CN100482484C - Vertical translation type spacing multi-connecting-rod separated suspension - Google Patents

Abstract

The invention discloses a vertical translation spatial multi-connecting-rod individual suspension rack, which comprises the following parts: vehicle bulk or rack, front swinging arm, front swaying arm, vertical mobile arm, back swinging arm and back swaying arm, wherein the middle through-hole is set on the center flat of vertical mobile arm of back suspension rack, the static main-pin inner-incidence and main pin shaft cylinder are set on the middle flat of vertical mobile arm of front suspension rack along vertical direction, the left and right suspension ears on two ends of vertical mobile arm are not on the same plane without paralleling, which parallel two intersection lines of middle flat, the axial line of rotary spoke A, B and C of mobile chain ABC parallels mutually, which is vertical of the plane decided by connecting rod AB and BC, the axial line of rotary spoke F, E and D of mobile chain FED parallels mutually, which is vertical of the plane decided by FE and ED, the separation angle of the plane of AB and BC and plane of FE and ED equals the separation angle of plane of left and right suspension ear.

Description

Vertical translation type spacing multi-connecting-rod separated suspension

Technical field

The present invention relates to automobile suspension system, particularly the spacing multi-connecting-rod separated suspension system belongs to the automotive engineering field.

Background technology

On theory of mechanisms, suspension and steering system all are spacing multi-connecting-rod mechanisms, and their performance has determined the road-holding property and the riding comfort of automobile to a great extent.Suspension is the general name of all power transmission connecting devices between vehicle frame (or self-supporting body) and the vehicle bridge (or wheel), and its function mainly contains: 1. relax the impact that is caused by Uneven road and the vibration that causes.Suitable cushioning performance is arranged, make the oscillation frequency of automobile lower, vibration damping is fast.Guarantee that automobile has the vibration acceleration that good riding comfort and occupant bear and is no more than the international standard boundary value.2. can transmit shear force and moment between wheel and vehicle body reliably, the parts light weight also has enough intensity and life-span.3. guarantee that automobile has good road-holding property, suitable anti-roll capability is arranged, good anti-" nodding " and anti-" facing upward head " ability is arranged.4. when wheel bounce, can help alleviating Tyte Wear.5. guiding mechanism should make the positional parameter of wheels such as camber angle, Kingpin inclination angle and casterangle change not quite, and the motor coordination of wheel and guiding mechanism does not have shimmy phenomenon.Guarantee when turning to that automobile has understeer characteristics.Above-mentioned five particular content see also [Liu Weixin chief editor. automobile design. Beijing: the .2001 of press of Tsing-Hua University in July] [cross learn fast, the Deng Yadong chief editor. automobile design. Beijing: the .2005 of People's Transportation Press in August] [Madhusudan Raghavan, Number andDimensional Synthesis of Independent Suspension Mechanisms, Mechanism and Machine Theory, Vol.31, No.8, November, 1996, pp.1141-1153.].

" safety, environmental protection, comfortable at a high speed, " become the inexorable trend of 21st century development of automobile." high speed and safety " requires automobile that good road-holding property is arranged; " comfortable " then requires automobile that good riding comfort is arranged.Though modern suspension frame structure is varied, suspension generally all is made up of elastic element, damping element and three parts of guide piece.Wherein, guide piece has transmission other power and all effects of moments except that vertical power, and the assurance wheel is pressed optimum trajectory with respect to body movement.Common guide piece has: tilted single arm formula, single swing arm type, double wish-bone arm type, single trailing arm type, double trailing arm type, candle formula, MacPherson type and many link-types guide piece.

At present, be suspended in and be broadly divided into two big classes on the physical construction: dependent suspension and independent suspension.Along with improving constantly of car speed, dependent suspension can not satisfy the requirement of riding comfort and road-holding property aspect.Therefore independent suspension has obtained very big development.

The constructional feature of independent suspension be both sides wheel individually by resilient suspension hang over vehicle frame (or vehicle body) below.When adopting independent suspension, vehicle bridge is all made open circuited.Therefore following advantage is arranged: 1. in suspension elastic element certain deformation scope, the both sides wheel can self-movement, and be independent of each other, can reduce the vibration of vehicle frame and vehicle body when on rough road, travelling like this, and help to eliminate the bad phenomenon of the continuous beat of wheel flutter.2. reduced the automobile nonspring carried mass quality of spring-loaded (promptly can't help).Under the dependent suspension situation, whole vehicle bridge and wheel all belong to the nonspring carried mass part.Under the independent suspension situation, for drive axle, because main reduction gear, diff and shell thereof all are fixed on the vehicle frame, have become spring carried mass; For steeraxle, it only has steering yoke bolt and steering swivel, and the unjointed beam at middle part no longer exists.So when adopting independent suspension, nonspring carried mass comprises all or part of quality of a part of part in wheel mass and the suspension system, nonspring carried mass is much smaller during obviously than the usefulness dependent suspension.Nonspring carried mass is littler when road conditions is identical with the speed of a motor vehicle, and then the suffered impact load of suspension is littler.So adopt independent suspension can improve the average ground speed of automobile.When 3. adopting broken bridge of car, the position of engine assembly just can reduce and reach descends centre of gravity of vehicle, has improved running car stability.Give wheel bigger up-and-down movement space simultaneously, thereby can design suspension rate less, the body vibrations frequency is reduced, to improve riding comfort.Above advantage is widely used on the modern automobile independent suspension, and particularly the wheel flutter of car has all generally adopted independent suspension.Independent suspension adopts coil spring or torsion bar spring as elastic element more, and the spring of steel spring and other form is used less.

Many link-types suspension that recent two decades grows up does not then belong to above three kinds, and its wheel is done space motion, and can not belong to above any.Though it is comparatively extensive that present stage is used with McPherson strut and wishbone suspension, many link-types suspension has also obtained designer's favor, has been used on many Pullman saloons now.Referring to [Madhusudan Raghavan, Number and Dimensional Synthesis of Independent Suspension Mechanisms, Mechanism andMachine Theory, Vol.31, No.8, November, 1996, pp.1141-1153.].

Theoretically, in order to satisfy the kinematics requirement, use the suspension system of three connecting rods just enough.But three link lever suspension forks or for guaranteeing that the tire guiding accuracy selects for use enough big coupling stiffness that ride comfort is worsened perhaps adopt enough connection elasticity to make the maneuvering performance deterioration for satisfying ride comfort.Thereby three link suspension system are difficult to the requirement not only satisfying ride comfort but also can satisfy road-holding property well, so multi-link lever suspension fork has obtained using widely.

Five link suspension system are to be used at first in W201 and the W124 series vehicle by Daimler-Benz, and called after multi-link lever suspension fork system the earliest.Referring to [P.A.Simionescu and D.Beale, Synthesis and Analysis of the Five-LinkRear Suspension System Used in Automobiles, Mechanism and Machine Theory, Vol.37, No.9, September, 2002, pp.815-832.].At present, there has been the luxury car of a lot of types to use five link suspension system; Its basic structure form as shown in Figure 1, A wherein _i(i=1,2 ..., 5) and be the point on the vehicle body, B _i(i=1,2 ..., 5) and be the point on the wheel, the spring-C of shock absorber system ₁C ₂Pass through C ₁Point connects rod piece A ₅B ₅, pass through C ₂Point connects vehicle body.Therefore, the space motion of five link lever suspension fork steering swivels is subjected to the constraint of the connecting rod of five space parallel connections, and is outside stressed then by spring-shock absorber absorption.As: the rear-suspension system of W201 (Mercedes 190/190E) and W124 (200D/300E), BMW, Nisan 240Sxey Volvo760 GLE etc. has all adopted five connecting-rod separated suspension mechanisms.Although above automotive development merchant has developed five link suspension system, the wheel alignment parameter of space five link suspension system is relatively more responsive to construction parameter.Here, the positional parameter of wheel mainly refers to camber angle, Kingpin inclination angle and casterangle, left and right wheels distance and wheel base.Space five link lever suspension forks can not guarantee wheel alignment parameter constant when improving vehicle handling stability and ride comfort, thereby Tyte Wear is still very serious, and travelling comfort also has been subjected to influence to a certain degree.

Though conventional suspension system can satisfy five functional requirements of above-mentioned suspension basically, in practical application, as long as when wheel bounce, any variation takes place in the positional parameter of wheel, all can cause Tyte Wear and to the impact of vehicle body.And this point is the shortcoming that present nearly all suspension all has.Can not change be emphasis and difficult point in the independent suspension structure innovative design to the positional parameter of wheel in the time of how can guaranteeing wheel bounce.

Up to now, at home and abroad in the guide piece of Motor Vehicle Independent Suspension System, the positional parameter that we find to make wheel as yet not with wheel beat and mechanism that any change takes place come.

Summary of the invention

The purpose of this invention is to provide a kind of vertical translation type spacing multi-connecting-rod suspension that can be used for Motor Vehicle Independent Suspension System, camber angle, Kingpin inclination angle and casterangle, left and right wheels distance and the wheel base of realizing wheel can remain constant in wheel bob process, thereby improve road-holding property, the ride comfort of automobile and the traveling comfort of taking, and can effectively reduce Tyte Wear; Simultaneously, allow difference that chaufeur requires different road surfaces crossing ability according to automobile that the height of suspension is carried out active.

The objective of the invention is to be achieved through the following technical solutions:

A kind of vertical translation type spacing multi-connecting-rod independent rear suspension contains spring-shock absorber system, by stub axle and the inside and outside semiaxis of universal-joint bonded assembly, vehicle body or vehicle frame is characterized in that: this independent suspension also comprises front arm, front swing arm, vertical transfer arm, rear-swing arm and rear arm; Connect by revolute pair respectively between described front arm, front swing arm, vertical transfer arm, rear-swing arm and the rear arm, described vehicle body or vehicle frame are connected with rear arm with described front arm by revolute pair respectively; Described vertical transfer arm is made up of left and right hanger middle dull and stereotyped and that be arranged on two ends, dull and stereotyped homonymy in the middle of described left and right two hangers are positioned at, and two planes at left and right hanger place are parallel to each other with two intersections of middle flat board; The non-coplane in two planes at described left and right hanger place and not parallel, on left and right hanger, be respectively equipped with the through hole that the rotating shaft with revolute pair is complementary, left and right hanger is connected with vehicle body or vehicle frame with FED by kinematic link ABC respectively, and these two kinematic links are plane RRR kinematic link; Three revolute pair A, the B of described kinematic link ABC and the axis of C is parallel to each other and all perpendicular to the plane of connecting rod AB and BC decision; Three revolute pair F, the E of described kinematic link FED and the axis of D is parallel to each other and all perpendicular to the plane of connecting rod FE and ED decision; Angle between the plane of described connecting rod AB and BC decision and the plane that connecting rod FE and ED determine equates with the angle between described left and right hanger two planes; Be provided with an intermediate throughholes on the middle flat board of vertical transfer arm, described outer semiaxis is connected with vertical transfer arm by this through hole; Described spring-shock absorber system is fixed on the top of vertical transfer arm.

The present invention also provides a kind of vertical translation type spacing multi-connecting-rod independent front suspension, contain spring-shock absorber system, by stub axle and the inside and outside semiaxis of universal-joint bonded assembly, vehicle body or vehicle frame, it is characterized in that: this independent suspension also comprises front arm, front swing arm, vertical transfer arm, rear-swing arm and rear arm; Connect by revolute pair respectively between described front arm, front swing arm, vertical transfer arm, rear-swing arm and the rear arm, described vehicle body or vehicle frame are connected with rear arm with described front arm by revolute pair respectively; Described vertical transfer arm is made up of left and right hanger middle dull and stereotyped and that be arranged on two ends, dull and stereotyped homonymy in the middle of described left and right two hangers are positioned at, and two planes at left and right hanger place are parallel to each other with two intersections of middle flat board; The non-coplane in two planes at described left and right hanger place and not parallel, on left and right hanger, be respectively equipped with the through hole that the rotating shaft with revolute pair is complementary, left and right hanger is connected with vehicle body or vehicle frame with FED by kinematic link ABC respectively, and these two kinematic links are plane RRR kinematic link; Three revolute pair A, the B of described kinematic link ABC and the axis of C is parallel to each other and all perpendicular to the plane of connecting rod AB and BC decision; Three revolute pair F, the E of described kinematic link FED and the axis of D is parallel to each other and all perpendicular to the plane of connecting rod FE and ED decision; The plane of described connecting rod AB and BC decision equates with the angle on described left and right hanger two planes with angle between the plane that connecting rod FE and ED determine; Stub shaft sleeve with given Kingpin inclination angle and casterangle vertically is set on described vertical transfer arm; Spring-shock absorber system is fixed on the top of vertical transfer arm.

In the technical scheme of above-mentioned independent rear suspension and independent front suspension, for the stability of configuration that improves suspension with improve weight bearing power, its preferred version is that the plane at described non-coplane that is arranged on vertical transfer arm two ends and uneven left and right hanger place is vertical mutually.On the basis of this technical scheme, the plane that is arranged on the left and right hanger place at vertical transfer arm two ends is 135 ° with middle dull and stereotyped angle; The axis of described vehicle body or vehicle frame two ends and forward and backward rocking arm bonded assembly rotating shaft A and F is orthogonal, and its intersection point o and rotating shaft A and rotating shaft F constitute an isosceles right-angled triangle.

In order to increase the stroke of vertical transfer arm, another technical characterictic of the present invention also is: described kinematic link ABC and kinematic link FED also can add one or more connecting rods, and the axis of the revolute pair at the connecting rod two ends of described adding is parallel to each other and perpendicular to this connecting rod.

The present invention compared with prior art, have the following advantages and the high-lighting effect: vertical translation type spacing multi-connecting-rod separated suspension provided by the invention, the positional parameters such as camber angle, Kingpin inclination angle and casterangle, left and right wheels distance and wheel base that can realize wheel can remain constant in wheel bob process, thereby effectively reduce Tyte Wear, and can improve road-holding property, the ride comfort of automobile and the traveling comfort of taking effectively; Simultaneously, allow difference that chaufeur requires different road surfaces crossing ability according to automobile that the height of suspension is carried out active.

Description of drawings

Fig. 1 is space five link lever suspension fork structure diagrams.

Fig. 2 is the structural representation of vertical translation type spacing multi-connecting-rod independent rear suspension provided by the invention and annex thereof.

Fig. 3 is the scheme drawing of the isosceles right triangle that forms of the vehicle body of spacing multi-connecting-rod separated suspension or vehicle frame and two ends rotating shaft.

Fig. 4 is the forward and backward rocking arm of spacing multi-connecting-rod separated suspension and the structural representation of forward and backward swing arm.

Fig. 5 is that the structure that is used for the vertical transfer arm of independent rear suspension is formed sketch.

Fig. 6 is the cutaway view that is used for the vertical transfer arm of independent rear suspension.

Fig. 7 is the birds-eye view of independent rear suspension guide piece.

Fig. 8 is the structural representation of vertical translation type spacing multi-connecting-rod independent front suspension provided by the invention and annex thereof.

Fig. 9 is that the structure that is used for the vertical transfer arm of independent front suspension is formed sketch.

Figure 10 is that the vertical transfer arm of independent rear suspension moves to down scheme drawing in limited time along z axle negative direction.

Figure 11 is the crank slider arrangement of equal value that has the same movement characteristic with vertical transfer arm.

Among the figure: the 1-inner shaft; 2-vehicle frame or vehicle body; The 3-front arm; The 4-universal-joint; The 5-front swing arm; The vertical transfer arm of 6-; 7-spring-shock absorber system; The 8-rear arm; The 9-rear-swing arm; The 10-wheel; 11-left side hanger; 12-left side through hole; Dull and stereotyped in the middle of the 13-; The 14-intermediate throughholes; The right hanger of 15-, the right through hole of 16-; 17-stub axle; The 18-spindle arm; 19-stub shaft sleeve; The outer semiaxis of 20-.

The specific embodiment

Below in conjunction with accompanying drawing structure of the present invention, principle and the specific embodiment are further described.

Fig. 2 is the structure diagram of vertical translation type spacing multi-connecting-rod independent rear suspension provided by the invention; This spacing multi-connecting-rod suspension system mainly comprises six revolute pair A, B, C, F, E and D of member such as inner shaft 1, vehicle body or vehicle frame 2, front arm 3, universal-joint 4, front swing arm 5, vertical transfer arm 6, spring-shock absorber system 7, rear arm 8, rear-swing arm 9 and wheel 10 and guiding mechanism; Situation when Fig. 3 has represented that the axis of the rotating shaft A at vehicle body or vehicle frame 2 two ends and F satisfies orthogonality relation, the wherein dead in line of x axle and revolute pair A, the dead in line of y axle and revolute pair F; The structure of front arm 3, front swing arm 5, rear arm 8, rear-swing arm 9 all as shown in Figure 4, their size can be the same or different; Described vertical transfer arm 6 is formed (as shown in Figure 5) by middle flat board 13 and two ends by overhanging left hanger 11 and right hanger 15, dull and stereotyped 13 homonymy in the middle of described left and right two hangers are positioned at, the non-coplane in two planes at left and right two hanger places and not parallel, two planes at left and right hanger place are parallel to each other with middle two intersections of dull and stereotyped 13; Left through hole 12 and a right through hole 16 for revolute pair connection usefulness is respectively arranged on left side hanger 11 and the right hanger 15, and the concrete size of each structure can be set according to requirement of engineering; Left and right hanger is connected with vehicle body or vehicle frame 2 with FED by kinematic link ABC respectively, and these two kinematic links are plane RRR kinematic link; Three revolute pair A, the B of described kinematic link ABC and the axis of C is parallel to each other and all perpendicular to the plane of connecting rod AB and BC decision; Three revolute pair F, the E of described kinematic link FED and the axis of D is parallel to each other and all perpendicular to the plane of connecting rod FE and ED decision; Left hanger 11 on angle between the plane of described connecting rod AB and BC decision and the plane that connecting rod FE and ED determine and the described vertical transfer arm 6 and the angle between the plane, right hanger 15 place equate.Fig. 8 is the structure diagram of vertical translation type spacing multi-connecting-rod independent front suspension provided by the invention; This spacing multi-connecting-rod suspension system mainly comprises six revolute pair A, B, C, F, E and D of member such as inner shaft 1, vehicle body or vehicle frame 2, front arm 3, universal-joint 4, front swing arm 5, vertical transfer arm 6, spring-shock absorber system 7, rear arm 8, rear-swing arm 9 and wheel 10 and guiding mechanism; The difference of front suspension and rear suspension is mainly reflected on the vertical transfer arm 6, be provided with an intermediate throughholes 14 on dull and stereotyped 13 in the middle of as shown in Figure 5 and Figure 6 the vertical transfer arm of rear suspension, on the vertical transfer arm of as shown in Figure 9 front suspension, then vertically be provided with a stub shaft sleeve 19 with given Kingpin inclination angle and casterangle; Spring-shock absorber system 7 is fixed on the top of vertical transfer arm 6; Stub axle 17 is connected with stub shaft sleeve 19 by thrust bearing; Outer semiaxis 20 also is connected with stub axle 17 by thrust bearing; As Fig. 2 and shown in Figure 8, spring-shock absorber system 7 is fixed on the top of vertical transfer arm 6.Annexation between inner shaft 1 and the outer semiaxis 20 and and stub between position and annexation all can adopt the organization plan that has been applied to the wish-bone arm type suspension, also can carry out corresponding modification according to actual needs.Fig. 7 has represented the birds-eye view after the vertical translation type spacing multi-connecting-rod independent rear suspension assembling provided by the invention, can find according to Fig. 7, in the middle of the vertical transfer arm 6 dull and stereotyped 13 all the time with the side keeping parallelism of vehicle body or vehicle frame 2, promptly in Fig. 7, CD//AF and CD also remain constant to the distance of AF.Therefore this feature, next just analyzes the kinematic principle that this mechanism keeps this feature just by the decision of the constructional feature of vertical translation type spacing multi-connecting-rod separated suspension provided by the invention.

Be the convenient kinematic principle of describing vertical translation type spacing multi-connecting-rod separated suspension provided by the invention, here the plane with two axis places of revolute pair A and F is the xoy plane, intersection point with these two axis is the origin of coordinates, is that the x axle is set up right-handed system with the axis of revolute pair A.When two axis of revolute pair A and F were mutually orthogonal, as Fig. 3 and shown in Figure 7, the y axle just and the dead in line of revolute pair F.Like this, the plane at front arm 3 and front swing arm 5 places (plane of connecting rod FE and ED decision) and xoz plane parallel, the plane at rear arm 8 and rear-swing arm 9 places (plane of connecting rod AB and BC decision) and yoz plane parallel.This corresponding relation can more clearly be found out from the birds-eye view of assembling shown in Figure 7.

Analyze the free motion of vertical transfer arm 6 below.Be without loss of generality, if the axis of revolute pair F is ψ (0 °＜ψ＜180 °) to the angle of x axle, revolute pair A is a to the distance of the origin of coordinates, revolute pair F is b to the distance of the origin of coordinates, the coordinate that then can obtain revolute pair A is (a 0 0), and the coordinate of revolute pair F is (bcos ψ bsin ψ 0).On this basis, the coordinate that can establish revolute pair B, C, D and E is followed successively by (a y _Bz _B), (a y _Cz _C), (x _Dy _Dz _D) and (x _Ey _Ez _E).Can analyze, when ψ=90 ° and a=b, Δ oAF constitutes an isosceles right triangle; At this moment, this mechanism reaches optimum on stressed and stable.

Under the oxyz system of axes, the direction vector of revolute pair A, B and C axis is s ₁=(1 0 0) ^T, the direction vector of revolute pair F, E and D axis is s ₂=(cos ψ sin ψ 0) ^TThe birds-eye view of mechanism's assembling shown in Figure 7 has been represented the situation in the time of=90 °.

Like this, according to [1.Jing-Shan Zhao, Kai Zhou and et al, A New Method to Study the Degree ofFreedom of Spatial Parallel Mechanisms, The International Journal of Advanced ManufacturingTechnology, Vol.23, No.3-4, February 2004, pp.288-294.] [Jing-Shan Zhao, Zhi-Jing Feng, KaiZhou and De-Wen Jin, Re-analysis on the Degree-of-Freedom Configuration of the Platforms inSpatial Parallel Mechanisms with Constraints Spaces, The International Journal of AdvancedManufacturing Technology, Vol.28, No.1-2, February 2006, pp.190-196.] [Jing-Shan Zhao, KaiZhou and Zhi-Jing Feng, A Theory of Degrees of Freedom For Mechanisms, Mechanism andMachine Theory, Vol.39, No.6, June2004, pp.621-643.] [Jing-Shan Zhao, Zhi-Jing Feng andJing-Xin Dong, Computation of the Configuration Degree of Freedom of a Spatial ParallelMechanism by Using Reciprocal Screw Theory, Mechanism and Machine Theory, DOI:10.1016/j.mechmachtheory.2006.01.006.] analysis theories of the mechanism freedom of Ti Chuing, the kinematic screw that can write out the kinematic link ABC of vertical transfer arm 6 is:

$ _ABC＝[$ _A $ _B $ _C] (1)

$ wherein _A=(1 0000 0) ^T

$ _B＝(1 0 0 0 z _B -y _B) ^T

$ _C＝(1 0 0 0 z _C -y _C) ^T

Obviously, $ _ABCThe condition of contraction is:

BC and AB conllinear (C ₁)

Further analyze as can be known, formula (2) can be expressed as:

$\left|\begin{array}{cc}{z}_B& -y_B\\ z_C& -y_C\end{array}\right|=0---\left(2\right)$

As condition (C ₁) when being false, the end conswtraint of kinematic link ABC

Can obtain by the reciprocity screw theory, promptly

$E$ ^r＝0 (3)

Wherein $ is a kinematic screw system, $E=\left[\begin{array}{cc}0& I_3\\ I_3& 0\end{array}\right],$ ? $I_3=\left[\begin{array}{ccc}1& 0& 0\\ 0& 1& 0\\ 0& 0& 1\end{array}\right],$ $ ^rAntispin system for $.

Can obtain by (3) formula For:

As condition (C ₁) set up, when promptly formula (2) was set up, the end conswtraint of kinematic link ABC was:

Equally, the kinematic screw that can write out another kinematic link FED of vertical transfer arm 6 is:

$ _FED＝[$ _F $ _E $ _D] (6)

$ wherein _F=(cos ψ sin ψ 000 0) ^T

$ _D＝(cosψ sinψ 0 -z _D sinψ z _D cosψ x _D sinψ -y _D cosψ) ^T

And $ _FEDThe condition of contraction is:

ED and FE conllinear (C ₂)

Condition (C ₂) can be expressed as:

$\left\{\begin{array}{c}\left|\begin{array}{cc}{x}_E& y_E\\ x_D& y_D\end{array}\right|=0\\ \left|\begin{array}{cc}{x}_E& z_E\\ x_D& z_D\end{array}\right|=0\end{array}\right.---\left(7\right)$

As condition (C ₂) when being false, the end conswtraint of kinematic link FED

Also can try to achieve according to (3) formula:

As condition (C ₂) set up, when promptly formula (7) was set up, the end conswtraint of kinematic link FED was:

Therefore, as condition (C ₁) and condition (C ₂) when all being false, vertical transfer arm 6 suffered being constrained to:

Formula (10) substitution (3) formula can be obtained the free motion that vertical transfer arm 6 had is:

Obviously, when ψ=90 °, (11) formula is also set up.Therefore, (11) formula shows that vertical transfer arm 6 has a free motion along the translation of z direction of principal axis.Therefore, the vertical transfer arm 6 of this spacing multi-connecting-rod mechanism can be done the motion of translation of single degree of freedom boning out.Therefore, this spacing multi-connecting-rod mechanism can make the parameters such as camber angle, Kingpin inclination angle and casterangle, wheelspan and wheelbase of the wheel that links with vertical transfer arm remain constant in the wheel bounce process.So just Tyte Wear be can reduce to greatest extent, and then the ride comfort and the travelling comfort of automobile improved.

Discuss again below as condition (C ₁), (C ₂) situation when setting up.

1. as condition (C ₁) set up but condition (C ₂) when being false, vertical transfer arm 6 suffered being constrained to:

Since 0 °＜ψ＜180 °, therefore, according to (12) formula as can be known, as long as z _B-z _C≠ 0,

Order just equal 6, promptly

Thereby can obtain the free motion that vertical transfer arm 6 had according to (3) formula is zero.

2. as condition (C ₂) all set up but condition (C ₁) when being false, vertical transfer arm 6 suffered being constrained to:

Since 0 °＜ψ＜180 °, therefore, according to (13) formula as can be known, as long as z _D-z _E≠ 0, Order just equal 6, promptly

Thereby can obtain the free motion that vertical transfer arm 6 had according to (3) formula is zero.

3. obvious, when above two kinds of situations 1 and 2 were all set up, the free motion of vertical transfer arm 6 must be zero.

Next, we analyze again and add and the axis of its coplane and revolute pair with it behind the vertical connecting rod in plane, place the vertically free motion of transfer arm 6 in kinematic link FED.

If the spatial coordinates of the revolute pair at the two ends of initiate connecting rod is $\left(\begin{array}{ccc}{x}_{I_1}& y_{I_1}& z_{I_1}\end{array}\right)$ With $\left(\begin{array}{ccc}{x}_{I_2}& y_{I_2}& z_{I_2}\end{array}\right),$ Because the axis of their revolute pair is also vertical with the plane at kinematic link FED place, therefore, the direction vector of their axis also is s ₂=(cos ψ sin ψ 0) ^TAccording to (6) formula, have here

Wherein

The end conswtraint of the kinematic link that (14) formula substitution (3) formula is tried to achieve is constant.Same, adding a plurality of such connecting rods in kinematic link FED can not influence its end conswtraint yet; Identical conclusion also is applicable to kinematic link ABC.Obviously, the free motion of the vertical transfer arm 6 of trying to achieve according to (10) formula remains (11) formula.This has just proved " described kinematic link ABC and kinematic link FED all can add and the axis of its coplane and revolute pair plane, place vertical one or more connecting rods with it as required " does not influence the free motion of vertical transfer arm 6.Condition (C ₁), (C ₂) conclusion when setting up is applicable to too and adds one or more situations with connecting rod of corresponding constraint in two kinematic links.Be convenient and describe, below we still only with the kinematic link ABC and the FED that only contain three revolute pairs.

In sum, as long as in above-mentioned 3 kinds of situations an establishment is arranged, the free motion of vertical transfer arm 6 just must be zero.Therefore, make vertical transfer arm 6 have the described free motion of (11) formula, avoid in the motion of the position of revolute pair A, B and C conllinear or revolute pair F, E and D conllinear with regard to guaranteeing this spacing connecting rod mechanism.In fact this defined scope or stroke that vertical transfer arm 6 is done single degree of freedom boning out campaign, below just analyze the scope that vertical transfer arm 6 is done single degree of freedom boning out campaign according to this constraint condition.

In mechanism shown in Figure 7, adopted the symmetrical structure layout, i.e. bar appearance of front arm 3 and rear arm 8 etc. and be made as l ₁, the bar of front swing arm 5 and rear-swing arm 9 is grown also equal and is made as l ₂, the angle of the angle of projection line ABC and vehicle frame or vehicle body AF and projection line FED and vehicle frame or vehicle body AF is 45 °.Simultaneously, the left and right through hole width between centers CD that establishes vertical transfer arm 6 is l ₃, the long AF of vehicle frame or vehicle body 2 is l ₄

Analyze the relation of the rectilinear path that above-mentioned these construction parameter and vertical transfer arm 6 can do below.Be located in the birds-eye view 7, vertical transfer arm 6 is h to the distance of vehicle frame or vehicle body 2.Be not difficult to find that when revolute pair A, B, C move downward the end position of three point on a straight line (as shown in figure 10), because the symmetry of structure, revolute pair F, E, D also move downward the end position of three point on a straight line just.At this moment, vertical transfer arm 6 from can being expressed as according to the Pythagorean theorem of right-angled triangle of the downward translation of level attitude of vehicle frame or vehicle body coplane apart from S:

$S=\sqrt{{(l_1+l_2)}^2-{\left(\frac{l_4-{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="C200610113114E00171.png,C200610113114E00211.png"\; state="\{\{state\}\}">l</figure-callout>}}_3}{2}\right)}^2-h^2}---\left(14\right)$

Same, vertical transfer arm 6 also can arrive the limes superiors position by the move up distance back of S of level attitude.Therefore, the shift motion z of the vertical transfer arm 6 of this suspension should satisfy under system of axes shown in Figure 2:

$-\sqrt{{(l_1+l_2)}^2-{\left(\frac{l_4-{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="C200610113114E00171.png,C200610113114E00211.png"\; state="\{\{state\}\}">l</figure-callout>}}_3}{2}\right)}^2-{\mathrm{<figure-callout\; id="2"\; label="h"\; filenames="C200610113114E00171.png,C200610113114E00211.png"\; state="\{\{state\}\}">h</figure-callout>}}^2}<z<\sqrt{{(l_1+l_2)}^2-{\left(\frac{l_4-{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="C200610113114E00171.png,C200610113114E00211.png"\; state="\{\{state\}\}">l</figure-callout>}}_3}{2}\right)}^2-h^2}---\left(15\right)$

According to top analysis, be not difficult to find that in the scope that formula (15) defines, vertical transfer arm 6 has the degree of freedom of a strict boning out motion of translation.Like this, just make camber angle, Kingpin inclination angle and casterangle, left and right wheels distance and the wheel base of wheel in wheel bob process, can remain constant.Can also find that from (15) formula the moving range z of the vertical transfer arm 6 of vertical translation type spacing multi-connecting-rod separated suspension of the present invention depends on the construction parameter l of connecting rod fully ₁, l ₂, l ₃, l ₄And h.As construction parameter l ₁, l ₂, l ₃, l ₄Fixed with the h value, and the shift motion that needs is when bigger, according to top analysis, just can select to add one or more connecting rods and the motion feature that can not change vertical transfer arm 6 according to the rectilinear path of requirement of engineering.Therefore, according to the scope z of requirement of engineering, utilization (15) formula just can design the optimum value with above-mentioned 5 principal parameters of optimization.

When the length of front arm 3, rear arm 8 and front swing arm 5, rear-swing arm 9 all not simultaneously, shift motion that also can the vertical transfer arm 6 of similar release.

In the above on the basis of Fen Xiing, we have found that, have under symmetrical structure shown in Figure 2 and the steric configuration described in the claims relation, spacing multi-connecting-rod suspension of the present invention can be equivalent to by single kinematic link (kinematic link ABC or kinematic link FED) bonded assembly plane crank slider arrangement; Wherein, vertical transfer arm 6 is equivalent to the slide block that moves along the boning out guide rail that is parallel to the z axle.Be without loss of generality, we are of equal value the replacement in the plane at kinematic link ABC place, and its structure diagram as shown in figure 11.Here, might as well establish the length l of rear arm shown in Figure 11 8 (AB bar) ₁Length l than rear-swing arm 9 (BC bar) ₂Little.Next, we analyze the rotational angle theta of rear arm 8 and slide block C (vertical transfer arm 6) along the situation of change of z to displacement.Obviously, y ' axle is parallel to the y axle and has

$H=\sqrt{2}h---\left(16\right)$

The angle of establishing BC bar and y ' axle again is

Can obtain slide block C along z to displacement z _CAnd restriction relation:

With (16) formula substitution (17) formula and cancellation

Can get slide block C along z to displacement z _CRelation with the rotational angle theta of rear arm 8:

$z_C=-l_1\sin \mathrm{\&theta;}\&PlusMinus;\sqrt{{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="C200610113114E00171.png,C200610113114E00211.png"\; state="\{\{state\}\}">l</figure-callout>}}_2^2-{(l_1\cos \mathrm{\&theta;}-\sqrt{2}h)}^2}---\left(18\right)$

(18) separate two kinds of different configurations of expression for two of formula, under configuration shown in Figure 11, have

$z_C=-l_1\sin \mathrm{\&theta;}+\sqrt{{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="C200610113114E00171.png,C200610113114E00211.png"\; state="\{\{state\}\}">l</figure-callout>}}_2^2-{(l_1\cos \mathrm{\&theta;}-\sqrt{2}h)}^2}---\left(19\right)$

If order $z_C{|}_{\mathrm{\&theta;}={\mathrm{\&theta;}}_0}=0,$ We can also find h and l ₁And l ₂Be not independently, they have following relation:

$2h^2-2\sqrt{2}{\mathrm{hl}}_1\cos {\mathrm{\&theta;}}_0-({\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="C200610113114E00171.png,C200610113114E00211.png"\; state="\{\{state\}\}">l</figure-callout>}}_2^2-l_1^2)=0---\left(20\right)$

θ wherein ₀Angle for initial designs.

Can find by (19) formula, just can control z by regulating the θ value _C, and then controlled the height of suspension.Thereby, when the height that improves automotive suspension when needs satisfies the ground-surface crossing ability and requires, can adjust the θ value according to (19) formula and make z _CValue increases; Otherwise, can reduce z on the road surface preferably at road conditions _CBe worth and the stability of raising automobile.

Last in this part, we analyze the free motion that the described vertical transfer arm 6 of (11) formula is had again.According to (11) formula as can be known, vertical transfer arm 6 has a translational degree of freedom along z direction of principal axis (vertical direction).Therefore, want to guarantee the establishment of this conclusion, the described matrix of coefficient of (10) formula

Order must be 5.According to (10) formula, we have

Matrix Order be that 5 sufficient and necessary condition is that the determinant of its submatrix A is non-vanishing, wherein

$A=\left[\begin{array}{ccccc}1& \cos \mathrm{\&psi;}& 0& 0& 0\\ 0& \sin \mathrm{\&psi;}& 0& 0& 0\\ 0& 0& \sin \mathrm{\&psi;}& 0& 0\\ 0& 0& -\cos \mathrm{\&psi;}& 1& 0\\ 0& 0& 0& 0& 1\end{array}\right]---\left(22\right)$

Order | A|=0 can get

ψ=0 ° or ψ=180 ° (23)

(23) formula has explained that we limit the reason of 0 °＜ψ＜180 °, further, because cond (A) ₂〉=1, if order

$\mathrm{cond}{\left(A\right)}_2={\left|\right|A\left|\right|}_2{\left|\right|A^{-1}\left|\right|}_2=\sqrt{\frac{{\mathrm{\&lambda;}}_{\max }\left(A^{T}A\right)}{{\mathrm{\&lambda;}}_{\min }\left(A^{T}A\right)}}=1---\left(24\right)$

Cond (A) wherein ₂The conditional number of expression representing matrix A, ‖ A ‖ ₂The 2-norm of representing matrix A, λ (A ^TA) expression A ^TThe eigenwert of A.

Then can obtain

ψ＝90° (25)

(25) formula shows that the conditional number of matrix A is got minimum value 1 just when ψ=90 °.This shows that this spacing multi-connecting-rod suspension has best stability of configuration when ψ=90 °.The angle between the plane of the plane of described connecting rod AB and BC decision that Here it is and connecting rod FE and ED decision and the angle on the left and right hanger plane on the described vertical transfer arm 6 need be 90 °, simultaneously the reason of the orthogonal axe of revolute pair A and revolute pair B.In order to make the stressed optimum of member, the plane that is arranged on the left hanger 11 at vertical transfer arm two ends, right hanger 15 places is 135 ° with middle dull and stereotyped 13 angle; The axis of described vehicle body or vehicle frame two ends and forward and backward rocking arm bonded assembly rotating shaft A and F is orthogonal to intersect, and its intersection point o and A and F constitute an isosceles right-angled triangle.Here omitted concrete derivation.

Because spring-shock absorber system vertically arranges, and wheel is with vertical transfer arm upper and lower translation vertically; Therefore, line rigidity is exactly spring wire rigidity sum, and roll angular rigidity is exactly the long-pending of spring wire rigidity and left and right wheels anomaly side.So, to compare with the wish-bone arm type suspension, the stiffness analysis of suspension of the present invention and calculating are more easy, and can select softer coil spring for use, have reached the further purpose of improving ride of vehicle and cost-cutting.

Therefore, with respect to space five link lever suspension forks and other independent suspension system, vertical translation type spacing multi-connecting-rod separated suspension provided by the present invention can guarantee that not only camber angle, Kingpin inclination angle and the casterangle of wheel and left and right wheels distance and wheel base all remain in the wheel bounce process constant, but also can reach the purpose that improves crossing ability or riding stability according to the height that the difference of road conditions is adjusted suspension on one's own initiative.The present invention removes the independent suspension be used as automobile, can also be applied to the alighting gear of aircraft, also can be used as guiding mechanism and is applied to any needs and does in the physical construction of boning out motion of translation.

Claims (8)

1. vertical translation type spacing multi-connecting-rod independent rear suspension, contain spring-shock absorber system (7), by stub axle (17) and the inside and outside semiaxis of universal-joint (4) bonded assembly (1,20), vehicle body or vehicle frame (2), it is characterized in that: this independent suspension also comprises front arm (3), front swing arm (5), vertical transfer arm (6), rear-swing arm (9) and rear arm (8); Connect by revolute pair respectively between described front arm, front swing arm, vertical transfer arm, rear-swing arm and the rear arm, described vehicle body or vehicle frame (2) are connected with rear arm with described front arm by revolute pair respectively; Described vertical transfer arm is made up of middle dull and stereotyped (13) and the left and right hanger (11,15) that is arranged on two ends, the homonymy of dull and stereotyped (13) in the middle of described left and right two hangers are positioned at, two planes at left and right hanger place are parallel to each other with two intersections of middle dull and stereotyped (13); The non-coplane in two planes at described left and right hanger place and not parallel, on left and right hanger, be respectively equipped with the through hole that the rotating shaft with revolute pair is complementary, left and right hanger is connected with vehicle body or vehicle frame (2) with FED by kinematic link ABC respectively, and these two kinematic links are plane RRR kinematic link; Three revolute pair A, the B of kinematic link ABC and the axis of C is parallel to each other and all perpendicular to the plane of connecting rod AB and connecting rod BC decision; Three revolute pair F, the E of kinematic link FED and the axis of D is parallel to each other and all perpendicular to the plane of connecting rod FE and connecting rod ED decision; The plane of described connecting rod AB and connecting rod BC decision equates with the angle on described left and right hanger two planes with angle between the plane that connecting rod FE and connecting rod ED determine; Be provided with an intermediate throughholes (14) on dull and stereotyped (13) in the middle of the vertical transfer arm, described outer semiaxis (20) is connected with vertical transfer arm (6) by this through hole; Described spring-shock absorber system (7) is fixed on the top of vertical transfer arm; Described revolute pair A is meant the kinematic pair that connects vehicle frame or vehicle body (2) and rear arm (8), described revolute pair B is meant the kinematic pair that connects rear arm (8) and rear-swing arm (9), described revolute pair C is meant the kinematic pair that connects rear-swing arm (9) and vertical transfer arm (6), described revolute pair D is meant the kinematic pair that connects front swing arm (5) and vertical transfer arm (6), described revolute pair E is meant the kinematic pair that connects front arm (3) and front swing arm (5), and described revolute pair F is meant the kinematic pair that connects vehicle frame or vehicle body (2) and front arm (3).

2. according to the described vertical translation type spacing multi-connecting-rod independent rear suspension of claim 1, it is characterized in that: the plane that is arranged on the non-coplane at vertical transfer arm (6) two ends and uneven left and right hanger (11,15) place is vertical mutually.

3. according to the described vertical translation type spacing multi-connecting-rod independent rear suspension of claim 2, it is characterized in that: the angle of plane and middle dull and stereotyped (13) that is arranged on left and right hanger (11, the 15) place at vertical transfer arm (6) two ends is 135 °; The axis of described vehicle body or vehicle frame (2) two ends and forward and backward rocking arm (3,8) bonded assembly revolute pair A and revolute pair F is orthogonal, and its intersection point o and revolute pair A and revolute pair F constitute an isosceles right-angled triangle.

4. according to the described vertical translation type spacing multi-connecting-rod independent rear suspension of claim 1, it is characterized in that: described kinematic link ABC and kinematic link FED add one or more connecting rods, and the axis of the revolute pair at the connecting rod two ends of described adding is parallel to each other and perpendicular to this connecting rod.

5. vertical translation type spacing multi-connecting-rod independent front suspension, contain spring-shock absorber system (7), by stub axle (17) and the inside and outside semiaxis of universal-joint (4) bonded assembly (1,20), vehicle body or vehicle frame (2), it is characterized in that: this independent suspension also comprises front arm (3), front swing arm (5), vertical transfer arm (6), rear-swing arm (9) and rear arm (8); Connect by revolute pair respectively between described front arm, front swing arm, vertical transfer arm, rear-swing arm and the rear arm, described vehicle body or vehicle frame (2) are connected with rear arm with described front arm by revolute pair respectively; Described vertical transfer arm is made up of middle dull and stereotyped (13) and the left and right hanger (11,15) that is arranged on two ends, the homonymy of dull and stereotyped (13) in the middle of described left and right two hangers are positioned at, two planes at left and right hanger place are parallel to each other with two intersections of middle dull and stereotyped (13); The non-coplane in two planes at described left and right hanger place and not parallel, on left and right hanger, be respectively equipped with the through hole that the rotating shaft with revolute pair is complementary, left and right hanger is connected with vehicle body or vehicle frame (2) with FED by kinematic link ABC respectively, and these two kinematic links are plane RRR kinematic link; Three revolute pair A, the B of kinematic link ABC and the axis of C is parallel to each other and all perpendicular to the plane of connecting rod AB and connecting rod BC decision; Three revolute pair F, the E of kinematic link FED and the axis of D is parallel to each other and all perpendicular to the plane of connecting rod FE and connecting rod ED decision; The plane of described connecting rod AB and connecting rod BC decision equates with the angle on described left and right hanger two planes with angle between the plane that connecting rod FE and connecting rod ED determine; On described vertical transfer arm, vertically be provided with one and have the Kingpin inclination angle set and the stub shaft sleeve (19) of casterangle; Spring-shock absorber system (7) is fixed on the top of vertical transfer arm (6); Described revolute pair A is meant the kinematic pair that connects vehicle frame or vehicle body (2) and rear arm (8), described revolute pair B is meant the kinematic pair that connects rear arm (8) and rear-swing arm (9), described revolute pair C is meant the kinematic pair that connects rear-swing arm (9) and vertical transfer arm (6), described revolute pair D is meant the kinematic pair that connects front swing arm (5) and vertical transfer arm (6), described revolute pair E is meant the kinematic pair that connects front arm (3) and front swing arm (5), and described revolute pair F is meant the kinematic pair that connects vehicle frame or vehicle body (2) and front arm (3).

6. according to the described vertical translation type spacing multi-connecting-rod independent front suspension of claim 5, it is characterized in that: the plane that is arranged on the non-coplane at vertical transfer arm (6) two ends and uneven left and right hanger (11,15) place is vertical mutually.

7. according to the described vertical translation type spacing multi-connecting-rod independent front suspension of claim 6, it is characterized in that: the angle of plane and middle dull and stereotyped (13) that is arranged on left and right hanger (11, the 15) place at vertical transfer arm (6) two ends is 135 °; The axis of described vehicle body or vehicle frame (2) two ends and forward and backward rocking arm (3,8) bonded assembly revolute pair A and revolute pair F is orthogonal, and its intersection point o and revolute pair A and revolute pair F constitute an isosceles right-angled triangle.

8. according to the described vertical translation type spacing multi-connecting-rod independent front suspension of claim 5, it is characterized in that: described kinematic link ABC and kinematic link FED add one or more connecting rods, and the axis of the revolute pair at the connecting rod two ends of described adding is parallel to each other and perpendicular to this connecting rod.

Images