle between the left steering arm (19) and the vehicle transverse plane, and the included angles are all
Figure BSA0000196459620000073
The vehicle runs straight; when the steering angle theta is not equal to 0, the deflection angle theta of the outer wheeleAnd inner wheel deflection angle thetaiThe ackermann steering condition is satisfied and the vehicle is steered to run (as shown in fig. 9).
The body roll linkage mechanism shown in fig. 3 is composed of a schematic diagram, and is formed by a roll mechanism and a steering mechanism, wherein the frame does not roll and the wheels do not roll in the body roll process, the roll mechanism and the steering mechanism move independently, and the independent control of the body roll and the vehicle steering is realized by taking an actuating angle alpha and a steering angle theta as control parameters; the left and right steering knuckle main shafts tilt inwards and tilt backwards, and the left and right wheels tilt outwards and toe-in, so that the steering correction and straight-line driving stability of the left and right wheels are realized.
Combining the schematic diagrams of the body roll linkage mechanisms shown in fig. 3, 4 and 5, in the body roll linkage mechanism, a body roll center W is positioned in a vehicle central vertical plane, the height of the body roll center W from the ground depends on the relative position of W and BF, and when the distance h between W and BF is set, W and BF are overlapped; when h is less than 0, W is positioned below BF; when h > 0, W is located at the upper side of BF (as shown in FIG. 3); two ends of the balance rod (14) are respectively in rotary connection with one end L of the right shock absorber (12) and one end J of the left shock absorber (13), when h is larger and h is > (2/3) AB, the other end of the right shock absorber (12) is in rotary connection with a point K of the right upper pull rod (6), and the other end of the left shock absorber (13) is in rotary connection with a point I of the left upper pull rod (7), so that the balance rod is called as an upper-pull type vehicle body side-tipping linkage mechanism (as shown in figure 5); when h is smaller and h is less than or equal to (2/3) AB, the other end of the right shock absorber (12) is rotationally connected with the K point of the right lower pull rod (2), and the other end of the left shock absorber (13) is rotationally connected with the I point of the left lower pull rod (3), so that the vehicle body side-tipping linkage mechanism is called as a pull-down type vehicle body side-tipping linkage mechanism (as shown in figure 4); if the conditions of KL, WK, WI, UL, UJ are satisfied, the same roll function β, f (α) is satisfied, and the vehicle wheel does not roll during the roll of the vehicle body.
Fig. 3 and 5 are schematic diagrams of the body roll linkage mechanism, in which when the connection points L, U, J on the stabilizer bar (14) are collinear, the corresponding connection points K, W, I are theoretically collinear (as shown in fig. 3); the balance bar (14) upper attachment point L, U, J is located at radius R0Is located at the radius R theoretically, the corresponding connection point K, W, I is located at the radius R0On the other circumference (as shown in fig. 5); if the conditions of KL, WK, WI, UL, UJ are satisfied, the same roll function β, f (α) is satisfied, and the vehicle wheel does not roll during the roll of the vehicle body.
Fig. 4 and 5 are schematic diagrams of a body roll linkage mechanism, wherein when a connection point Z of a restraint rod (16) is collinear with UL or UJ, another connection point x is correspondingly collinear with WK or WI theoretically (as shown in fig. 4); when the connecting points Z and U, L or U, J of the restraint rod (16) are positioned on the circumference of a radius R1, the other connecting point X is positioned on the other circumference of a radius R1 corresponding to W, K or W, I theoretically (as shown in FIG. 5); if the conditions WU ═ XZ and WX ═ UZ are satisfied, the same roll function β ═ f (α) is satisfied, and the vehicle wheel does not roll during the roll of the vehicle body.
The body roll linkage mechanisms shown in fig. 3, 4 and 5 are composed of a schematic diagram, wherein in the body roll linkage mechanism, a rod end joint bearing GB/T9161 and 2001 is selected as a ball hinge, or a radial joint bearing GB/T9163 and 2001 are selected as ball hinges; the actuating angle alpha is generated by an actuator, and the actuator is an electromagnetic actuator, an electromechanical actuator or an electrohydraulic actuator; the actuator output shaft drives a vehicle body in the vehicle body roll linkage mechanism to rotate relative to the vehicle frame at a point W, the position of the roll mechanism is determined by an actuating angle alpha, and a vehicle body roll angle beta is obtained by a roll function beta which is f (alpha); the steering angle theta is generated by a steering gear, and the steering gear is a rack and pinion steering gear, or a worm crank pin type steering gear, or a recirculating ball type steering gear; the output shaft of the steering gear drives a steering swing arm in a vehicle body side-tipping linkage mechanism to rotate relative to a vehicle frame, the position of the steering mechanism is determined by a steering angle theta, and the steering angle theta corresponds to the deflection angle theta of an outer wheeleInner wheel deflection angle thetaiIs full ofAnd obtaining the turning radius R of the vehicle under the Ackerman steering condition.
The non-steered wheel roll mechanism shown in fig. 6 is a schematic view of a non-steered wheel roll mechanism, and the roll mechanism is composed of: the right knuckle (8) is connected with right knuckle spindle (4) around its axis CD rotation and is changed into perpendicular solid connection, and left knuckle (9) is connected with left knuckle spindle (5) around its axis GH rotation and is changed into perpendicular solid connection and form, includes: a vehicle body (1), a right lower pull rod (2), a left lower pull rod (3), a right steering knuckle spindle (4), a left steering knuckle spindle (5), a right upper pull rod (6), a left upper pull rod (7), a right steering knuckle (8), a left steering knuckle (9), a right wheel (10), a left wheel (11), a right shock absorber (12), a left shock absorber (13), a balance rod (14), a vehicle frame (15) and a restraint rod (16), sequentially and rotatably connecting the frame (15), the right lower pull rod (2), the right knuckle spindle (4) and the right upper pull rod (6), wherein the relative rotation axes at the connecting point B, C, D, A are parallel and vertical to the vehicle transverse plane to form a quadrilateral ABCD with the same relative movement plane, the right knuckle (8) is vertically and fixedly connected with the right knuckle spindle (4), the right knuckle (8) is connected with the right wheel (10), and the rotation axes of the right wheel are positioned in the vehicle transverse plane; sequentially and rotatably connecting a frame (15), a left lower pull rod (3), a left steering knuckle spindle (5) and a left upper pull rod (7), wherein the relative rotation axes at a connecting point F, G, H, E are parallel and vertical to the vehicle transverse plane to form a quadrilateral EFGH of the same relative movement plane, a left steering knuckle (9) is vertically and fixedly connected with the left steering knuckle spindle (5), the left steering knuckle (9) is connected with a left wheel (11), the rotation axis of the left wheel is positioned in the vehicle transverse plane, and the upper connecting point A, B of the frame (15) is respectively symmetrical to E, F about the vehicle central longitudinal vertical plane; the vehicle body (1) is rotatably connected with the vehicle frame (15), a connecting point W is positioned in a vehicle body vertical plane, the W is positioned in a vehicle central vertical plane, the middle point of a balance rod (14) is rotatably connected with the vehicle body (1), a connecting point U is positioned in the vehicle body vertical plane, two ends of the balance rod (14) are respectively rotatably connected with one end L of a right shock absorber (12) and one end J of a left shock absorber (13), the other end of the right shock absorber (12) is rotatably connected with a point K of a right upper pull rod (6), the other end of the left shock absorber (13) is rotatably connected with a point I of a left upper pull rod (7), relative rotating axes at the connecting point W, U, K, L, I, J are parallel and perpendicular to a vehicle vertical plane, the right shock absorber (12) and the left shock absorber (13) are equal in length and same in performance, WU (KL) is equal to IJ, WK (WI) is equal to UJ, one end of a restraint rod (16) is rotatably connected with a point x of the vehicle frame (15), The other end of the balance rod is rotationally connected with a Z point of a balance rod (14), WU is XZ, WX is UZ, the right lower pull rod (2) is equal to the left lower pull rod (3) in length, BC is FG, the right knuckle spindle (4) is equal to the left knuckle spindle (5) in length, CD is GH, the right upper pull rod (6) is equal to the left upper pull rod (7) in length, AD is EH, the right knuckle (8) is equal to the left knuckle (9) in length, the right wheel (10) is equal to the left wheel (11) in radius, and a non-steering wheel vehicle body roll mechanism is formed (shown in figure 7);
wherein: an included angle between the vehicle body (1) and the vehicle frame (15) is an actuating angle alpha, an included angle between a vehicle body vertical plane and a vehicle center vertical plane is a vehicle body roll angle beta, the roll attitude of the vehicle body (1) is controlled by the actuating angle alpha, and when alpha is equal to 0: beta is 0, and the vehicle body does not roll; when α ≠ 0: beta is not equal to 0, the vehicle body is tilted, a roll function beta of the relationship between the vehicle body roll angle beta and the actuating angle alpha of the non-steering wheel vehicle body roll mechanism is obtained, wherein the wheels are not tilted and the wheel track of the vehicle is not changed in the vehicle body roll process; roll function β ═ α, α > 0: beta is more than 0, the vehicle body inclines left, and alpha is less than 0: beta is less than 0, and the vehicle body inclines to the right.
With reference to the non-steerable-wheel roll mechanism shown in fig. 6 and 7, in the non-steerable-wheel roll mechanism, a roll center W is located in a vehicle center vertical plane, the height of the roll center W from the ground depends on the relative position of W and BF, and when a distance h between W and BF is set, and h is 0, W and BF are overlapped; when h is less than 0, W is positioned below BF; when h is greater than 0, W is positioned on the upper side of BF; two ends of the balancing rod (14) are respectively in rotary connection with one end L of the right shock absorber (12) and one end J of the left shock absorber (13), when h is larger, the other end of the right shock absorber (12) is in rotary connection with a point K of the right upper pull rod (6), and the other end of the left shock absorber (13) is in rotary connection with a point I of the left upper pull rod (7); when h is smaller, the other end of the right shock absorber (12) is rotationally connected with a point K of the right lower pull rod (2), and the other end of the left shock absorber (13) is rotationally connected with a point I of the left lower pull rod (3); if the conditions of KL, WK, WI, UL, UJ are satisfied, the same roll function β, f (α) is satisfied, and the vehicle wheel does not roll during the roll of the vehicle body.
Front-wheel steering active-roll four-wheel vehicle composition shown in fig. 11Schematic diagram, a front-wheel steering active roll four-wheel vehicle comprising: a group of vehicle body rolling linkage mechanisms and a group of non-steering wheel vehicle body rolling mechanisms are arranged on the same vehicle body according to a given axle distance L0The four wheels are driven by a double-rear-wheel hydraulic motor, universal car tires GB 9743-; the high-speed bending-over vehicle improves the running stability and high-speed bending-over performance of the small-wheel-pitch vehicle, and has the characteristics of large adhesive force and good ground adaptability.
Fig. 12 is a schematic diagram of a front-wheel steering active-side-dump tricycle, including: is preceded by a set of body-side-tipping linkages, on the same body, according to a given wheelbase L0The single wheel is arranged at the rear and shares the central vertical plane of the same vehicle, the double front wheels are steered, the single rear wheel is connected to the vehicle body through a swing arm and a shock absorber, the hub motor of the rear wheel is driven, the double front wheels adopt universal car tires GB 9743-; has the characteristics of small volume, mobility and flexibility.
Fig. 13 is a schematic diagram of a front-wheel steering active-roll positive tricycle, including: the rear part of a non-steering wheel vehicle body side-tipping mechanism is arranged on the same vehicle body according to a given wheel base L0A single wheel is arranged in front and shares the central vertical plane of the same vehicle, the hub motors of the double rear wheels are driven, the front wheel is steered, the double rear wheels adopt general car tires GB 9743 and 2007, the front wheel adopts a motorcycle tire GB 518 and 2007 with an arc-shaped section, the body side-tipping mechanism of the non-steering wheel controls the body side tipping, the single front wheel and the body side-tipping together form the front wheelSteering and actively inclining to right tricycle; the device has the characteristics of large bearing capacity, small turning radius and good ground adaptability.
Fig. 14 is a schematic diagram showing a rear-wheel steering active-side-dump tricycle, including: with a set of non-steering wheels, arranged in front of the body-rolling mechanism, on the same body, according to a given wheel base L0The single wheel is arranged at the rear and shares the central vertical plane of the same vehicle, the hub motors of the double front wheels are driven, the rear wheels are steered, the double front wheels adopt general car tires GB 9743-; has the characteristics of large climbing capacity, small volume, mobility and flexibility.
Combining the schematic diagrams of the operation of the roll linkage shown in fig. 8, 9 and 10 and the active roll vehicle using the roll linkage shown in fig. 11 and 12, the distance K between the main axes of the left and right knuckles is set0The vehicle running speed v and the gravity acceleration g are adopted, the vehicle body side-tipping linkage mechanism is a two-degree-of-freedom motion system, and the vehicle body side-tipping and the vehicle steering can be independently carried out or simultaneously finished, so that three running modes of turning side-tipping, independent side-tipping or independent steering can be realized in the vehicle running process;
firstly, when the vehicle runs at high speed and turns, a steering angle theta is given, and a steering gear drives a steering mechanism to obtain an outer wheel deflection angle thetaeInner wheel deflection angle thetaiAnd the Ackerman steering condition is met: cot (theta)e)-cot(θi)＝K0/L0The turning radius R is L0cot(θi)+K0And/2, force balance condition during turning: mg × tan β ═ mv2R, from tan β ═ v2Solving a vehicle body roll angle beta, obtaining an actuating angle alpha from a roll function beta as f (alpha), and generating the actuating angle alpha by an actuator to drive a roll mechanism so as to roll the vehicle body and resist the turning centrifugal force to keep the stability of the vehicle running at high speed;
when the vehicle runs on a transverse slope ground, dynamically reading a ground transverse slope angle p (as shown in fig. 10) by using an inclination angle sensor, obtaining a vehicle side inclination angle beta as-p, obtaining an actuating angle alpha from a roll function beta as f (alpha), and generating the actuating angle alpha by using an actuator to drive a roll mechanism so as to realize vehicle body roll and resist the side turning force of the vehicle caused by terrain change, thereby keeping the stable running posture of the vehicle;
when the vehicle runs at low speed, alpha is 0, beta is 0, theta can be arbitrarily taken within a certain range, and the steering gear drives the steering mechanism to obtain the corresponding outer wheel deflection angle thetaeInner wheel deflection angle thetaiThe Ackerman steering condition is met, low-speed running and steering without heeling are realized, and the running smoothness of the vehicle is kept.
In conjunction with the non-steered wheel body roll mechanism shown in fig. 6 and 7 and the active roll tricycle using the non-steered wheel body roll mechanism shown in fig. 13 and 14, the vehicle running speed v and the gravitational acceleration g are set so that the vehicle runs on a curve with a steering angle θ given by one-wheel steering and a turning radius R equal to L0And/tan theta, satisfying the force balance condition during turning: mg × tan β ═ mv2R, from tan β ═ v2Solving a roll angle beta, obtaining an actuating angle alpha from a roll function beta as f (beta 0), and generating the actuating angle alpha by an actuator to drive a non-steering wheel vehicle body roll mechanism so as to roll the vehicle body and resist the turning centrifugal force to keep the stability of the vehicle in curve running; when the vehicle runs on a transverse slope ground, a ground transverse slope angle p is dynamically read by an inclination angle sensor, a vehicle body side inclination angle beta is equal to-p, an actuating angle alpha is obtained by a rolling function beta is equal to f (alpha), and an actuating angle alpha is generated by an actuator to drive a non-steering wheel vehicle body rolling mechanism, so that vehicle body rolling is realized, and vehicle rollover force caused by resisting terrain change is resisted, so that the stable running posture of the vehicle is maintained.
Through the embodiment, the vehicle body roll linkage mechanism and the active roll vehicle applying the same realize independent control of vehicle steering and vehicle body roll motion, wheels do not roll and the wheel track of the vehicle does not change in the vehicle body roll process, three working conditions of steering roll, independent roll or independent steering can be realized in the vehicle running process, and further the non-steering wheel vehicle body roll mechanism and the active roll vehicle applying the same are provided; the vehicle body active side-tipping device is applied to vehicle steering, so that the vehicle can automatically tip at a certain angle to resist centrifugal force or side-tipping force when passing a bend or a slope road surface, and a stable driving posture is kept.

Claims (9)

1. The car body tilting linkage mechanism consists of a tilting mechanism and a steering mechanism, and is characterized in that:
the roll mechanism includes: the vehicle comprises a vehicle body, a right lower pull rod, a left lower pull rod, a right knuckle spindle, a left knuckle spindle, a right upper pull rod, a left upper pull rod, a right knuckle, a left knuckle, a right wheel, a left wheel, a right shock absorber, a left shock absorber, a balancing rod, a vehicle frame and a restraint rod, wherein the vehicle frame, the right lower pull rod, the right knuckle spindle and the right upper pull rod are sequentially and rotatably connected, relative rotation axes at a connection point B, C, D, A are parallel and vertical to the vehicle transverse plane to form a quadrilateral ABCD of the same relative movement plane, the right knuckle and the right knuckle spindle are rotatably connected around the axis CD of the right knuckle spindle, and the right knuckle is connected with the right wheel and controls the direction of the right wheel; sequentially and rotatably connecting the frame, the left lower pull rod, the left knuckle spindle and the left upper pull rod in sequence, wherein the relative rotation axes at the connecting point F, G, H, E are parallel and perpendicular to the transverse plane of the vehicle to form a quadrilateral EFGH of the same relative movement plane, the left knuckle is rotatably connected with the left knuckle spindle around the axis GH thereof, the left knuckle is connected with a left wheel and controls the direction of the left wheel, and the connecting points A, B on the frame are respectively symmetrical with E, F about the central longitudinal vertical plane of the vehicle; the vehicle body is rotationally connected with the vehicle frame, a connecting point W is positioned in a vehicle body vertical plane, meanwhile, W is positioned in a vehicle central vertical plane, the middle point of a balancing rod is rotationally connected with the vehicle body, a connecting point U is positioned in the vehicle body vertical plane, two ends of the balancing rod are respectively rotationally connected with one end L of a right shock absorber and one end J of a left shock absorber, the other end of the right shock absorber is rotationally connected with a point K of a right upper pull rod, the other end of the left shock absorber is rotationally connected with a point I of the left upper pull rod, relative rotation axes at the connecting point W, U, K, L, I, J are parallel and perpendicular to a vehicle transverse plane, the right shock absorber and the left shock absorber have the same length and the same performance, a point KL is IJ, a point WK is UL UJ, one end of a restraint rod is rotationally connected with a point X of the vehicle frame, the other end of the restraint rod is rotationally connected with a point Z of the balancing rod, a point WU is XZ, a point UZ is WX is equal in length, a right lower pull rod is equal to a left pull rod, a, the length of the right upper pull rod is equal to that of the left upper pull rod;
wherein: the included angle between the vehicle body and the vehicle frame is an actuating angle alpha, the included angle between the vehicle body vertical plane and the vehicle center vertical plane is a vehicle body roll angle beta, the roll attitude of the vehicle body is controlled by the actuating angle alpha, and when the alpha is 0: beta is 0, and the vehicle body does not roll; when α ≠ 0: beta is not equal to 0, the vehicle body rolls, a roll function beta of the relation between the vehicle body roll angle beta and the actuating angle alpha of the roll mechanism is obtained, wherein the wheels do not roll in the process of rolling the vehicle body;
the steering mechanism comprises: a right steering knuckle spindle and a right steering knuckle in the roll mechanism, a left steering knuckle spindle and a left steering knuckle in the roll mechanism, a steering swing arm, a right steering arm, a left steering arm, a right connecting rod and a left connecting rod, an axis intersection point M of the right steering knuckle spindle and the right steering knuckle, and a right steering arm and the right steering knuckle form a whole
Figure FSB0000193484120000011
Angle-fixed connection, rotation around axis CD, left steering knuckle spindle and left steering knuckle spindle intersection point N, left steering arm and left steering knuckle being identical
Figure FSB0000193484120000012
The angle is fixedly connected and rotates around a GH together; one end of the steering swing arm is rotationally connected with an O point of the frame, the rotational axis is positioned in the central vertical plane of the vehicle and is parallel to the transverse plane of the vehicle, one end of the right connecting rod is connected with a tail end ball hinge of the right steering arm, the other end of the right connecting rod is connected with a P point ball hinge of the steering swing arm, one end of the left connecting rod is connected with a tail end ball hinge of the left steering arm, the other end of the left connecting rod is connected with a Q point ball hinge of the steering swing arm, OP is OQ, the length of the right steering arm is equal to that of the left steering arm, and the length;
wherein: the included angle between the steering swing arm and the frame is a steering angle theta, the directions of the left wheel and the right wheel are controlled by the steering angle theta, and when the steering angle theta is 0, the included angle between the right steering arm and the vehicle vertical plane is equal to the included angle between the left steering arm and the vehicle vertical plane, and the included angles are all
Figure FSB0000193484120000013
The vehicle runs straight; when the steering angle theta is not equal to 0, the deflection angle theta of the outer wheeleAnd inner wheel deflection angle thetaiThe Ackerman steering condition is met, and the vehicle is steered to run;
the roll center W of the vehicle body is positioned in a longitudinal vertical plane of the center of the vehicle, the height of the roll center W of the vehicle body from the ground depends on the relative position of W and BF, and when the distance h between W and BF is set, and h is 0, W is superposed with BF; when h is less than 0, W is positioned below BF; when h is greater than 0, W is positioned on the upper side of BF; two ends of the balancing rod are respectively rotatably connected with one end L of the right shock absorber and one end J of the left shock absorber, when h is larger, the other end of the right shock absorber is rotatably connected with a point K of the right upper pull rod, and the other end of the left shock absorber is rotatably connected with a point I of the left upper pull rod; when h is smaller, the other end of the right shock absorber is rotationally connected with a point K of the right lower pull rod, and the other end of the left shock absorber is rotationally connected with a point I of the left lower pull rod; if the conditions of KL, WK, WI, UL, UJ are satisfied, the same roll function β, f (α) is satisfied, and the vehicle wheel does not roll during the roll of the vehicle body.
2. The body roll linkage of claim 1 wherein the corresponding connection points K, W, I are theoretically collinear when the stabilizer bar upper connection points L, U, J are collinear; the balance bar upper attachment point L, U, J is located at radius R0Is located at the radius R theoretically, the corresponding connection point K, W, I is located at the radius R0On the other circumference of (a); if the conditions of KL, WK, WI, UL, UJ are satisfied, the same roll function β, f (α) is satisfied, and the vehicle wheel does not roll during the roll of the vehicle body.
3. The roll linkage of claim 1 wherein the actuation angle α is generated by an actuator selected from the group consisting of an electromagnetic actuator, an electromechanical actuator, and an electrohydraulic actuator.
4. The vehicle roll linkage of claim 1 wherein the steering angle θ is produced by a steering gear selected from the group consisting of a rack and pinion steering gear, a worm crank pin steering gear, and a recirculating ball steering gear.
5. A non-steerable wheel vehicle body roll mechanism, comprising: the vehicle comprises a vehicle body, a right lower pull rod, a left lower pull rod, a right knuckle spindle, a left knuckle spindle, a right upper pull rod, a left upper pull rod, a right knuckle, a left knuckle, a right wheel, a left wheel, a right shock absorber, a left shock absorber, a balancing rod, a vehicle frame and a restraint rod, wherein the vehicle frame, the right lower pull rod, the right knuckle spindle and the right upper pull rod are sequentially and rotatably connected, relative rotation axes at a connection point B, C, D, A are parallel and perpendicular to a vehicle transverse plane to form a quadrilateral ABCD of the same relative movement plane, the right knuckle is vertically and fixedly connected with the right knuckle spindle, and the rotation axes of the right knuckle, the right wheel and the right wheel are positioned in a vehicle transverse plane; sequentially and rotatably connecting the frame, the left lower pull rod, the left steering knuckle main shaft and the left upper pull rod in sequence, wherein the relative rotation axes at the connecting point F, G, H, E are parallel and vertical to the transverse plane of the vehicle to form a quadrilateral EFGH of the same relative movement plane, the left steering knuckle is vertically and fixedly connected with the left steering knuckle main shaft, the rotation axes of the left steering knuckle, the left wheel and the left wheel are connected, and are positioned in the transverse plane of the vehicle, and the frame upper connecting point A, B is respectively symmetrical to E, F about the central vertical plane of the vehicle; the vehicle body is rotationally connected with the vehicle frame, a connecting point W is positioned in a vehicle body vertical plane, meanwhile, W is positioned in a vehicle central vertical plane, the middle point of a balancing rod is rotationally connected with the vehicle body, a connecting point U is positioned in the vehicle body vertical plane, two ends of the balancing rod are respectively rotationally connected with one end L of a right shock absorber and one end J of a left shock absorber, the other end of the right shock absorber is rotationally connected with a point K of a right upper pull rod, the other end of the left shock absorber is rotationally connected with a point I of the left upper pull rod, relative rotation axes at the connecting point W, U, K, L, I, J are parallel and perpendicular to a vehicle transverse plane, the right shock absorber and the left shock absorber have the same length and the same performance, a point KL is IJ, a point WK is UL UJ, one end of a restraint rod is rotationally connected with a point X of the vehicle frame, the other end of the restraint rod is rotationally connected with a point Z of the balancing rod, a point WU is XZ, a point UZ is WX is equal in length, a right lower pull rod is equal to a left pull rod, a, the length of the right upper pull rod is equal to that of the left upper pull rod;
wherein: the included angle between the vehicle body and the vehicle frame is an actuating angle alpha, the included angle between the vehicle body vertical plane and the vehicle center vertical plane is a vehicle body roll angle beta, the roll attitude of the vehicle body is controlled by the actuating angle alpha, and when the alpha is 0: beta is 0, and the vehicle body does not roll; when α ≠ 0: beta is not equal to 0, the vehicle body rolls, and a roll function beta of the relationship between the vehicle body roll angle beta and the actuating angle alpha of the non-steering wheel vehicle body roll mechanism is obtained, wherein the wheels do not roll in the vehicle body roll process;
the roll center W of the vehicle body is positioned in a longitudinal vertical plane of the center of the vehicle, the height of the roll center W of the vehicle body from the ground depends on the relative position of W and BF, and when the distance h between W and BF is set, and h is 0, W is superposed with BF; when h is less than 0, W is positioned below BF; when h is greater than 0, W is positioned on the upper side of BF; two ends of the balancing rod are respectively rotatably connected with one end L of the right shock absorber and one end J of the left shock absorber, when h is larger, the other end of the right shock absorber is rotatably connected with a point K of the right upper pull rod, and the other end of the left shock absorber is rotatably connected with a point I of the left upper pull rod; when h is smaller, the other end of the right shock absorber is rotationally connected with a point K of the right lower pull rod, and the other end of the left shock absorber is rotationally connected with a point I of the left lower pull rod; if the conditions of KL, WK, WI, UL, UJ are satisfied, the same roll function β, f (α) is satisfied, and the vehicle wheel does not roll during the roll of the vehicle body.
6. A front wheel steering active roll four-wheel vehicle is characterized in that a group of vehicle body roll linkage mechanisms according to claim 1 and a group of non-steering wheel vehicle body roll mechanisms according to claim 5 are arranged in front and back of the same vehicle body according to a given axle distance, share the same frame and have the same vehicle central vertical plane, double front wheel steering and double rear wheel driving are adopted, the vehicle body roll linkage mechanisms control vehicle body roll, an actuating angle alpha in the non-steering wheel vehicle body roll mechanisms is changed in an adaptive mode, the non-steering wheel vehicle body roll mechanisms roll in an adaptive mode, and the four-wheel vehicle with front wheel steering, rear wheel driving and active roll characteristics is formed.
7. A tricycle with front wheel steering and active side-tipping is characterized in that a group of tricycle body side-tipping linkage mechanisms according to claim 1 are arranged in front, a single wheel is arranged behind the same tricycle body according to a given wheel base and shares the same central vertical plane of the tricycle, the tricycle body side-tipping linkage mechanisms control the vehicle body to tip, and the single rear wheel and the tricycle body side-tipping are arranged together to form the active side-tipping tricycle with the characteristics of front wheel steering, rear wheel driving and three-wheel tipping.
8. A front wheel steering active roll positive tricycle, characterized in that, a set of non-steering wheel vehicle body roll mechanism of claim 5 is arranged at the rear, a single wheel is arranged at the front according to a given wheel base on the same vehicle body and shares the same vehicle central vertical plane, the double rear wheel drive and the front wheel steering, the non-steering wheel vehicle body roll mechanism controls the vehicle body roll, the single front wheel rolls with the vehicle body, and the active roll vehicle with the characteristics of front wheel steering, rear wheel drive and positive tricycle is formed.
9. A tricycle with rear wheel steering and active roll-over, characterized in that, a set of non-steered wheel vehicle body roll mechanisms according to claim 5 is arranged in front of the tricycle, a single wheel is arranged behind the same vehicle body according to a given wheel base and shares the same vehicle central vertical plane, the tricycle is driven by double front wheels, the rear wheel is steered, the non-steered wheel vehicle body roll mechanism controls the vehicle body roll, the single rear wheel rolls with the vehicle body, and the active roll-over vehicle with the characteristics of front wheel driving, rear wheel steering and three-wheel roll-over is formed.
CN201911224025.9A 2019-12-04 2019-12-04 Car body side-tipping linkage mechanism and active side-tipping vehicle using same Active CN110936783B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911224025.9A CN110936783B (en) 2019-12-04 2019-12-04 Car body side-tipping linkage mechanism and active side-tipping vehicle using same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911224025.9A CN110936783B (en) 2019-12-04 2019-12-04 Car body side-tipping linkage mechanism and active side-tipping vehicle using same

Publications (2)

Publication Number Publication Date
CN110936783A CN110936783A (en) 2020-03-31
CN110936783B true CN110936783B (en) 2021-07-02

Family

ID=69909473

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911224025.9A Active CN110936783B (en) 2019-12-04 2019-12-04 Car body side-tipping linkage mechanism and active side-tipping vehicle using same

Country Status (1)

Country Link
CN (1) CN110936783B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110509994B (en) * 2019-09-10 2021-12-21 河南坐骑科技有限公司 Vehicle steering and roll combination mechanism and active roll vehicle using same
CN112172921B (en) * 2020-08-31 2022-03-15 河南坐骑科技有限公司 Vehicle side-tipping driving mechanism and active side-tipping vehicle using same
CN112172919B (en) * 2020-08-31 2022-03-15 河南坐骑科技有限公司 Vehicle roll driving device and active roll vehicle

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19542108A1 (en) * 1994-11-22 1996-05-30 Volkswagen Ag Individual wheel mount for vehicle
CN102343781A (en) * 2010-07-21 2012-02-08 福特全球技术公司 Device for reducing roll motion in motor vehicles
CN104487324A (en) * 2012-10-25 2015-04-01 雅马哈发动机株式会社 Vehicle
CN108137095A (en) * 2015-07-20 2018-06-08 科尔夫汽车有限责任公司 For the transfer of tilting vehicle
CN110294032A (en) * 2019-07-09 2019-10-01 王亚 The vehicle of body roll driving device and the application device
CN110509994A (en) * 2019-09-10 2019-11-29 王亚 Vehicular turn rolls the active roll vehicle of combined mechanism and the application mechanism

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020113399A1 (en) * 2001-02-16 2002-08-22 Fehler Marcus Shawn S. S. suspension

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19542108A1 (en) * 1994-11-22 1996-05-30 Volkswagen Ag Individual wheel mount for vehicle
CN102343781A (en) * 2010-07-21 2012-02-08 福特全球技术公司 Device for reducing roll motion in motor vehicles
CN104487324A (en) * 2012-10-25 2015-04-01 雅马哈发动机株式会社 Vehicle
CN108137095A (en) * 2015-07-20 2018-06-08 科尔夫汽车有限责任公司 For the transfer of tilting vehicle
CN110294032A (en) * 2019-07-09 2019-10-01 王亚 The vehicle of body roll driving device and the application device
CN110509994A (en) * 2019-09-10 2019-11-29 王亚 Vehicular turn rolls the active roll vehicle of combined mechanism and the application mechanism

Also Published As

Publication number Publication date
CN110936783A (en) 2020-03-31

Similar Documents

Publication Publication Date Title
CN110936785B (en) Vehicle body tilting mechanism and active tilting vehicle applying same
CN109353406B (en) Vehicle turning and rolling device and rolling control method
CN109353405B (en) Vehicle steering and roll linkage mechanism and roll control method
CN112172921B (en) Vehicle side-tipping driving mechanism and active side-tipping vehicle using same
CN110509994B (en) Vehicle steering and roll combination mechanism and active roll vehicle using same
CN110936783B (en) Car body side-tipping linkage mechanism and active side-tipping vehicle using same
US8746388B2 (en) Vehicle having variable track
CN110936784B (en) Vehicle body roll control mechanism and active roll vehicle using same
CN109625088B (en) Vehicle steering and roll linkage mechanism and active roll vehicle
CN109625089B (en) Vehicle steering and side-tipping linkage device and vehicle applying same
CN109625086B (en) Vehicle steering and roll linkage device and active roll vehicle
CN112172919B (en) Vehicle roll driving device and active roll vehicle
CN109625087B (en) Vehicle steering and tilting linkage device and active tilting chassis
CN110509993A (en) The side-tipping tricycle of the mechanism of non-steered wheel active roll mechanism and application
CN111688428B (en) Vehicle side-tipping driving mechanism and design method
US20230038448A1 (en) Vehicle suspension system
JP7398454B2 (en) Vehicle suspension and drive mechanism using virtual steering pivot
CN110294033B (en) Car body side-tipping limiting mechanism and vehicle using same
JP3167127B2 (en) Vehicle suspension device
JPS63251311A (en) Suspension for vehicle provided with 4-wheel-steering device
JPH081923Y2 (en) Rear suspension
CN108297930B (en) Steering and suspension system
CN110497957B (en) Steering device
CN212500646U (en) Wire-controlled chassis of unmanned vehicle
CN114715270A (en) Vehicle turns to mechanism that heels and uses initiative vehicle that heels of this mechanism

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant