CN107639986B - A kind of Swing Arm Type Balanced Suspension with flare angle adjusting mechanism - Google Patents
A kind of Swing Arm Type Balanced Suspension with flare angle adjusting mechanism Download PDFInfo
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Abstract
The present invention relates to a kind of Swing Arm Type Balanced Suspensions with flare angle adjusting mechanism.Including vehicle frame, drive wheel mechanism and support wheel mechanism；It further include a pair of of flare angle adjusting mechanism；Every set flare angle adjusting mechanism includes adjustment mechanism and transmission mechanism；The adjustment mechanism includes adjustment motor, planetary gear mechanism and output mechanism；The planetary gear mechanism includes sun gear, four planetary gears and gear ring；The output mechanism includes output gear and adjustment rack gear；The transmission mechanism includes swing arm connecting shaft and supports connecting shaft, and every set flare angle adjusting mechanism respectively connected swing arm connecting shaft by output mechanism and support connecting shaft；Automobile is unloaded or at light load, and a pair supports wheel to lift, and a pair of of flare angle adjusting mechanism does not work；When automobile heavy-load, a pair supports wheel work, and when Vehicular turn, a pair of slight rotation for supporting wheel rotating around corresponding swing arm is realized in the work of flare angle adjusting mechanism, a pair of camber angle for supporting wheel is adjusted, to increase the riding stability of automobile.
Description
Technical field
The invention belongs to automotive suspension technical fields, and in particular to the equalizing type of suspension of cargo vehicle.
Background technique
Existing Swing Arm Type Balanced Suspension is mainly used on 6 × 2 cargo vehicles.This vehicle is structurally characterized in that preceding bridge is to turn
Xiang Qiao, jackshaft are drive axle, and rear axle is support bridge.
Existing rear axle lifting mechanism mainly has Swing Arm Type Balanced Suspension and two kinds of air suspension, their original function
Are as follows: when automobile underloading or deadhead operation, rear axle (supporting to take turns) can be lifted by lever mechanism, 6 × 2 automobiles is made to become 4 × 2
Automobile.To reduce tire wear and reduce oil consumption, increase adhesive force of the empty wagons when driving on driving wheel, in order to avoid not due to driving force
Foot and so that driving wheel is trackslipped phenomenon.When automobile heavy-load, rear axle is put down, plays the role of carrying.Wherein swing arm balance is outstanding
The structure of frame are as follows: the suspension of jackshaft is not connect using common longitudinal oval leaf spring, rear lifting lug with vehicle frame, but with before swing arm
End is connected.Support there is no bearing connection between wheel after left and right, this sprung-hub wheel flare angle adjusting mechanism design.
The swing arm of Swing Arm Type Balanced Suspension is equivalent to a lever, in, on rear axle vertical load allocation proportion, depend on
The lever of swing arm when leaf spring front and rear sections length ratio.Swing Arm Type Balanced Suspension also has that structure is simple, most components
It can be with (Jilin University " automobile construction ") the advantages that former 4 × 2 Universal automobile.
On the other hand, there are many other examples of the suspension with different flares in camber angle adjustment device.But
These examples have a common feature, i.e., relatively conventional suspension equipment, they include additional motor-driven sexual function, the function
Other than vertical hanging, allow wheel relative to vehicle body flare.
Currently, variable-camber suspension is mainly for two axis automobiles, some flare adjustable suspensions, which only illustrate, will adjust
Components set is saved in nominal position, the change for not accounting for driving cycle can also change the optimal demand of camber angle.
Furthermore vehicle total lateral force F suffered in the process of movingY=Fα+FγWherein ground force FγIt is by camber angle γ
It is caused, referred to as later force of camber.On the road surface of low attachment coefficient when driving, adjustment camber angle γ can play change to vehicle
The effect of lateral force, to improve vehicle run stability.
Stable Steering Characteristic of Vehicle is characterized with stability factor K in " automobile theory ".According to the numerical value of K, the stable state of automobile
Can accordingly be divided into three classes: when K=0, yaw velocity gain and speed are linear, and this stable state is known as neutral steer；Work as K
When > 0, automobile has understeer characteristics, and K value is bigger, and yaw velocity gain curve is lower, and understeer amount is bigger；Work as K
When < 0, automobile has negative understeer characteristic, and K value is smaller, and (i.e. the absolute value of K is bigger), negative understeer amount is bigger.Simplified is steady
Only include automobile cornering stiffness in the formula of qualitative factor K, does not account for camber angle and camber stiffness to automobile steady-state quantities
It influences.In the driving process that existing vehicle changes with operating condition, is realized not over real-time adjustment rear-wheel camber angle and change stability
The method of factor.
Summary of the invention
The deficiency of camber angle can not be adjusted for existing Swing Arm Type Balanced Suspension, the present invention provides a kind of with camber angle tune
The Swing Arm Type Balanced Suspension of complete machine structure.
A kind of Swing Arm Type Balanced Suspension with flare angle adjusting mechanism includes vehicle frame, drive wheel mechanism and supports turbine
Structure, the drive wheel mechanism include a pair of driving wheels 1 and drive shaft, and the drive shaft is equipped with a pair of of leaf spring 8, and one
Vehicle frame 3 is hingedly connected to one end of leaf spring 8；Support wheel mechanism includes a pair of of support wheel 6 and a pair of of lifting
Hydraulic cylinder 4, improvement is:
It further include a pair of of flare angle adjusting mechanism；Every set flare angle adjusting mechanism includes adjustment mechanism and transmission mechanism；
The adjustment mechanism includes adjustment motor 16, planetary gear mechanism and output mechanism；The planetary gear mechanism and
Output mechanism is located in adjusting tank；
The planetary gear mechanism includes 23, four planetary gears 22 of sun gear and gear ring 21；
The output mechanism includes output gear 19 and adjustment rack gear 15；
The transmission mechanism includes swing arm connecting shaft 12 and supports connecting shaft 13, and every set flare angle adjusting mechanism passes through output
Mechanism respectively connected swing arm connecting shaft and support connecting shaft；
Described that connecting shaft is supported to be connected to support the wheel shaft of wheel 6, the swing arm connecting shaft is movably connected with by swing arm 5
One end of upper connecting rod 9 and one end of lower link 10, the other end of upper connecting rod 9 be articulated and connected corresponding lifting hydraulic cylinder 4
Piston rod；The other end of lower link 10 is articulated and connected the other end of corresponding leaf spring 8；
Automobile is unloaded or at light load, and driver manipulates a pair of of lifting hydraulic cylinder 4 and prop up a pair according to the load condition of automobile
It holds wheel 6 and lifts and do not have to, a pair of of flare angle adjusting mechanism does not work at this time；When automobile heavy-load, wheel 6 is supported to put down work a pair,
When Vehicular turn, flare angle adjusting mechanism is started to work, and under the action of a pair of of flare angle adjusting mechanism, realizes a pair of support
Wheel 6 adjusts a pair of camber angle for supporting wheel 6 rotating around the slight rotation of corresponding swing arm 5；It realizes and increases later force of camber, with
Increase the riding stability of automobile.
The technical solution further limited is as follows:
The sun gear 23 of the planetary gear mechanism is set on the output shaft of adjustment motor 16, and the gear ring 21 is concentrically located at
The outside of sun gear 23, four planetary gears 22 are engaged with sun gear 23, gear ring 21 respectively, four rows of the planetary gear mechanism
Star-wheel 22, sun gear 23 and gear ring 21 are in the same plane；The wheel shaft of four planetary gears 22 is connected to the axial direction of output gear 19
One side, output gear 19 are parallel to planetary gear mechanism；It lives respectively at the both ends of the adjustment rack gear 15 engaged with output gear 19
It is dynamic to be connected to swing arm connecting shaft and support connecting shaft.
The adjustment motor 16 is servo motor.
The transmission mechanism includes swing arm connecting shaft 12, supports connecting shaft 13 and two drive rods 11, the swing arm connection
Axial one end of axis 12 is equipped with positioning disk, sets that there are two the grooves of spherical crown shape and a positioning on the axial outer end face of positioning disk
Hole；Described axial one end for supporting connecting shaft 13 is equipped with terminal pad, sets that there are two connect ball seat on the axial outer end face of terminal pad
With a positioning ball seat；The both ends of every drive rod 11 are connected ball, and the connected ball of two 11 one end of drive rod is located at
It supports to form spherical hinge in two connection ball seats of the terminal pad of connecting shaft 13, the connected ball difference of two 11 other ends of drive rod
Rotation connection is formed in the groove of two spherical crown shapes of the positioning disk of swing arm connecting shaft 12；One end of the adjustment rack gear 15
For spherical driving end, the other end is the rod-shaped driving end of cylinder, and the driving end of adjustment rack gear 15, which is located at, supports connecting shaft 13
Multi-directional ball hinge is formed in one positioning ball seat of terminal pad, the driving end of the adjustment rack gear 15 is located at swing arm connecting shaft 12
The positioning hole of positioning disk, which is formed, to be flexibly connected；The other end for supporting connecting shaft 13 supports the hub bearing of wheel 6 cooperates to connect
It connects.
Two drive rods 11 are parallel to each other.
The middle part of the upper connecting rod 9 is flexibly connected vehicle frame 3 by fulcrum, and upper connecting rod 9 rotates to form lever around fulcrum.
One end hinge of the lower link 10 is connected to swing arm 5, and the other end is connected to leaf spring 8 by link block hinge
The other end.
Four transmission short axles 18, four transmissions short axle 18 are laid on an axial side end face for the output gear 19
It is connected respectively the planet wheel spindle 24 of four planetary gears 22；The axial direction of output gear 19 is coaxially provided with card on another side end face
Ring 20；It is equipped with card slot in the adjusting tank, by being slidably matched for snap ring 20 and card slot, output gear 19 is made to be set to adjusting tank
It is interior.
The present invention has derived the three-axle vehicle two degrees of freedom steady state yaw velocity gain containing variable camber angle, Yi Jiwen
Qualitative factor K.Stability factor K can characterize Stable Steering Characteristic of Vehicle.Adjustment rear-wheel camber angle can be such that stability factor protects
Holding makes in a certain range of vehicle in understeer.
A kind of adjustment operating method for Swing Arm Type Balanced Suspension with flare angle adjusting mechanism is described as follows:
Using certain domestic six-wheel vehicle as sample car, the system of being turned around is reduced to two degrees of freedom mechanical model, derives automobile
The calculation formula of stability factor K:
The differential equation of motion for making plane motion automobile is
Letter is described as follows in formula (1) and formula (2):
IzIt is automobile around the rotary inertia of z-axis；
ωrFor the yaw velocity of automobile；
Fy1For ground cornering force suffered by front-wheel；
Fy2For ground cornering force suffered by middle wheel；
Fy3To support to take turns suffered ground cornering force；
FαFor lateral deviation power；
FγFor later force of camber；
δ is front-wheel pivot angle, and when galloping can be approximately considered cos δ ≈ 1；
U is component of the systemic velocity on OX axis, and v is component of the systemic velocity on OY axis；
Fy1=Fα1+Fγ1
Fy2=Fα2+Fγ2
Fy3=Fα3+Fγ3
Fγ1=k1 is leftγ1 is left+k1 is rightγ1 is right
Fγ2=k2 is leftγ2 is left+k2 is rightγ2 is right
Fγ3=k3 is leftγ3 is left+k3 is rightγ3 is right
If A=K1-K2+K3B=aK1+bK2-cK3
If
C=aK1A-K2B+1/δ[B(k1 is leftγ1 is left+k1 is rightγ1 is right-k2 is leftγ2 is left-k2 is rightγ2 is right)+B(a(k1 is leftγ1 is right+k1 is rightγ1 is right)+b
(k2 is leftγ2 is left+k2 is rightγ2 is right))]
Letter is described as follows in formula (3):
K1For the total cornering stiffness of front-wheel；
K2For the middle total cornering stiffness of wheel；
K3To support to take turns total cornering stiffness；
β is side slip angle；
U is component of the systemic velocity on OX axis；
A is distance of the mass center to front axle；
B is distance of the mass center to axis；
C is distance of the mass center to supporting wheel shaft；
k1 is leftFor the camber stiffness of the near front wheel；
k1 is rightFor the camber stiffness of off-front wheel；
k2 is leftFor the camber stiffness of left center；
k2 is rightFor the camber stiffness taken turns in the right side；
k3 is leftFor the left camber stiffness for supporting wheel；
k3 is rightFor the right camber stiffness for supporting wheel；
γ1 is leftFor the near front wheel camber angle；
γ1 is rightFor off-front wheel camber angle；
γ2 is leftFor left center camber angle；
γ2 is rightTo take turns camber angle in the right side；
γ3 is leftCamber angle is taken turns for left support；
γ3 is rightCamber angle is taken turns for right support；
Distance of the L front axle to rear axle；
In above-mentioned formula (3), K is stability factor, and when side acceleration is 0.3g, stability factor K is generally
0.002~0.0035s2/m；Cornering stiffness K1、K2、K3, camber stiffness k1 is left、k1 is right、k2 is left、k2 is right、k3 is left、k3 is right, side drift angle β, front-wheel
Camber angle γ1 is left、γ1 is rightAnd middle wheel camber angle γ2 is left、γ2 is rightTo be constant, when steering, automobile forward speed is set as constant, supports
Take turns camber angle γ3 is left、γ3 is rightFor variable.At this point, being the letter of front-wheel pivot angle and rear-wheel camber angle according to formula mass center yaw velocity
Number；It is the function of mass center yaw velocity, front-wheel pivot angle and rear-wheel camber angle according to formula stability factor.Known stability because
Number, mass center yaw velocity and front-wheel pivot angle are it can be concluded that ideal target camber angle size.
Step (1) when the vehicle is turning, flare angle adjusting mechanism 2 start to work, by sensor detect current vehicle speed,
A pair supports the camber angle size of wheel 6, steering wheel pivot angle；
Step (2) substitutes into current vehicle speed, steering wheel pivot angle numerical value in the formula (3) of stability factor K, calculates reason
A pair of target camber angle for supporting wheel 6 thought.
Specifically, calculating required target according to required stability factor K value by formula (3) and supporting that wheel is outer
Inclination angle, calculated two supports at this time take turns camber angle numerical value as two manifolds, and binary linear function each other.Meanwhile currently
Two support wheel camber angle and ideal two to support that there are difference DELTAs between wheel camber angleγ is left、Δγ is right.It supports to take turns camber angle according to current
With the ideal difference DELTA for supporting wheel camber angleγ is left、Δγ is rightSize decision first move which support wheel (if Δγ is leftIt is smaller, it adjusts
Whole left support wheel, on the contrary adjustment has support to take turns.If supporting wheel camber angle to meet any one of multiple groups target value, just
Do not need to move), the target camber angle of wheel is supported according to that later, show that another supports the target camber angle of wheel.This
Left support wheel target camber angle is 0.005rad in example).
Step (3) is by control adjustment motor 16, under the action of outer dip angle adjusting mechanism 2, realizes that a pair supports wheel 6
Around the slight rotation of swing arm 5, two support wheels 6 are adjusted separately into target camber angle.
Advantageous effects of the invention embody in the following areas:
1. remaining the function of conventional truck Swing Arm Type Balanced Suspension: it is unloaded or at light load, a pair can be supported into 6 liters of wheel
It rises and does not have to, reduce tire wear and reduce oil consumption, increase adhesive force of the empty wagons when driving on driving wheel.Vehicle when overloaded, can incite somebody to action
A pair supports wheel 6 to put down work；Increase function simultaneously, allows automobile under the Turning travel operating condition on low attachment road surface, Yi Ji
Under split road surface driving cycle, wheel 6 can be supported to put down work a pair, and carry out a pair of adjustment for supporting 6 camber angles of wheel, increased
Later force of camber, to increase the riding stability of automobile.This two axis of Swing Arm Type Balanced Suspension only uses an overload spring.Jackshaft
Using common longitudinal semiellipse leaf spring, rear lifting lug is not connect suspension with vehicle frame, but is connected with the front end of swing arm.Arm shaft
Bracket is fixed on vehicle frame.The rear end of swing arm is connected with rear axle.A pair supports do not have bearing connection between wheel 6.Left and right rear axle is all
It is designed using disconnecting, two parts are connected by camber angle adjustment device with two cross bars.
2. the present invention can adjust a pair and support to take turns 6 camber angles so that stability factor is protected after putting down a pair of of support wheel 6
Holding makes in a certain range of vehicle in understeer.To further increase row of the vehicle under the severe vehicle condition such as ice and snow road
Sail stability.This function is realized automatically by ECU control servo motor.The camber angle adjustment device can support wheel according to detection
Camber angle state obtains current vehicle rear-wheel camber angle, while adjusting camber based on control strategy control flare adjustment rack gear
Angle.
3. adjustment flare function of the invention can be adjusted with the change of driving cycle, there is good road surface to adapt to
Property.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
Fig. 2 is the partial enlarged view in Fig. 1.
Fig. 3 is flare angle adjusting mechanism and frame sides rear axle, wheel side rear axle, rear axle connecting rod mating connection state diagram.
Fig. 4 is flare angle adjusting mechanism schematic diagram.
Fig. 5 is the rack-and-pinion mated condition figure of flare angle adjusting mechanism.
Fig. 6 is the explosive view of flare angle adjusting mechanism.
Fig. 7 is flare angle adjusting mechanism cross-sectional view.
Fig. 8 is the A-A cross-sectional view of Fig. 7.
Fig. 9 is flare angle adjusting mechanism and wheel side rear axle mating connection state diagram.
Figure 10 is running car two degrees of freedom mechanical model.
Figure 11 is the transmission schematic diagram that flare adjusts that device adjusts camber angle state.
Figure 12 is the camber angle adjustment front and back contrast schematic diagram for supporting wheel.
Figure 13 is the simulation curve figure that certain lorry stability factor K changes with two rear-wheel camber angles.In Figure 13, x, y-axis point
Do not indicate that the camber angle of left and right rear-wheel, revolver flare are positive, right wheel flare is negative.Z-axis indicates stability factor K.
Serial number in figure 1 above -9: driving wheel 1, flare adjustment mechanism 2, vehicle frame 3, lifting hydraulic cylinder 4, swing arm 5, support wheel 6,
Rear axle 7, leaf spring 8, swing arm upper connecting rod 9, swing arm lower link 10, drive rod 11, swing arm connecting shaft 12, support connecting shaft 13,
Adjusting tank 14, flare adjustment rack gear 15, adjustment motor 16, adjustment motor output shaft 17, transmission short axle 18, output gear 19, card
Ring 20, planetary gear train gear ring 21, planetary gear train planetary gear 22, planetary gear train sun gear 23, planetary gear axle sleeve 24.
Specific embodiment
With reference to the accompanying drawing, the present invention is further described by embodiment.
Referring to Fig. 1, a kind of Swing Arm Type Balanced Suspension with flare angle adjusting mechanism includes vehicle frame, drive wheel mechanism and branch
Chi Lun mechanism.Drive wheel mechanism includes a pair of driving wheels 1 and drive shaft, is equipped with a pair of of leaf spring 8 on drive shaft, and one
Vehicle frame 3 is hingedly connected to one end of leaf spring 8.Support that wheel mechanism includes that a pair of of support wheel 6 and a pair of of lifting are hydraulic
Cylinder 4.
It further include a pair of of flare angle adjusting mechanism referring to Fig. 3；Every set flare angle adjusting mechanism includes adjustment mechanism and transmission
Mechanism；
Referring to fig. 4, adjustment mechanism includes adjustment motor 16, planetary gear mechanism and output mechanism, planetary gear mechanism and
Output mechanism is located in adjusting tank 14.Referring to Fig. 6, planetary gear mechanism includes 23, four planetary gears 22 of sun gear and gear ring 21；
Referring to Fig. 5, output mechanism includes output gear 19 and adjustment rack gear 15；Referring to Fig. 3, transmission mechanism include swing arm connecting shaft 12,
Support connecting shaft 13 and two drive rods 11；Every set flare angle adjusting mechanism respectively connected swing arm connecting shaft by output mechanism
12 and support connecting shaft 13.
Referring to Fig. 6 and Fig. 7, the sun gear 23 of planetary gear mechanism is installed on the output shaft of adjustment motor 16, adjustment electricity
Machine 16 is servo motor.Gear ring 21 is concentrically located at the outside of sun gear 23, four planetary gears 22 respectively with sun gear 23, gear ring 21
Engagement.Referring to figs. 7 and 8, four planetary gears 22, sun gear 23 and the gear ring 21 of planetary gear mechanism are in the same plane, defeated
Gear 19 is parallel to planetary gear mechanism out；Lay four transmission short axles 18 on an axial side end face for output gear 19, four
A transmission short axle 18 is connected respectively the planet wheel spindle 24 of four planetary gears 22；Another side end face of the axial direction of output gear 19
On be coaxially provided with snap ring 20；It is equipped with card slot in adjusting tank 14, by being slidably matched for snap ring 20 and card slot, pacifies output gear 19
Loaded in adjusting tank 14.The both ends of the adjustment rack gear 15 engaged with output gear 19 be movably connected with swing arm connecting shaft 12 and
Support connecting shaft 13.
Referring to Fig. 3 and Fig. 9, axial one end of the swing arm connecting shaft 12 of transmission mechanism is equipped with positioning disk, the axial direction of positioning disk
The groove and a location hole there are two spherical crown shape are set on outer end face.Axial one end of connecting shaft 13 is supported to be equipped with terminal pad, even
Connect connection ball seat and a positioning ball seat there are two setting on the axial outer end face of disk.Two drive rods 11 are parallel to each other；Every biography
The both ends of lever 11 are connected ball, and the connected ball of two 11 one end of drive rod is located at the terminal pad for supporting connecting shaft 13
Spherical hinge is formed in two connection ball seats, the connected ball of two 11 other ends of drive rod is located at the positioning of swing arm connecting shaft 12
Rotation connection is formed in the groove of two spherical crown shapes of disk.Referring to Fig. 5, the one end for adjusting rack gear 15 is spherical driving end, separately
One end is the rod-shaped driving end of cylinder, and referring to Fig. 3, the driving end for adjusting rack gear 15 is located at the one of the terminal pad for supporting connecting shaft 13
Multi-directional ball hinge is formed in a positioning ball seat, the driving end of adjustment rack gear 15 is located at the location hole of the positioning disk of swing arm connecting shaft 12
Interior formation is flexibly connected.Support the other end of connecting shaft 13 that the hub bearing of wheel 6 is supported to be cooperatively connected.
Referring to fig. 2, swing arm connecting shaft 12 is movably connected with one end and the lower link 10 of upper connecting rod 9 by swing arm 5
One end, the other end of upper connecting rod 9 are articulated and connected the piston rod of corresponding lifting hydraulic cylinder 4；The middle part of upper connecting rod 9 passes through fulcrum
It is flexibly connected vehicle frame 3, upper connecting rod 9 rotates to form lever around fulcrum.One end hinge of lower link 10 is connected to swing arm 5, another
End is connected to the other end of leaf spring 8 by link block hinge.
The working principle of the invention is described as follows:
By taking certain three-axle truck as an example, illustrate corrective action of a pair of of flare angle adjusting mechanism 2 to vehicle run stability:
Certain fully loaded three-axle truck gross mass m=82000kg, other parameters are as follows:
| Front axle | Axis | Supporting wheel shaft | |
| Mass center to each wheelbase from | 3600mm | 690mm | 2600mm |
| Each total cornering stiffness of axis | 78400N/rad | 78400N/rad | 78400N/rad |
| Respectively take turns camber stiffness in left side | 56000N/rad | 56000N/rad | 56000N/rad |
| Respectively take turns camber stiffness in right side | 56000N/rad | 56000N/rad | 56000N/rad |
| Respectively take turns camber angle in left side | -0.018rad | -0.018rad | It is adjustable |
| Respectively take turns camber angle in left side | 0.018rad | 0.018rad | It is adjustable |
Now give a driving cycle: Vehicular turn, speed u=20km/h, yaw velocity ω=0.45rad/s, front-wheel
Pivot angle δ=0.12rad.
Automobile is unloaded or at light load, and driver manipulates a pair of of lifting hydraulic cylinder 4 and pass through upper company according to the load condition of automobile
A pair is supported to take turns 6 and lift not having to by bar 9 and lower link 10, and a pair of of flare angle adjusting mechanism does not work at this time；It, will when automobile heavy-load
A pair supports wheel 6 to put down work.
Step (1) when the vehicle is turning, flare angle adjusting mechanism 2 start to work, by sensor detect current vehicle speed,
A pair supports the camber angle size of wheel 6, steering wheel pivot angle；
Specifically: when Vehicular turn, vehicle speed sensor detection current vehicle speed is mounted on and the camber angle on wheel is supported to pass
Sensor detects the camber angle size of the support wheel, and angle sensor detects the pivot angle of steering wheel on the steering wheel for installation, and passes
It is defeated to arrive ECU.
Step (2) substitutes into current vehicle speed, steering wheel pivot angle numerical value in the formula (3) of stability factor K, calculates reason
A pair of target camber angle for supporting wheel 6 thought.
Specifically:
The simplification two degrees of freedom mechanical model of three-axle vehicle is as shown in Figure 10, can derive stability factor K's accordingly
Formula (3).It is that two independents variable make three-dimensional figure with two rear-wheel camber angles, as shown in figure 13, after can visually see from Figure 13
It takes turns the influence that camber angle changes to stability factor K and under this driving cycle, adjusts 6 camber angles of a pair of of support wheel as seen from the figure
The value of stability factor K can be made to change between 0.02 to -0.07, even if automobile is in understeer, neutral steer and excessive turn
Change between.
Citing are as follows: vehicle is when turning to, electronic control unit (electronic control unit, abbreviation ECU) basis
Required stability factor K value (this example is set as 0.0086) calculates required target by formula (3) and supports wheel camber angle, this
When calculated two supports wheel camber angle numerical value (such as right supports wheel camber angle is -0.025rad pairs to binary linear function each other
It is that take turns camber angle be 0.011rad to the left support of -0.036rad correspondence that answer left support wheel camber angle, which be 0 or right supports wheel camber angle,
All coincidence formulas (3).The straight line of plane and curve intersection when the Mr. Yus such as the K in corresponding diagram are worth).Current two support that wheel is outer
Inclination angle and ideal two support that there are difference DELTAs between wheel camber angleγ is left、Δγ is right.Make control motor 16 will be after two respectively by ECU
Be adjusted to target camber angle according to current support wheel camber angle (this example assumes to support that wheel camber angle is -0.03rad when front right,
When front left supports that wheel camber angle is 0.03rad), wheel camber angle and the ideal difference for supporting wheel camber angle are supported according to current
Δγ is left、Δγ is rightSize decision first move which support wheel (if Δγ is leftIt is smaller, left support wheel is adjusted, otherwise adjustment has support
Wheel.If wheel camber angle is supported to meet any one of multiple groups target value, just do not need to move) right support in this example
Wheel does not need to move because meeting the value of a target camber angle, supports the target camber angle of wheel according to that later,
Show that another supports the target camber angle of wheel.Left support wheel target camber angle is 0.005rad in this example).
Step (3) is by control adjustment motor 16, under the action of outer dip angle adjusting mechanism 2, realizes that a pair supports wheel 6
Around the slight rotation of swing arm 5, two support wheels 6 are adjusted separately into target camber angle.
I.e. by controlling corresponding lifting hydraulic cylinder 4, under the action of outer dip angle adjusting mechanism 2, ECU controls flare adjustment
Power is reached planetary gear train by output shaft 17 by the adjustment motor 16 in mechanism, short by being driven after planetary gear train slows down
Axis 18 drives gear of output end 19, then adjusts rack gear 15 by flare and adjust camber angle.As shown in Figure 11,12: flare adjusts machine
Structure can make camber angle that slight variation occur during the adjustment, and this variation is that the change of rack position is adjusted by flare
Change and generate.
The final slight rotation realized left and right and support wheel 6 rotating around corresponding swing arm 5, adjusts two support wheels 6 respectively
It is whole to arrive target camber angle；Realize the riding stability for increasing automobile.
Claims (9)
1. a kind of Swing Arm Type Balanced Suspension with flare angle adjusting mechanism, including vehicle frame, drive wheel mechanism and support wheel mechanism,
The drive wheel mechanism includes a pair of driving wheels (1) and drive shaft, and the drive shaft is equipped with a pair of of leaf spring (8),
One end of a pair of of leaf spring (8) is hingedly connected vehicle frame (3)；Support wheel mechanism include it is a pair of support wheel (6) and
A pair of of lifting hydraulic cylinder (4), it is characterised in that:
It further include a pair of of flare angle adjusting mechanism；Every set flare angle adjusting mechanism includes adjustment mechanism and transmission mechanism；
The adjustment mechanism includes adjustment motor (16), planetary gear mechanism and output mechanism；The planetary gear mechanism and defeated
Mechanism is located in adjusting tank out；
The planetary gear mechanism includes sun gear (23), four planetary gears (22) and gear ring (21)；
The output mechanism includes output gear (19) and adjustment rack gear (15)；
The transmission mechanism includes swing arm connecting shaft (12) and supports connecting shaft (13), and every set flare angle adjusting mechanism passes through output
Mechanism respectively connected swing arm connecting shaft and support connecting shaft；
Described that connecting shaft is supported to be connected to support the wheel shaft of wheel (6), the swing arm connecting shaft is movably connected with by swing arm (5)
One end of upper connecting rod (9) and one end of lower link (10), the other end of upper connecting rod (9) be articulated and connected it is corresponding lifting it is hydraulic
The piston rod of cylinder (4)；The other end of lower link (10) is articulated and connected the other end of corresponding leaf spring (8)；
Automobile is unloaded or at light load, and driver manipulates a pair of of lifting hydraulic cylinder (4) and support a pair according to the load condition of automobile
Wheel (6), which lifts, not to be had to, and a pair of of flare angle adjusting mechanism does not work at this time；When automobile heavy-load, wheel (6) is supported to put down work a pair
Make, when Vehicular turn, flare angle adjusting mechanism is started to work, and under the action of a pair of of flare angle adjusting mechanism, is realized a pair of
It supports wheel (6) rotating around the slight rotation of corresponding swing arm (5), adjusts a pair of camber angle for supporting wheel (6)；It realizes and increases flare
Lateral force, to increase the riding stability of automobile.
2. a kind of Swing Arm Type Balanced Suspension with flare angle adjusting mechanism according to claim 1, it is characterised in that: institute
The sun gear (23) for stating planetary gear mechanism is set on the output shaft of adjustment motor (16), and the gear ring (21) is concentrically located at the sun
The outside of (23) is taken turns, four planetary gears (22) are engaged with sun gear (23), gear ring (21) respectively, and the four of the planetary gear mechanism
A planetary gear (22), sun gear (23) and gear ring (21) are in the same plane；The wheel shaft of four planetary gears (22) is connected to export
The axial one side of gear (19), output gear (19) are parallel to planetary gear mechanism；The adjustment engaged with output gear (19)
The both ends of rack gear (15) are movably connected with swing arm connecting shaft and support connecting shaft.
3. a kind of Swing Arm Type Balanced Suspension with flare angle adjusting mechanism according to claim 1 or 2, feature exist
In: the adjustment motor (16) is servo motor.
4. a kind of Swing Arm Type Balanced Suspension with flare angle adjusting mechanism according to claim 1, it is characterised in that: institute
Transmission mechanism is stated to include swing arm connecting shaft (12), support connecting shaft (13) He Lianggen drive rod (11), the swing arm connecting shaft
(12) axial one end is equipped with positioning disk, sets that there are two the grooves of spherical crown shape and a positioning on the axial outer end face of positioning disk
Hole；Described axial one end for supporting connecting shaft (13) is equipped with terminal pad, sets that there are two connected balls on the axial outer end face of terminal pad
Seat and a positioning ball seat；The both ends of every drive rod (11) are connected ball, the connected ball point of two drive rod (11) one end
It Wei Yu not support to form spherical hinge in two connection ball seats of the terminal pad of connecting shaft (13), two drive rod (11) other ends
Connected ball, which is located in the groove of two spherical crown shapes of the positioning disk of swing arm connecting shaft (12), forms rotation connection；The adjustment
One end of rack gear (15) is spherical driving end, and the other end is the rod-shaped driving end of cylinder, adjusts the driving end position of rack gear (15)
In formation multi-directional ball hinge in the positioning ball seat of terminal pad for supporting connecting shaft (13), the transmission of adjustment rack gear (15)
The positioning hole that end is located at the positioning disk of swing arm connecting shaft (12), which is formed, to be flexibly connected；The other end for supporting connecting shaft (13)
The hub bearing of wheel (6) is supported to be cooperatively connected.
5. a kind of Swing Arm Type Balanced Suspension with flare angle adjusting mechanism according to claim 4, it is characterised in that: institute
Two drive rods (11) are stated to be parallel to each other.
6. a kind of Swing Arm Type Balanced Suspension with flare angle adjusting mechanism according to claim 1, it is characterised in that: institute
The middle part for stating upper connecting rod (9) is flexibly connected vehicle frame (3) by fulcrum, and upper connecting rod (9) rotates to form lever around fulcrum.
7. a kind of Swing Arm Type Balanced Suspension with flare angle adjusting mechanism according to claim 1, it is characterised in that: institute
One end hinge for stating lower link (10) is connected to swing arm (5), and the other end is connected to the another of leaf spring (8) by link block hinge
One end.
8. a kind of Swing Arm Type Balanced Suspension with flare angle adjusting mechanism according to claim 1, it is characterised in that: institute
It states and lays four transmission short axles (18) on an axial side end face for output gear (19), four transmission short axles (18) are respectively
It is correspondingly connected with the planet wheel spindle (24) of four planetary gears (22)；It is coaxially provided on another side end face of axial direction of output gear (19)
Snap ring (20)；It is equipped with card slot in the adjusting tank, by being slidably matched for snap ring (20) and card slot, is set to output gear (19)
In adjusting tank.
9. it is used for a kind of method of adjustment of the Swing Arm Type Balanced Suspension with flare angle adjusting mechanism described in claim 1,
It is characterized in that operating procedure is as follows:
(1) when the vehicle is turning, flare angle adjusting mechanism (2) is started to work, and detects current vehicle speed, a pair of of support by sensor
Take turns the camber angle size of (6), steering wheel pivot angle；
(2) current vehicle speed, steering wheel pivot angle numerical value are substituted into the formula of stability factor K, calculates ideal a pair of of support
Take turns the target camber angle of (6)；
(3) by control adjustment motor (16), under the action of outer dip angle adjusting mechanism (2), realize that a pair supports wheel (6) around pendulum
Two support wheels (6) are adjusted separately target camber angle by the slight rotation of arm (5).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710848098.XA CN107639986B (en) | 2017-09-19 | 2017-09-19 | A kind of Swing Arm Type Balanced Suspension with flare angle adjusting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710848098.XA CN107639986B (en) | 2017-09-19 | 2017-09-19 | A kind of Swing Arm Type Balanced Suspension with flare angle adjusting mechanism |
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| Publication Number | Publication Date |
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| CN107639986A CN107639986A (en) | 2018-01-30 |
| CN107639986B true CN107639986B (en) | 2019-07-16 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108426673B (en) * | 2018-04-19 | 2020-02-25 | 燕山大学 | Emergency rescue vehicle mass center position measuring and adjusting method |
| CN110001342B (en) * | 2019-04-15 | 2020-08-07 | 合肥工业大学 | Magnetorheological balance suspension with controllable transmission torque and control method thereof |
| CN110255027B (en) * | 2019-06-17 | 2021-07-02 | 广东博智林机器人有限公司 | Lifting device and automatic guide transport vehicle |
| CN110271629A (en) * | 2019-08-01 | 2019-09-24 | 宏羿机械零件贸易(上海)有限公司 | A kind of wheel quick steering mechanism and more wheel scooters |
| CN110535415B (en) * | 2019-08-16 | 2021-06-08 | 四川师范大学 | Control adjusting device of photovoltaic square matrix support |
| CN111680367A (en) * | 2020-06-29 | 2020-09-18 | 北京博格华纳汽车传动器有限公司 | Four-wheel-drive yaw angular velocity optimization evaluation method and device and four-wheel-drive vehicle |
| CN112498478B (en) * | 2020-09-30 | 2022-04-12 | 北汽福田汽车股份有限公司 | Drag link, steering mechanism, vehicle and control method of steering mechanism |
| CN114312203A (en) * | 2021-12-29 | 2022-04-12 | 孙圣昆 | Hydraulic suspension |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2721555B1 (en) * | 1994-06-28 | 1996-08-02 | Renault | Rear axle of motor vehicle. |
| JPH0939533A (en) * | 1995-08-04 | 1997-02-10 | Nissan Diesel Motor Co Ltd | Leaf spring fitting structure in trunnion suspension device |
| JP2001105819A (en) * | 1999-10-06 | 2001-04-17 | Topy Ind Ltd | Swing type two-series wheel device |
| CN2639042Y (en) * | 2003-07-09 | 2004-09-08 | 东风新疆汽车有限公司 | Hydraulic controlled auto-lock carrying bridge lifting device |
| CN2711002Y (en) * | 2004-07-26 | 2005-07-20 | 中国重型汽车集团有限公司 | Four-shaft heavy lorry under carriage with lifting-able rear axle |
| CN103101415A (en) * | 2011-11-14 | 2013-05-15 | 北汽福田汽车股份有限公司 | Connecting rod servo balanced suspension mechanism and car comprising the same |
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