CN110936785B - Vehicle body tilting mechanism and active tilting vehicle applying same - Google Patents
Vehicle body tilting mechanism and active tilting vehicle applying same Download PDFInfo
- Publication number
- CN110936785B CN110936785B CN201911224237.7A CN201911224237A CN110936785B CN 110936785 B CN110936785 B CN 110936785B CN 201911224237 A CN201911224237 A CN 201911224237A CN 110936785 B CN110936785 B CN 110936785B
- Authority
- CN
- China
- Prior art keywords
- steering
- vehicle
- wheel
- roll
- vehicle body
- 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
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 car body heeling mechanism and an active heeling vehicle applying the same, belonging to the technical field of vehicle chassis, in particular to the technical field of car body heeling driving and control, wherein the car body heeling mechanism consists of a heeling mechanism and a steering mechanism, and the car body heeling mechanism moves relative to a suspension by taking an actuating angle alpha and a steering angle theta as control parameters and moves with two degrees of freedom of car body heeling and vehicle steering, so that the wheels do not heeling in the process of car body heeling 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
Technical Field
The invention relates to a vehicle body roll 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 roll mechanism and an active roll vehicle applying the same, which realize that wheels do not roll and are suitable for general car tires in the process of vehicle body roll through the relative motion of a vehicle body to a suspension, and are applied to the vehicle body actively inclining for a certain angle to resist centrifugal force or roll force when the vehicle passes a bend or runs on an inclined road surface, so as to keep the stable running posture of the vehicle.
The technical scheme adopted for achieving the aim of the invention comprises the following steps: the vehicle body side-tipping mechanism consists of a side-tipping mechanism and a steering mechanism;
the roll mechanism described above includes: the steering device comprises a vehicle body (1), a right swing rod (2), a left swing rod (3), a right steering knuckle spindle (4), a left steering knuckle spindle (5), a right steering knuckle (6), a left steering knuckle (7), a right wheel (8), a left wheel (9), a right shock absorber (10), a left shock absorber (11) and a balancing rod (12), wherein the vehicle body (1) is respectively in rotating connection with one ends of the right swing rod (2) and the left swing rod (3), a connection point B is positioned in a middle vertical plane of the vehicle body, the other end C of the right swing rod (2) is vertically and fixedly connected with the right steering knuckle spindle (4), the right steering knuckle (6) is in rotating connection with the right steering knuckle spindle (4) around an axis CM thereof, and the right steering knuckle (6) is connected with the right wheel (8) and controls the; the other end D of the left swing rod (3) is vertically and fixedly connected with a left steering knuckle spindle (5), a left steering knuckle (7) is rotationally connected with the left steering knuckle spindle (5) around the axis DN thereof, and the left steering knuckle (7) is connected with a left wheel (9) and controls the direction thereof; the middle point of a balance rod (12) is rotationally connected with a vehicle body (1), a connection point A is positioned in a vertical plane of the vehicle body, two ends of the balance rod (12) are respectively rotationally connected with one end F of a right shock absorber (10) and one end H of the left shock absorber (11), the other end of the right shock absorber (10) is rotationally connected with a point E of a right swing rod (2), the other end of the left shock absorber (11) is rotationally connected with a point G of a left swing rod (3), the relative rotation axes at the connection point A, B, E, F, G, H are parallel and perpendicular to a vehicle transverse plane, the right shock absorber (10) and the left shock absorber (11) are equal in length and same in performance, AB ═ EF ═ BG ═ AF ═ AH, the right swing rod (2) and the left swing rod (3) are equal in length, and a right knuckle spindle (4) and a left knuckle spindle (5) are equal in length to form a roll mechanism;
wherein: an included angle between the balance rod (12) and the vehicle body (1) 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, the vehicle body does not roll, and the roll mechanisms are symmetrical left and right about the central vertical plane of the vehicle; 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 (6) in the roll mechanism, a left steering knuckle spindle (5) and a left steering knuckle (7) in the roll mechanism, a steering swing arm (13), a right steering arm (14), a left steering arm (15), a right connecting rod (16) and a left connecting rod (17), an axis intersection point M of the right steering knuckle spindle (4) and the right steering knuckle (6), and the right steering arm (14) and the right steering knuckle (6) form a whole
The angle is fixedly connected and rotates around the axis CM jointly, the intersection point N of the axes of the left steering knuckle spindle (5) and the left steering knuckle (7) is formed, and the left steering arm (15) and the left steering knuckle (7) are the same
The angle is fixedly connected and rotates around the axis DN together; one end of a steering swing arm (13) is rotatably connected with a vehicle body (1), the rotating axis is positioned in the vertical plane of the vehicle body and is parallel to the vertical plane of the vehicle, a connecting point O, OB is vertical to the vertical plane of the vehicle, one end of a right connecting rod (16) is hinged with an S-point ball at the tail end of a right steering arm (14), the other end of the right connecting rod is hinged with a P-point ball of the steering swing arm (13), one end of a left connecting rod (17) is hinged with a T-point ball at the tail end of a left steering arm (15), the other end of the left connecting rod is hinged with a Q-point ball of the steering swing arm (13), and connecting points O, P, Q on the;
wherein: steering pendulumThe included angle between the arm (13) and the vehicle body (1) 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 (14) and the vehicle transverse plane is equal to the included angle between the left steering arm (15) and the vehicle transverse plane, and the included angles are all
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 mechanism is formed by a tilting mechanism and a steering mechanism, 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 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.
In the vehicle body side-tipping mechanism, the other end C of the right swing rod (2) is vertically and fixedly connected with the right knuckle spindle (4), and the right knuckle spindle (4) is vertically and fixedly connected in a downward bias, upward bias or middle mode relative to the right swing rod (2); the other end D of the left swing rod (3) is vertically and fixedly connected with a left knuckle spindle (5), and correspondingly, the left knuckle spindle (5) is vertically and fixedly connected relative to the left swing rod (3) in a downward offset, upward offset or middle-arranged mode, so that the same roll function beta is f (alpha), and wheels do not roll in the roll process of the vehicle body; when the left and right knuckle main shafts are vertically fixedly connected relative to the left and right swing rods in a downward offset manner, the ground clearance of the vehicle is high, and the passing performance is good; when the left and right steering knuckle main shafts are vertically fixedly connected relative to the left and right swing rods in an upward offset mode, the vehicle has small ground clearance, low gravity center and good running stability.
In the above-described roll mechanism, when the connection points F, A, H on the stabilizer bar (12) are collinear, the corresponding connection points E, B, G are theoretically collinear; the balance bar (12) upper attachment point F, A, H is located at radius R0Is located at the radius R theoretically, the corresponding connection point E, B, G is located at the radius R0On the other circumference of (a); satisfy the conditions of AB ═ EF ═ GH, and BE ═ BG ═ AF ═ AHThen the same roll function β ═ f (α) is satisfied and the wheel does not roll during body roll.
In the above-described roll 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 vehicle body roll mechanism, the steering angle θ is generated by a steering gear, and the steering gear is a rack and pinion steering gear, 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 (6) is connected with the right knuckle spindle (4) around the axis CM in a rotating way and is changed into a vertical fixed connection, and the left knuckle (7) is connected with the left knuckle spindle (5) around the axis DN in a rotating way and is changed into a vertical fixed connection, and the device comprises: the automobile body (1), a right swing rod (2), a left swing rod (3), a right knuckle spindle (4), a left knuckle spindle (5), a right knuckle (6), a left knuckle (7), a right wheel (8), a left wheel (9), a right shock absorber (10), a left shock absorber (11) and a balance rod (12), wherein the automobile body (1) is respectively in rotating connection with one end of the right swing rod (2) and one end of the left swing rod (3), a connection point B is positioned in the middle vertical plane of the automobile body, the other end C of the right swing rod (2) is vertically fixedly connected with the right knuckle spindle (4), the right knuckle (6) is connected with the right wheel (8), and the rotating axis of the right wheel is positioned in the transverse plane of the automobile; the other end D of the left swing rod (3) is vertically and fixedly connected with a left steering knuckle main shaft (5), a left steering knuckle (7) is vertically and fixedly connected with the left steering knuckle main shaft (5), the left steering knuckle (7) is connected with a left wheel (9), and the rotating axis of the left wheel is positioned in the transverse plane of the vehicle; the middle point of a balance rod (12) is rotationally connected with a vehicle body (1), a connection point A is positioned in a vertical plane of the vehicle body, two ends of the balance rod (12) are respectively rotationally connected with one end F of a right shock absorber (10) and one end H of the left shock absorber (11), the other end of the right shock absorber (10) is rotationally connected with a point E of a right swing rod (2), the other end of the left shock absorber (11) is rotationally connected with a point G of a left swing rod (3), the relative rotation axes at the connection point A, B, E, F, G, H are parallel and perpendicular to a vehicle transverse plane, the right shock absorber (10) and the left shock absorber (11) are equal in length and same in performance, AB ═ EF ═ BG ═ AF ═ AH, the right swing rod (2) and the left swing rod (3) are equal in length, and a right knuckle spindle (4) and a left knuckle spindle (5) are equal in length, so that a non-steering wheel vehicle body roll mechanism is formed;
wherein: an included angle between the balance rod (12) and the vehicle body (1) 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, the vehicle body does not roll, and the non-steering wheel vehicle body rolling mechanism is symmetrical left and right relative to the central vertical plane of the vehicle; 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 non-steering wheel vehicle body side-tipping mechanism, the other end C of the right swing rod (2) is vertically and fixedly connected with the right steering knuckle main shaft (4), and the right steering knuckle main shaft (4) is vertically and fixedly connected in a downward offset, upward offset or middle-arranged mode relative to the right swing rod (2); the other end D of the left swing rod (3) is vertically and fixedly connected with a left knuckle spindle (5), correspondingly, the left knuckle spindle (5) is vertically and fixedly connected in a mode of downward offset, upward offset or middle arrangement relative to the left swing rod (3), the same roll function beta is f (alpha), and wheels do not roll in the roll process of the vehicle body.
The front-wheel steering active-roll four-wheel vehicle includes: the front-wheel steering active-heeling four-wheel vehicle is formed by arranging a group of vehicle body heeling mechanisms and a group of non-heeling wheel vehicle body heeling mechanisms on the same vehicle body in a front-back mode according to a given axle distance L, sharing the central vertical plane of the same vehicle, steering double front wheels, driving double rear wheels, controlling the vehicle body heeling by the vehicle body heeling mechanisms, adaptively changing an actuating angle alpha in the non-heeling wheel vehicle body heeling mechanisms, and adaptively heeling by the non-heeling wheel vehicle body heeling mechanisms; 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 front wheel steering active side-tipping tricycle includes: the tricycle is characterized in that a group of tricycle body tilting mechanisms are arranged in front, single wheels are arranged on the same tricycle body in the rear mode according to a given axle distance L, the single wheels share the same central vertical plane of the tricycle, double front wheels are used for steering, rear wheels are used for driving, the tricycle body tilting mechanisms control the tricycle body to tilt, and the single rear wheels and the tricycle body tilt together to form a front wheel steering active tilting tricycle; has the characteristics of small volume, mobility and flexibility.
The positive tricycle that leans is initiatively leaned on to front wheel steering includes: the tricycle is characterized in that a group of non-steering wheel body side-tipping mechanisms are arranged at the rear part, single wheels are arranged at the front part on the same tricycle body according to a given axle distance L and share the central vertical plane of the same tricycle, the double rear wheels are driven, the front wheels steer, the non-steering wheel body side-tipping mechanisms control the tipping of the tricycle body, and the single front wheels and the tricycle body side-tipping together to form a front wheel steering active side-tipping 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: the tricycle is characterized in that a group of non-steering wheel body side-tipping mechanisms are arranged in front, single wheels are arranged on the same tricycle body in the rear direction according to a given axle distance L and share the central vertical plane of the same tricycle, double front wheels are driven, rear wheels are steered, the non-steering wheel body side-tipping mechanisms control the tipping of the tricycle body, and the single rear wheels and the tricycle body are tipped together to form a 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 mechanism, the distance K between the main shafts of the left and right knuckles, the vehicle running speed v, and the gravity acceleration g are set, the body roll mechanism is a two-degree-of-freedom motion system, and the body roll and the vehicle steering can be performed independently or simultaneously, so that three operation modes of turning roll, independent roll, 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) K/L, and a turning radius R Lcot (θ)i) + K/2, force balance condition during cornering: mg × tan β ═ mv2R, from tan β ═ v2/(g × R) solves for body rollAn angle beta, an actuating angle alpha is obtained from a roll function beta as f (alpha), the actuating angle alpha is generated by an actuator to drive a roll mechanism, and the stability of vehicle high-speed running is maintained by realizing vehicle body roll and resisting turning centrifugal force;
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, if 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 vehicle-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 θ is given by single-wheel steering, the turning radius R is L/tan θ, and the force balance condition during turning is satisfied: 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 roll mechanism and the active roll vehicle applying the mechanism realize the independent control of the vehicle steering and the vehicle body roll motion through the relative motion of the vehicle body to the suspension, and the wheels do not roll in the vehicle body roll 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 mechanism of the vehicle body;
FIG. 4 is a schematic diagram of the overhead vehicle body roll mechanism assembly;
FIG. 5 is a schematic diagram of a mid-mount body roll mechanism assembly;
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 body roll mechanism;
FIG. 9 is a schematic view of the operation of the body roll mechanism in turning;
FIG. 10 is a schematic diagram of a roll-over mechanism for a body roll traveling along a cross-slope;
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-a vehicle body, 2-a right swing rod, 3-a left swing rod, 4-a right knuckle spindle, 5-a left knuckle spindle, 6-a right knuckle, 7-a left knuckle, 8-a right wheel, 9-a left wheel, 10-a right shock absorber, 11-a left shock absorber, 12-a balance rod, 13-a steering swing arm, 14-a right steering arm, 15-a left steering arm, 16-a right connecting rod and 17-a left connecting rod.
Detailed Description
Embodiments of the invention are described below with reference to the accompanying drawings:
the vehicle body roll 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: the steering device comprises a vehicle body (1), a right swing rod (2), a left swing rod (3), a right steering knuckle spindle (4), a left steering knuckle spindle (5), a right steering knuckle (6), a left steering knuckle (7), a right wheel (8), a left wheel (9), a right shock absorber (10), a left shock absorber (11) and a balancing rod (12), wherein the vehicle body (1) is respectively in rotating connection with one ends of the right swing rod (2) and the left swing rod (3), a connection point B is positioned in a middle vertical plane of the vehicle body, the other end C of the right swing rod (2) is vertically and fixedly connected with the right steering knuckle spindle (4), the right steering knuckle (6) is in rotating connection with the right steering knuckle spindle (4) around an axis CM thereof, and the right steering knuckle (6) is connected with the right wheel (8) and controls the; the other end D of the left swing rod (3) is vertically and fixedly connected with a left steering knuckle spindle (5), a left steering knuckle (7) is rotationally connected with the left steering knuckle spindle (5) around the axis DN thereof, and the left steering knuckle (7) is connected with a left wheel (9) and controls the direction thereof; the middle point of a balancing rod (12) is rotationally connected with a vehicle body (1), a connecting point A is positioned in the vertical plane of the vehicle body, two ends of the balancing rod (12) are respectively rotationally connected with one end F of a right shock absorber (10) and one end H of the left shock absorber (11), the other end of the right shock absorber (10) is rotationally connected with a point E of a right swing rod (2), the other end of the left shock absorber (11) is rotationally connected with a point G of a left swing rod (3), the relative rotating axes at the connecting point A, B, E, F, G, H are parallel and vertical to the vehicle transverse plane, the right shock absorber (10) and the left shock absorber (11) have the same length and the same performance, AB (EF) -GH and BE-BG-AF, the right swing rod (2) and the left swing rod (3) have the same length, BC (BD), the right knuckle spindle (4) and the left knuckle spindle (5) have the same length, and the right knuckle (6) and the left knuckle (7) have the same length, the right wheel (8) and the left wheel (9) have the same radius and form a roll mechanism;
wherein: wherein: an included angle between the balance rod (12) and the vehicle body (1) 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, the vehicle body does not roll, and the roll mechanisms are symmetrical left and right about the central vertical plane of the vehicle; 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 wheels do not roll and the wheel track of the vehicle does not change in the process of rolling the vehicle body; 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.
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 (6) in the roll mechanism, a left steering knuckle spindle (5) and a left steering knuckle (7) in the roll mechanism, a steering swing arm (13), a right steering arm (14), a left steering arm (15), a right connecting rod (16) and a left connecting rod (17), an axis intersection point M of the right steering knuckle spindle (4) and the right steering knuckle (6), and the right steering arm (14) and the right steering knuckle (6) form a whole
The angle is fixedly connected and rotates around the axis CM together,
the axis intersection point N of the left steering knuckle spindle (5) and the left steering knuckle (7), and the left steering arm (15) and the left steering knuckle (7) are the same
The angle is fixedly connected and rotates around the axis DN together; one end of a steering swing arm (13) is rotatably connected with a vehicle body (1), the rotating axis is positioned in the vertical plane of the vehicle body and is parallel to the vertical plane of the vehicle, a connecting point O, OB is vertical to the vertical plane of the vehicle, one end of a right connecting rod (16) is hinged with an S-point ball at the tail end of a right steering arm (14), the other end of the right connecting rod is hinged with a P-point ball of the steering swing arm (13), one end of a left connecting rod (17) is hinged with a T-point ball at the tail end of a left steering arm (15), the other end of the left connecting rod is hinged with a Q-point ball of the steering swing arm (13), and connecting points O, P, Q on the;
wherein: the included angle between the steering swing arm (13) and the vehicle body (1) 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 (14) and the vehicle transverse plane is equal to the included angle between the left steering arm (15) and the vehicle transverse plane, and the included angles are all the same
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 thetaiSatisfy Ackerman transformationTo the condition, the vehicle is driven in a steering direction (as shown in fig. 9); because OP < OQ on the steering swing arm, MS < NT is taken in order to keep the symmetry of left and right steering.
The body roll mechanism shown in fig. 3 is composed of a schematic diagram, the body roll mechanism is formed by a roll mechanism and a steering mechanism, 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 vehicle body roll mechanism shown in fig. 3, 4 and 5, in the vehicle body roll mechanism, the other end C of the right swing rod (2) is vertically and fixedly connected with the right knuckle spindle (4), and the right knuckle spindle (4) is vertically and fixedly connected in a downward bias, upward bias or middle mode relative to the right swing rod (2); the other end D of the left swing rod (3) is vertically and fixedly connected with a left knuckle spindle (5), and correspondingly, the left knuckle spindle (5) is vertically and fixedly connected relative to the left swing rod (3) in a downward offset, upward offset or middle-arranged mode, so that the same roll function beta is f (alpha), and wheels do not roll in the roll process of the vehicle body; when the left and right knuckle main shafts are vertically fixedly connected relative to the left and right swing rods in a downward offset manner, the vehicle has high ground clearance and good passing performance (as shown in figure 3); when the left and right knuckle main shafts are vertically fixedly connected relative to the left and right swing rods in an upward offset manner, the vehicle has small ground clearance, low gravity center and good driving stability (as shown in figure 4); when the left and right steering knuckle main shafts are vertically and fixedly connected relative to the left and right swing rods in the middle, M, C and N, D are overlapped, and the vehicle chassis is good in rigidity, high in bearing capacity and good in safety performance (as shown in figure 5).
Fig. 3 and 4 are schematic diagrams of the roll mechanism, in which, when the connecting points F, A, H on the stabilizer bar (12) are collinear, the corresponding connecting points E, B, G are theoretically collinear (as shown in fig. 3); the balance bar (12) upper attachment point F, A, H is located at radius R0Is located at the radius R theoretically, the corresponding connection point E, B, G is located at the radius R0On the other circumference (as shown in fig. 4); satisfy AB ═ EF ═GH. And BE is AF AH, the same roll function β f (α) is satisfied, and the wheel does not roll during the roll of the vehicle body.
The schematic diagram of the body roll mechanism shown in fig. 3, 4 and 5 is that in the body roll mechanism, the ball hinge is selected from a rod end joint bearing GB/T9161 and 2001, or a radial joint bearing GB/T9163 and 2001; the actuating angle alpha is generated by an actuator, and the actuator is an electromagnetic actuator, an electromechanical actuator or an electrohydraulic actuator; the output shaft of the actuator drives a balance rod in the vehicle body roll mechanism to rotate relative to a vehicle body at a point A, 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 the vehicle body tilting mechanism to rotate relative to the vehicle body, 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 thetaiAnd the Ackerman steering condition is met, and the turning radius R of the vehicle is obtained.
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 (6) is connected with the right knuckle spindle (4) around the axis CM in a rotating way and is changed into a vertical fixed connection, and the left knuckle (7) is connected with the left knuckle spindle (5) around the axis DN in a rotating way and is changed into a vertical fixed connection, and the device comprises: the automobile body (1), a right swing rod (2), a left swing rod (3), a right knuckle spindle (4), a left knuckle spindle (5), a right knuckle (6), a left knuckle (7), a right wheel (8), a left wheel (9), a right shock absorber (10), a left shock absorber (11) and a balance rod (12), wherein the automobile body (1) is respectively in rotating connection with one end of the right swing rod (2) and one end of the left swing rod (3), a connection point B is positioned in the middle vertical plane of the automobile body, the other end C of the right swing rod (2) is vertically fixedly connected with the right knuckle spindle (4), the right knuckle (6) is connected with the right wheel (8), and the rotating axis of the right wheel is positioned in the transverse plane of the automobile; the other end D of the left swing rod (3) is vertically and fixedly connected with a left steering knuckle main shaft (5), a left steering knuckle (7) is vertically and fixedly connected with the left steering knuckle main shaft (5), the left steering knuckle (7) is connected with a left wheel (9), and the rotating axis of the left wheel is positioned in the transverse plane of the vehicle; the middle point of a balancing rod (12) is rotationally connected with a vehicle body (1), a connecting point A is positioned in the vertical plane of the vehicle body, two ends of the balancing rod (12) are respectively rotationally connected with one end F of a right shock absorber (10) and one end H of the left shock absorber (11), the other end of the right shock absorber (10) is rotationally connected with a point E of a right swing rod (2), the other end of the left shock absorber (11) is rotationally connected with a point G of a left swing rod (3), the relative rotating axes at the connecting point A, B, E, F, G, H are parallel and vertical to the vehicle transverse plane, the right shock absorber (10) and the left shock absorber (11) have the same length and the same performance, AB (EF) -GH and BE-BG-AF, the right swing rod (2) and the left swing rod (3) have the same length, BC (BD), the right knuckle spindle (4) and the left knuckle spindle (5) have the same length, and the right knuckle (6) and the left knuckle (7) have the same length, the right wheel (8) and the left wheel (9) have the same radius and form a non-steering wheel vehicle body roll mechanism (shown in figure 7);
wherein: an included angle between the balance rod (12) and the vehicle body (1) 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, the vehicle body does not roll, and the non-steering wheel vehicle body rolling mechanism is symmetrical left and right relative to the central vertical plane of the vehicle; 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.
In the non-steering wheel vehicle body roll mechanism, the other end C of the right swing rod (2) is vertically and fixedly connected with the right knuckle spindle (4), and the right knuckle spindle (4) is vertically and fixedly connected in a mode of lower bias, upper bias or middle position relative to the right swing rod (2); the other end D of the left swing rod (3) is vertically and fixedly connected with a left knuckle spindle (5), and correspondingly, the left knuckle spindle (5) is vertically and fixedly connected relative to the left swing rod (3) in a downward offset, upward offset or middle-arranged mode, so that the same roll function beta is f (alpha), and wheels do not roll in the roll process of the vehicle body; when the left and right knuckle main shafts are vertically fixedly connected relative to the left and right swing rods in a downward offset manner, the ground clearance of the vehicle is high, and the passing performance is good; when the left and right steering knuckle main shafts are vertically fixedly connected relative to the left and right swing rods in an upward offset manner, the vehicle has small ground clearance, low gravity center and good driving stability; when the left and right steering knuckle main shafts are vertically and fixedly connected relative to the left and right swing rods in the middle, M, C and N, D are overlapped, and the vehicle chassis is good in rigidity, high in bearing capacity and good in safety performance.
Fig. 11 is a schematic diagram of a front-wheel steering active-roll four-wheel vehicle including: the front and rear wheels are driven by double front wheels and double rear wheels hydraulic motors, the four wheels are all universal car tires GB 9743 and 2007, the car body roll mechanism controls the car body roll, the actuating angle alpha in the non-steering wheel car body roll mechanism is self-adaptively changed, and the non-steering wheel car body roll mechanism is self-adaptively rolled to form a front wheel steering active roll four-wheel vehicle; 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: the tricycle is characterized in that a group of body tilting mechanisms are arranged in front, a single wheel is arranged behind the single wheel on the same body according to a given axle distance L, the central vertical plane of the same body is shared, double front wheels are steered, a single rear wheel is connected to the body through a swing arm and a shock absorber, a rear wheel hub motor is driven, the double front wheels adopt a universal car tire GB 9743 and 2007, the rear wheel adopts a motorcycle tire GB 518 and 2007 with an arc-shaped section, the body tilting mechanisms control the body tilting, the single rear wheel and the body tilt together, and the front wheel steering and active tilting tricycle is formed; 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 tricycle is characterized in that a group of non-steering wheel body side-tipping mechanisms are arranged at the rear part, a single wheel is arranged at the front part on the same body according to a given axle distance L and shares the central vertical plane of the same body, a double-rear-wheel hub motor drives the front wheel to steer, the double rear wheel adopts a universal car tire GB 9743 and 2007, the front wheel adopts a motorcycle tire GB 518 and 2007 with an arc-shaped section, the non-steering wheel body side-tipping mechanisms control the body to side, and the single front wheel and the body side-tipping together form a front wheel steering active side-tipping 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: the tricycle is characterized in that a group of non-steering wheel body side-tipping mechanisms are arranged in front, a single wheel is arranged behind the same body according to a given axle distance L and shares the central vertical plane of the same body, a double-front-wheel hub motor drives the rear wheel to steer, the double front wheels adopt universal car tires GB 9743 and 2007, the rear wheel adopts a motorcycle tire GB 518 and 2007 with an arc-shaped section, the non-steering wheel body side-tipping mechanisms control the body to tip, the single rear wheel and the body to tip together, and the rear wheel steering active side-tipping tricycle is formed; has the characteristics of large climbing capacity, small volume, mobility and flexibility.
With reference to the schematic diagrams of the operation of the body roll mechanism shown in fig. 8, 9, and 10 and the active roll vehicle using the body roll mechanism shown in fig. 11 and 12, the left and right knuckle spindle distances K, the vehicle running speed v, and the gravity acceleration g are set, the body roll mechanism is a two-degree-of-freedom motion system, and the body roll and the vehicle turning can be performed independently or simultaneously, so that three operation modes of turning roll, independent roll, and independent turning can be realized during the running of the vehicle:
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) K/L, and a turning radius R Lcot (θ)i) + K/2, force balance condition during cornering: mg × tan β ═ mv2R, from tan β ═ v2The roll angle β of the vehicle body is solved by (g × R), and the roll function β is obtained from f (α)The actuating angle alpha is generated by the actuator to drive the roll mechanism, so that the vehicle body rolls and resists the turning centrifugal force to keep the stability of the high-speed running of the vehicle;
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, if 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.
With reference to the non-steered wheel body roll mechanism shown in fig. 6 and 7 and the active roll tricycle to which the non-steered wheel body roll mechanism is applied shown in fig. 13 and 14, the vehicle running speed v and the gravity acceleration g are set, the vehicle runs on a curve with a steering angle θ given by one-wheel steering, the turning radius R is L/tan θ, and the force balance condition during turning is satisfied: 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 mechanism and the active roll vehicle applying the same, provided by the invention, realize independent control of vehicle steering and vehicle body roll motion, wheels do not roll and the wheel track of the vehicle is not changed in the vehicle body roll process, and three working conditions of steering roll, independent roll or independent steering can be realized in the vehicle running process; the non-steering wheel vehicle body roll mechanism is applied to the active roll of the vehicle body when the vehicle turns, so that the vehicle can automatically incline at a certain angle to resist the centrifugal force or the side-turning force when the vehicle passes a bend or runs on an inclined road surface, and a stable running posture is kept.
Claims (11)
1. The car body tilting mechanism consists of a tilting device and a steering mechanism, and is characterized in that:
the roll device includes: the vehicle body is respectively connected with one ends of the right swing rod and the left swing rod in a rotating way, a connecting point B is positioned in a vertical plane of the vehicle body, the other end C of the right swing rod is vertically and fixedly connected with the main shaft of the right steering knuckle, the right steering knuckle is connected with the main shaft of the right steering knuckle in a rotating way around the axis CM of the right steering knuckle, and the right steering knuckle is connected with the right wheel and controls the direction of the right wheel; the other end D of the left oscillating bar is vertically and fixedly connected with a left steering knuckle main shaft, the left steering knuckle is rotationally connected with the left steering knuckle main shaft around the axis DN of the left steering knuckle main shaft, and the left steering knuckle is connected with a left wheel and controls the direction of the left wheel; the middle point of the balancing rod is rotationally connected with the vehicle body, the connecting point A is positioned in the vertical plane of the vehicle body, two ends of the balancing rod are respectively rotationally connected with one end F of the right shock absorber and one end H of the left shock absorber, the other end of the right shock absorber is rotationally connected with a point E in the middle of the right swing rod, the other end of the left shock absorber is rotationally connected with a point G in the middle of the left swing rod, the relative rotation axes at the connecting point A, B, E, F, G, H are parallel and perpendicular to the vehicle vertical plane, the lengths of the right shock absorber and the left shock absorber are equal, the performances of the right shock absorber and the left shock absorber are the same, AB (EF) -GH (BG) -AF (AH), the lengths of the right swing rod and the left swing rod are the same, and the lengths of the right;
wherein: the included angle between the balancing rod and the vehicle body is an actuating angle alpha, the included angle between the vertical plane in the vehicle body and the central vertical plane of the vehicle 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 equal to 0: beta is 0, the vehicle body does not roll, and the roll devices are symmetrical left and right about the central vertical plane of the vehicle; when α ≠ 0: β ≠ 0, rolling the vehicle body, and obtaining a rolling function β ═ f (α) of the relationship between the vehicle body rolling angle β and the actuating angle α of the rolling device, wherein the wheels do not roll in the process of rolling the vehicle body;
the steering mechanism comprises: a right knuckle spindle and a right knuckle in the roll device, a left knuckle spindle and a left knuckle in the roll device, a steering swing arm, a right steering arm, a left steering arm, a right connecting rod and a left connecting rod, an intersection point M of the axes of the right knuckle spindle and the right knuckle, and a right steering arm and the right knuckle form a whole
Angle-fixed connection, rotation around axis CM, left steering knuckle main shaft and left steering knuckle axis intersection point N, left steering arm and left steering knuckle being identical
The angle is fixedly connected and rotates around the axis DN together; one end of the steering swing arm is rotatably connected with the vehicle body, the rotating axis is positioned in the vertical plane of the vehicle body and is parallel to the vertical plane of the vehicle, the connecting point O, OB is vertical to the vertical plane of the vehicle, one end of the right connecting rod is connected with the tail end ball hinge of the right steering arm, the other end P is connected with the ball hinge of the steering swing arm, one end of the left connecting rod is connected with the tail end ball hinge of the left steering arm, the other end Q is connected with the ball hinge of the steering swing arm, and the upper connecting point O, P, Q of the steering swing;
wherein: the included angle between the steering swing arm and the vehicle body 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
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.
2. The vehicle body roll mechanism according to claim 1, wherein the other end C of the right swing link is vertically and fixedly connected with a right knuckle spindle, and the right knuckle spindle is vertically and fixedly connected with the right swing link in a downward offset, upward offset or middle-positioned manner; the other end D of the left swing rod is vertically and fixedly connected with a left steering knuckle spindle, and correspondingly, the left steering knuckle spindle is vertically and fixedly connected with the left swing rod in a mode of lower offset, upper offset or middle arrangement relative to the left swing rod, so that the same roll function beta is f (alpha), and the wheels do not roll in the roll process of the vehicle body.
3. The roll mechanism of claim 1 wherein when said stabilizer bar upper connection points F, A, H are collinear, the corresponding connection points E, B, G are theoretically collinear; the balance bar upper attachment point F, A, H is located at radius R0Is located at the radius R theoretically, the corresponding connection point E, B, G is located at the radius R0On the other circumference of (a); when conditions AB, EF, BG, AF, AH 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.
4. The roll mechanism 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.
5. The body roll mechanism according to claim 1 wherein the steering angle θ is produced by a steering gear selected from a rack and pinion steering gear, a worm crank pin steering gear, or a recirculating ball steering gear.
6. A non-steering wheel vehicle body roll mechanism, which is formed by that in the roll device of the vehicle body roll mechanism of claim 1, a right steering knuckle and a right steering knuckle spindle are changed into a vertically fixed connection by rotating around the axis CM, and a left steering knuckle spindle are changed into a vertically fixed connection by rotating around the axis DN, and is characterized by comprising the following steps: the vehicle body is respectively connected with one ends of the right swing rod and the left swing rod in a rotating manner, a connecting point B is positioned in a vehicle body vertical plane, the other end C of the right swing rod is vertically and fixedly connected with the right knuckle spindle, the right knuckle is vertically and fixedly connected with the right knuckle spindle, and the rotating axis of the right knuckle, which is connected with the right wheel and the right wheel, is positioned in a vehicle transverse plane; the other end D of the left oscillating bar is vertically and fixedly connected with a left steering knuckle main shaft, a left steering knuckle is vertically and fixedly connected with the left steering knuckle main shaft, the left steering knuckle is connected with a left wheel, and the rotating axis of the left wheel is positioned in the transverse plane of the vehicle; the middle point of the balancing rod is rotationally connected with the vehicle body, the connecting point A is positioned in the vertical plane of the vehicle body, two ends of the balancing rod are respectively rotationally connected with one end F of the right shock absorber and one end H of the left shock absorber, the other end of the right shock absorber is rotationally connected with a point E in the middle of the right swing rod, the other end of the left shock absorber is rotationally connected with a point G in the middle of the left swing rod, the relative rotation axes at the connecting point A, B, E, F, G, H are parallel and perpendicular to the vehicle vertical plane, the lengths of the right shock absorber and the left shock absorber are equal, the performances of the right shock absorber and the left shock absorber are the same, AB (EF) -GH (BG) -AF (AH), the lengths of the right swing rod and the left swing rod are the same, and the lengths of the right;
wherein: the included angle between the balancing rod and the vehicle body is an actuating angle alpha, the included angle between the vertical plane in the vehicle body and the central vertical plane of the vehicle 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 equal to 0: beta is 0, the vehicle body does not roll, and the non-steering wheel vehicle body rolling mechanism is symmetrical left and right relative to the central vertical plane of the vehicle; 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.
7. The non-steerable wheel vehicle body roll mechanism of claim 6, wherein the other end C of the right swing link is vertically fixedly connected to the right knuckle spindle, and the right knuckle spindle is vertically fixedly connected to the right swing link in a downward offset, upward offset, or center-set manner; the other end D of the left swing rod is vertically and fixedly connected with a left steering knuckle spindle, and correspondingly, the left steering knuckle spindle is vertically and fixedly connected with the left swing rod in a mode of lower offset, upper offset or middle arrangement relative to the left swing rod, so that the same roll function beta is f (alpha), and the wheels do not roll in the roll process of the vehicle body.
8. A front-wheel steering actively-rolling four-wheel vehicle is characterized in that a set of vehicle-body rolling mechanisms as claimed in claim 1 and a set of non-steering wheel vehicle-body rolling mechanisms as claimed in claim 6 are arranged in front and back of the same vehicle body according to a given axle distance and share the same vehicle central vertical plane, double front-wheel steering and double rear-wheel driving are performed, the vehicle-body rolling mechanisms control vehicle-body rolling, an actuating angle alpha in the non-steering wheel vehicle-body rolling mechanisms is changed in an adaptive mode, and the non-steering wheel vehicle-body rolling mechanisms roll in an adaptive mode, so that the four-wheel vehicle with the characteristics of front-wheel steering, rear-wheel driving and active rolling is.
9. A tricycle with front wheel steering and active side-tipping is characterized in that a group of tricycle body side-tipping mechanisms according to claim 1 is arranged in front, a single wheel is arranged behind the same tricycle body according to a given wheel base and shares the same central longitudinal plane of the tricycle, the tricycle body side-tipping mechanisms are driven by double front wheels and the tricycle body side-tipping mechanisms control the vehicle body side-tipping, and the single rear wheel rolls with the tricycle body, so that the tricycle with the front wheel steering, the rear wheel driving and the three-wheel tipping features is formed.
10. A front wheel steering active roll positive tricycle, characterized in that, a set of non-steering wheel vehicle body roll mechanism of claim 6 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.
11. A tricycle with rear wheel steering and active roll-over, characterized in that, a set of non-steered wheel body roll mechanisms according to claim 6 is arranged in front, a single wheel is arranged at the back of the same tricycle body according to a given wheel base and shares the same central vertical plane of the tricycle, the tricycle is driven by double front wheels, the rear wheel is steered, the non-steered wheel body roll mechanism controls the roll of the tricycle body, the single rear wheel rolls with the tricycle body, and the active roll-over tricycle with the characteristics of front wheel driving, rear wheel steering and reverse tricycle is formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911224237.7A CN110936785B (en) | 2019-12-04 | 2019-12-04 | Vehicle body tilting mechanism and active tilting vehicle applying same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911224237.7A CN110936785B (en) | 2019-12-04 | 2019-12-04 | Vehicle body tilting mechanism and active tilting vehicle applying same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110936785A CN110936785A (en) | 2020-03-31 |
| CN110936785B true CN110936785B (en) | 2021-07-02 |
Family
ID=69909335
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911224237.7A Active CN110936785B (en) | 2019-12-04 | 2019-12-04 | Vehicle body tilting mechanism and active tilting vehicle applying same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110936785B (en) |
Families Citing this family (7)
| 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 |
| CN111688428B (en) * | 2020-06-11 | 2023-04-11 | 河南坐骑科技有限公司 | Vehicle side-tipping driving mechanism and design method |
| CN111688812B (en) * | 2020-06-11 | 2022-07-12 | 河南坐骑科技有限公司 | Vehicle body side-tipping driving mechanism and design method |
| CN111547150A (en) * | 2020-06-12 | 2020-08-18 | 骨智医疗科技(天津) 有限公司 | A PPUUR suspension structure for mobile robot |
| CN111547149A (en) * | 2020-06-12 | 2020-08-18 | 骨智医疗科技(天津) 有限公司 | RRSRR suspension structure for mobile robot |
| 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 (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60176803A (en) * | 1984-02-22 | 1985-09-10 | Honda Motor Co Ltd | Suspension for vehicle |
| CN1500687A (en) * | 2002-09-25 | 2004-06-02 | 本田技研工业株式会社 | Three-wheeled vehicle provided with swinging mechanism |
| DE10360976A1 (en) * | 2003-10-23 | 2005-06-02 | Hyundai Motor Company | Suspension structure for front and rear wheels of automobile has support members which are respectively mounted on front and rear wheels for supporting knuckle, and provided with different ratios of lengths at front and rear wheel sides |
| CN1898122A (en) * | 2003-12-19 | 2007-01-17 | 皮亚乔公司 | Four-wheeled vehicle |
| CN201484108U (en) * | 2009-08-19 | 2010-05-26 | 周述光 | Roll-type motor vehicle with independent suspension damping |
| CN106143734A (en) * | 2016-07-22 | 2016-11-23 | 朱正义 | The four-wheeled vehicle that a kind of tiltable turns to |
| 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 |
| CN110294035A (en) * | 2019-07-09 | 2019-10-01 | 王亚 | The vehicle of body roll driving mechanism and the application mechanism |
| CN110509993A (en) * | 2019-09-10 | 2019-11-29 | 王亚 | The side-tipping tricycle of the mechanism of non-steered wheel active roll mechanism and application |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100389973C (en) * | 2004-04-07 | 2008-05-28 | 陈家祥 | Vehicle without speed reduced in turning way |
| FR2933950B1 (en) * | 2008-07-21 | 2011-02-11 | Veleance | MECHANICAL INCLINATION CONTROL DEVICE |
| BR112015032635A2 (en) * | 2013-07-01 | 2017-07-25 | Yamaha Motor Co Ltd | vehicle |
| ITUB20159478A1 (en) * | 2015-12-28 | 2017-06-28 | Piaggio & C Spa | Front end of tilting motor vehicle and relative tilting motor vehicle |
| JP6760195B2 (en) * | 2017-05-02 | 2020-09-23 | トヨタ自動車株式会社 | Tilting train |
| JP2021003904A (en) * | 2017-09-04 | 2021-01-14 | ヤマハ発動機株式会社 | Inclination vehicle |
| GB2607190B (en) * | 2017-11-15 | 2023-05-03 | Sway Motorsports Llc | Control system for a tiltable vehicle |
| IT201800003366A1 (en) * | 2018-03-08 | 2019-09-08 | Piaggio & C Spa | FRONT FOR TILTING MOTORCYCLES WITH TWO FRONT WHEELS AND RELATED TILTANTE VEHICLE |
| CN110341412A (en) * | 2018-04-08 | 2019-10-18 | 杨晓东 | A kind of suspension frame structure and connection type of no bridge type automobile |
| CN209079576U (en) * | 2018-11-19 | 2019-07-09 | 南京农业大学 | A kind of vehicle pendulum-type suspension system |
| CN110294034B (en) * | 2019-07-09 | 2020-07-07 | 河南坐骑科技有限公司 | Car body side-tipping limiting device and vehicle using same |
| 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 |
-
2019
- 2019-12-04 CN CN201911224237.7A patent/CN110936785B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60176803A (en) * | 1984-02-22 | 1985-09-10 | Honda Motor Co Ltd | Suspension for vehicle |
| CN1500687A (en) * | 2002-09-25 | 2004-06-02 | 本田技研工业株式会社 | Three-wheeled vehicle provided with swinging mechanism |
| DE10360976A1 (en) * | 2003-10-23 | 2005-06-02 | Hyundai Motor Company | Suspension structure for front and rear wheels of automobile has support members which are respectively mounted on front and rear wheels for supporting knuckle, and provided with different ratios of lengths at front and rear wheel sides |
| CN1898122A (en) * | 2003-12-19 | 2007-01-17 | 皮亚乔公司 | Four-wheeled vehicle |
| CN201484108U (en) * | 2009-08-19 | 2010-05-26 | 周述光 | Roll-type motor vehicle with independent suspension damping |
| 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 |
| CN106143734A (en) * | 2016-07-22 | 2016-11-23 | 朱正义 | The four-wheeled vehicle that a kind of tiltable turns to |
| CN110294035A (en) * | 2019-07-09 | 2019-10-01 | 王亚 | The vehicle of body roll driving mechanism and the application mechanism |
| CN110509993A (en) * | 2019-09-10 | 2019-11-29 | 王亚 | The side-tipping tricycle of the mechanism of non-steered wheel active roll mechanism and application |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110936785A (en) | 2020-03-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110936785B (en) | Vehicle body tilting mechanism and active tilting vehicle applying same | |
| CN110509994B (en) | Vehicle steering and roll combination mechanism and active roll vehicle using same | |
| 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 | |
| CN109353406B (en) | Vehicle turning and rolling device and rolling control method | |
| EP2388179B1 (en) | A vehicle with a tiltable frame | |
| CN112172919B (en) | Vehicle roll driving device 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 | |
| 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 | |
| CN102695621B (en) | Single wheel suspension of a non-steerable wheel of a two-track vehicle | |
| CN110936783B (en) | Car body side-tipping linkage mechanism and active side-tipping vehicle using same | |
| CN109625087B (en) | Vehicle steering and tilting linkage device and active tilting chassis | |
| CN111688428B (en) | Vehicle side-tipping driving mechanism and design method | |
| JP7398454B2 (en) | Vehicle suspension and drive mechanism using virtual steering pivot | |
| US20230038448A1 (en) | Vehicle suspension system | |
| JP3167127B2 (en) | Vehicle suspension device | |
| CN110294033B (en) | Car body side-tipping limiting mechanism and vehicle using same | |
| CN114206636A (en) | Wheel suspension system with movable steering axis | |
| JPH06183365A (en) | Suspension device for vehicle | |
| JP7095121B2 (en) | Suspension unit and vehicle | |
| CN212500646U (en) | Wire-controlled chassis of unmanned vehicle | |
| CN114312183A (en) | Front steering engine Macpherson suspension and automobile | |
| CN114684262A (en) | Vehicle steering and roll transmission mechanism and active roll vehicle using same |
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 |