CN109625088A - Vehicular turn rolls linkage mechanism and active roll vehicle - Google Patents

Vehicular turn rolls linkage mechanism and active roll vehicle Download PDF

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Publication number
CN109625088A
CN109625088A CN201811528857.5A CN201811528857A CN109625088A CN 109625088 A CN109625088 A CN 109625088A CN 201811528857 A CN201811528857 A CN 201811528857A CN 109625088 A CN109625088 A CN 109625088A
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vehicle body
wheel
roll
plane
steering
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CN109625088B (en
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王亚
魏文军
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for
    • B62D9/02—Steering deflectable wheels not otherwise provided for combined with means for inwardly inclining vehicle body on bends
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/40—Indexing codes relating to the wheels in the suspensions
    • B60G2200/44—Indexing codes relating to the wheels in the suspensions steerable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/40—Steering conditions
    • B60G2400/41—Steering angle

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Vehicle Body Suspensions (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The present invention relates to vehicle chassis technical fields, it discloses a kind of Vehicular turn and rolls linkage mechanism and active roll vehicle, Vehicular turn rolls linkage mechanism and is made of inclination mechanism and steering mechanism's linkage, rolling mechanism includes vehicle body, lower pull rod, knuckle main shaft, upper connecting rod, damper, crank, knuckle, wheel and crank axle, steering mechanism is by connecting rod and a left side, right turn arm and vehicle body form steering trapezium, it rolls mechanism and steering mechanism shares same vehicle body, by cross axle and a left side, right balancing pole linkage, it is moved by Vehicular turn and body roll double freedom, realize Vehicular turn and body roll independent control, it may be implemented to turn in vehicle travel process and roll, independent inclination or three kinds of operating conditions of independent steering；Vehicle body active roll when applied to Vehicular turn, so as to vehicle when excessively curved or when crossing tilted road surface wing drop certain angle come resist centrifugal force or rollover power, to keep stable driving posture.

Description

Vehicular turn rolls linkage mechanism and active roll vehicle
Technical field
The present invention relates to a kind of Vehicular turns to roll linkage mechanism and active roll vehicle, belongs to vehicle chassis technology neck Domain, in particular to the Vehicular turn technology scope under the conditions of body roll.
Background technique
Active roll control system improves vehicle turning by controlling vehicle in turning to turning medial inclined degree When control stability, ride comfort, passage speed and safety；Body roll technology can make vehicle when excessively curved or cross Wing drop certain angle resists centrifugal force when tilted road surface, and to keep stable driving posture, body roll is usually by vehicle Body independently rolls, the linkage of vehicle body and wheel rolls two ways and implements, the former independently rolls mode, body roll and vehicle by vehicle body Divertical motion independently carries out, is non-interference, can use arbitrary steering mechanism, but the control stability of Ackermann steer angle, flat It is pliable slightly worse；The latter's vehicle body and wheel linkage inclination mode, body roll influence each other with Vehicular turn movement, Ackermann steer angle Control stability, ride comfort and safety it is preferable, but need to use using two-wheeled independent steering or four-wheel independent steering technology Hydraulic-driven, SERVO CONTROL steered wheel or servo motor driving, control steered wheel meet Ackermann steering condition；And it ties Structure is simple, reliable operation isosceles trapezoid steering mechanism, the steering technique requirement being unsatisfactory under the conditions of Vehicular turn, inclination, no It can directly apply.Application No. is 201310395533.X, the patent of invention of entitled " wheelspan adjustment steering linkage " is provided Wheelspan adjustment mechanism and isosceles trapezoid steering mechanism linkage technique scheme in same plane of movement, realize wheelspan adjustment with Vehicular turn independent control, the steering system applied to adjustable wheelspan vehicle；Technology is rolled for Vehicular turn, due to turning to Mechanism kinematic plane is vehicle body horizontal plane, and vehicle ackerman steering is arranged in vehicle body horizontal plane, and body roll mechanism transports Dynamic plane is the horizontal vertical plane of vehicle body or vertical vertical plane, and usual body roll arrangement of mechanism is indulged in vertical plane in vehicle body, explores non-same plane Interior body roll mechanism and vehicle steering mechanism linkage, independent control principle have theory significance and practical value.
Summary of the invention
The invention aims to provide a kind of Vehicular turn to roll linkage mechanism and active roll vehicle, Vehicular turn is realized With body roll independent control, it is applied to vehicle body active roll when Vehicular turn, when excessively curved or crosses inclination so as to vehicle When road surface wing drop certain angle come resist centrifugal force or rollover power, to keep stable driving posture.
It include: that Vehicular turn rolls linkage mechanism by inclination machine to reach the technical solution that the purpose of the present invention is taken Structure and steering mechanism's linkage composition；
Above-mentioned inclination mechanism includes: that successively order rotation connects for vehicle body 1, lower pull rod 2, knuckle main shaft 3, upper connecting rod 4, Tie point ABCD is parallelogram, 2 liang of tie point A, B pivot centers of lower pull rod and lower 2 angle δ of pull rod, 4 liang of upper connecting rod connections Point C, D pivot center and 4 angle of upper connecting rod are equal to δ, and tie point A, B, C, D pivot center is parallel, and the E point of lower pull rod 2 is located at flat Outside the ABCD of face, another plane ADE, plane ABCD and plane ADE intersection AD, 90 ° of two plane included angle-δ are formed, in plane ADE: The E point of damper 5 and lower pull rod 2 is rotatablely connected, and 5 other end of damper and crank 6 are rotatablely connected, 6 other end of crank and vehicle body 1 Rotation connection, each axis that relatively rotates is parallel and perpendicular to each member relative motion plane ADEFG, knuckle 7 and knuckle master Axis 3 is rotatablely connected around its axis BC, and knuckle 7 couples wheel 8 and controls its direction, wheel 8 is rotated around 7 axis of knuckle；By Vehicle body 1, lower pull rod 2, knuckle main shaft 3, upper connecting rod 4, damper 5, crank 6, knuckle 7, wheel 8 couple shape as above At one group of wheel control mechanism, the identical wheel control mechanism ABCDEFG and A ' B ' C ' D ' E ' of two groups of geometric parameters, performance parameter F ' G ' is left and right symmetrically arranged with vehicle body central longitudinal vertical plane according to given wheelspan d, shares same vehicle body 1, vehicle body central longitudinal vertical plane It is parallel to plane ADEFG, the crank 6 in two groups of wheel control mechanisms is connected in 180 ° by crank axle 9, and crank axle 9 is with respect to vehicle body 1 Pivot center GG ' is constituted perpendicular to vehicle body central longitudinal vertical plane and is rolled mechanism；It rolls in mechanism, crank 6 and 1 angle of vehicle body are cause Dynamic angle α, when two pull rod 2 is coplanar down, activated horn α=α0, body roll angle beta=0 at this time；As α ≠ α0When two wheels with respect to vehicle body Counter motion, along the direction AD moving distance h, vehicle body horizontal plane is body roll angle beta, tan β=h/d, actuating with respect to ground angle Body roll angle beta changes when angle α changes, and obtains inclination function β=f of the body roll angle beta and activated horn α relationship that roll mechanism (α)；
Above-mentioned steering mechanism includes: steering trapezium MSTN by left steering arm 12, connecting rod 11 and each endpoint of right turn arm 13 Order rotation connection, and be made of respectively with the rotation connection of vehicle body 1 the N point of the M of left steering arm 12 point and right turn arm 13, respectively Axis is relatively rotated parallel and perpendicular to the vehicle body horizontal plane where steering trapezium MSTN, M, N, which are located at, rolls vehicle in mechanism Sustained height, AM=A ' N on AD and A ' D ' line of body 1, left steering arm 12 and right turn arm 13 is isometric, MS=NT, MN < ST, group At steering mechanism；When two base angles are equal, ST//MN, at this timeSteering mechanism is with vehicle body central longitudinal vertical plane pair Claim；
It includes: that inclination mechanism and steering mechanism share same vehicle body, have same vehicle body that Vehicular turn, which rolls linkage mechanism, Central longitudinal vertical plane and vehicle body horizontal plane, the two axial lines of cross axle 16 intersect vertically, two cross axles, 16 each axis respectively with The rotation connection of the J point of the I point of left steering arm 12 and right turn arm 13, pivot center be perpendicular to vehicle body horizontal plane in steering mechanism, MI=NJ, γ=∠ SMI=∠ TNJ；If rolling the knuckle 7 and wheel 8 and 3 interface of knuckle main shaft point in left side in mechanism Not Wei U, P, the knuckle 7 on right side and wheel 8 and 3 interface of knuckle main shaft are respectively W, Q, AM=BP=A ' N=B ' Q, separately Two cross axles, 16 each axis are rotatablely connected with H, K point for rolling mechanism middle left and right side knuckle 7 respectively, each rotation axis Line is parallel to the axis of knuckle main shaft 3, PH=QK=MI,Left 14 both ends of balancing pole difference It is rotatablely connected with another axis of I, H point cross axle, 14 liang of tie point I, H pivot centers of left balancing pole and left 14 angle of balancing pole etc. In δ, right 15 both ends of balancing pole are rotatablely connected with another axis of J, K point cross axle respectively, 15 liang of tie point J, K rotations of right balancing pole Axis and right 15 angle of balancing pole are equal to δ, and left balancing pole 14 is isometric with right balancing pole 15 and long with lower pull rod 2 in mechanism is rolled Equal, IH=MP=JK=NQ is spent, Vehicular turn is formed and rolls linkage mechanism；Vehicular turn rolls in linkage mechanism, gives and turns When to angle θ=0, two base angle steering trapezium MSTN is equal, straight line traveling, at this time: as activated horn α=α0When, vehicle body not side Incline straight-line travelling, as activated horn α ≠ α0When, body roll straight-line travelling；When steering angle θ ≠ 0, two base angle steering trapezium MSTN is not It is equal, outer wheel deflection angle thetaeWith interior wheel deflection angle thetaiMeet Ackermann steering condition, Vehicular turn travels, at this time: working as actuating Angle α=α0When, roll steer does not travel vehicle body, as activated horn α ≠ α0When, body roll Turning travel；Vehicular turn rolls linkage Mechanism is moved by Vehicular turn and body roll double freedom, realizes body roll and Vehicular turn independent control.
Above-mentioned Vehicular turn rolls in linkage mechanism, and the axis of two axle journal of cross axle intersects vertically, and is for connecting two Cross-bearing substitution can be selected in the L shape axle journal of orthogonal rotational motion, is intersected vertically rotation by adjacent two axle journal connection two.
Above-mentioned Vehicular turn rolls in linkage mechanism, and activated horn α is generated by actuator, and actuator selects electromagnetic type to cause Dynamic device or electromechanical actuator or electrohydraulic actuator；It is determined by activated horn α and rolls mechanism position, by rolling function β=f (α) obtains body roll angle beta.
Above-mentioned Vehicular turn rolls in linkage mechanism, and steering angle θ is generated by diverter, and diverter selects gear-box type Diverter or rack and pinion steering gear or bishop gear or recirculating ball-type steering, and this is turned to Device can directly or indirectly be driven by steering actuator, realize steering-by-wire；Steering mechanism positions are determined by steering angle θ, it is corresponding Outer wheel deflection angle thetae, interior wheel deflection angle thetai, meet Ackermann steering condition, obtain vehicle turn radius R.
The driven tilling vehicle of front-wheel steer active roll rear wheel drive include: by one group of Vehicular turn roll linkage mechanism and One group of inclination suspension mechanism on same vehicle body according to being arranged before and after given wheelbase L, share same vehicle body central longitudinal vertical plane, it is double Rear wheel drive, Vehicular turn roll linkage mechanism and control body roll, roll suspension mechanism and adaptively roll, composition has front-wheel Steering, rear wheel drive, the full two-wheel drive active roll vehicle for taking turns inclination feature；
Above-mentioned inclination suspension mechanism, by inclination mechanism, " knuckle 7 and knuckle main shaft 3 rotate around its axis BC and connect Connect, knuckle 7 couples wheel 8 and controls its direction, wheel 8 is rotated around 7 axis of knuckle " change into " knuckle 7 and knuckle Main shaft 3 is vertically connected, and knuckle 7 couples wheel 8,8 pivot center of wheel perpendicular to plane ADEFG " formation, comprising: vehicle body 1, Successively order rotation connects for lower pull rod 2, knuckle main shaft 3, upper connecting rod 4, and tie point ABCD is parallelogram, 2 liang of lower pull rod Tie point A, B pivot center and lower 2 angle δ of pull rod, 4 liang of tie point C, D pivot centers of upper connecting rod and 4 angle of upper connecting rod are equal to δ, Tie point A, B, C, D pivot center is parallel, and the E point of lower pull rod 2 is located at outside plane ABCD, forms another plane ADE, plane ABCD With plane ADE intersection AD, 90 ° of two plane included angle-δ, in plane ADE: the E point of damper 5 and lower pull rod 2 is rotatablely connected, and is subtracted It shakes 5 other end of device to be rotatablely connected with crank 6,6 other end of crank and vehicle body 1 are rotatablely connected, and each relative rotation axis is parallel and vertical Directly in each member relative motion plane ADEFG, knuckle 7 is vertical with knuckle main shaft 3 to be connected, and knuckle 7 couples wheel 8, vehicle 8 pivot centers are taken turns perpendicular to plane ADEFG；By vehicle body 1, lower pull rod 2, knuckle main shaft 3, upper connecting rod 4, damper 5, crank 6, Knuckle 7, wheel 8 couple as above forms one group of wheel suspension arrangement, two groups of geometric parameters, the identical vehicle of performance parameter Wheel suspension mechanism ABCDEFG and A ' B ' C ' D ' E ' F ' G ' is left and right symmetrically arranged according to given wheelspan d with vehicle body central longitudinal vertical plane, Share same vehicle body 1, vehicle body central longitudinal vertical plane is parallel to plane ADEFG, the crank 6 in two groups of wheel suspension arrangements in 180 ° by Crank axle 9 is connected, and crank axle 9, perpendicular to vehicle body central longitudinal vertical plane, constitutes with respect to 1 pivot center GG ' of vehicle body and rolls suspension mechanism； It rolls in suspension mechanism, when body roll angle beta=0, two lower pull rods 2 are coplanar, crank 6 and 1 angle α of vehicle body=α0, work as vehicle body When angle of heel β ≠ 0, two wheels are moved backward with respect to vehicle body, and crank 6 and the adaptive angle of vehicle body 1 are α.
Front-wheel steer active roll rear wheel drive be servo-actuated tilling vehicle include: by one group of Vehicular turn roll linkage mechanism and One group of inclination follower on same vehicle body according to being arranged before and after given wheelbase L, share same vehicle body central longitudinal vertical plane, it is double Rear wheel drive, Vehicular turn roll linkage mechanism and control body roll, roll follower and adaptively roll, composition has front-wheel Steering, rear wheel drive, the full two-wheel drive active roll vehicle for taking turns inclination feature；
Above-mentioned inclination follower includes: left suspension A2B2C2D2K2G2By lower-left swing rod 21, left support bar 23, upper left pendulum Bar 25, column 20 are connected with each endpoint order rotation of left damper 27, and 25 middle part of 27 other end of left damper and upper left swing rod G2Point rotation connection is constituted, and each axis that relatively rotates is parallel and perpendicular to left suspension A2B2C2D2K2G2Place plane, left wheel axis 29 is vertical with left support bar 23 connected, and left wheel axis 29 couples rear left wheel 31,31 pivot center of rear left wheel is parallel to plane A2B2C2D2K2G2；Right suspension A2E2F2D2K2H2By bottom right swing rod 22, right support bar 24, upper right swing rod 26, column 20 and right damping The connection of each endpoint order rotation of device 28, and 28 other end of right damper and 26 middle part H of upper right swing rod2Point rotation connection is constituted, respectively Axis is relatively rotated parallel and perpendicular to right suspension A2E2F2D2K2H2Place plane, right axletree 30 are vertical with right support bar 24 solid Even, right axletree 30 couples right rear wheel 32,32 pivot center of right rear wheel is parallel to plane A2E2F2D2K2H2；Vehicle body 1 is in A2 Point is rotatablely connected with left and right draft link, and vehicle body 1 is in D2Point is rotatablely connected with left and right upper pendulum bar and column, K2For left damper 27, Right damper 28 and column 20 share rotating joint, plane A2B2C2D2K2G2With plane A2E2F2D2K2H2It is horizontal positioned at same vehicle body In vertical plane, left suspension and right suspension share vehicle body 1 and column 20, share tie point A2、D2、K2, B2C2=E2F2=A2D2, A2B2= C2D2=A2E2=F2D2, left damper 27 is identical as right 28 equal length of damper, performance, is formed and rolls follower；It rolls In follower, when body roll angle beta=0, column 20 and vehicle body 1 is conllinear, α2=180 °, follower is rolled about A2D2 Symmetrically, when body roll angle beta ≠ 0, two wheels are with respect to the equidistant reverse movement of vehicle body, column 20 and the adaptive angle of vehicle body 1 For α2。
The auxiliary dynamic tilling vehicle of front-wheel steer active roll rear wheel drive include: by one group of Vehicular turn roll linkage mechanism and The auxiliary motivation structure of one group of inclination on same vehicle body according to being arranged before and after given wheelbase L, share same vehicle body central longitudinal vertical plane, it is double Rear wheel drive, Vehicular turn roll linkage mechanism and control body roll, roll auxiliary motivation structure and adaptively roll, and composition has front-wheel Steering, rear wheel drive, the full two-wheel drive active roll vehicle for taking turns inclination feature；
The auxiliary motivation structure of above-mentioned inclination, by changing left damper 27, column 20 and right damper 28 in inclination follower Three tie point positions, G2Point takes on lower-left swing rod 21, H2Point takes on bottom right swing rod 22, shares tie point K2It is constant, column 20 lower end tie points are A2It is formed, comprising: left suspension D2C2B2A2K2G2By upper left swing rod 25, left support bar 23, lower-left swing rod 21, Column 20 is connected with each endpoint order rotation of left damper 27, and 27 other end of left damper and 21 middle part G of lower-left swing rod2Point turns Dynamic to connect and compose, each axis that relatively rotates is parallel and perpendicular to left suspension D2C2B2A2K2G2Place plane, left wheel axis 29 and a left side Support rod 23 is vertically connected, and left wheel axis 29 couples rear left wheel 31,31 pivot center of rear left wheel is parallel to plane D2C2B2A2K2G2；Right suspension D2F2E2A2K2H2By upper right swing rod 26, right support bar 24, bottom right swing rod 22, column 20 and right damping The connection of each endpoint order rotation of device 28, and 28 other end of right damper and 22 middle part H of bottom right swing rod2Point rotation connection is constituted, respectively Axis is relatively rotated parallel and perpendicular to right suspension D2F2E2A2K2H2Place plane, right axletree 30 are vertical with right support bar 24 solid Even, right axletree 30 couples right rear wheel 32,32 pivot center of right rear wheel is parallel to plane D2F2E2A2K2H2；Vehicle body 1 is in A2 Point is rotatablely connected with left and right draft link and column, and vehicle body 1 is in D2Point is rotatablely connected with left and right upper pendulum bar, K2For left damper 27, Right damper 28 and column 20 share rotating joint, plane D2C2B2A2K2G2With plane D2F2E2A2K2H2It is horizontal positioned at same vehicle body In vertical plane, left suspension and right suspension share vehicle body 1 and column 20, share tie point A2、D2、K2, B2C2=E2F2=A2D2, A2B2= C2D2=A2E2=F2D2, left damper 27 is identical as right 28 equal length of damper, performance, is formed and rolls auxiliary motivation structure；It rolls In auxiliary motivation structure, when body roll angle beta=0, column 20 and vehicle body 1 is conllinear, α2=0, auxiliary motivation structure is rolled about A2D2It is right Claim, when body roll angle beta ≠ 0, two wheels are with the adaptive angle of vehicle body 1 with respect to the equidistant reverse movement of vehicle body, column 20 α2。
Four-wheel drive active roll vehicle includes: to roll linkage mechanism on same vehicle body by two groups of identical Vehicular turns According to arranging before and after given wheelbase L, sharing same vehicle body central longitudinal vertical plane, four-wheel drive synchronizes Roll control, and composition has All-wheel steering, a11wheel drive, the full four-wheel drive active roll vehicle for taking turns inclination feature；It is big to have adhesive force, turning radius is small, The good feature of ground adaptability.
Single wheel drive active roll vehicle includes: that roll linkage mechanism by one group of Vehicular turn preposition, on same vehicle body According to given wheelbase L single-wheel postposition, same vehicle body central longitudinal vertical plane, rear wheel drive are shared, composition has front-wheel steer, rear-wheel It drives, the single wheel drive active roll vehicle for the feature of falling three-wheel；Has small in size, motor-driven, flexible feature.
If knuckle main shaft distance k, speed v, gravity acceleration g, Vehicular turn rolls linkage mechanism as double freedom fortune Dynamic system, body roll can be carried out independently with Vehicular turn, can also be completed at the same time, therefore, can be real in vehicle travel process It turns now to inclination, independent inclination or three kinds of operational modes of independent steering: when 1. high vehicle speeds are turned, providing steering angle θ, by Diverter drives steering mechanism to obtain outer wheel deflection angle thetae, interior wheel deflection angle thetai, meet Ackermann steering condition: cot (θe)-cot(θi)=k/L, turning radius R=Lcot (θi)+k/2, dynamic balance condition when turning: mg × tanq=mv × v/R, Center of gravity angle of heel q is solved by tanq=v × v/ (gR), obtains the functional relation q of center of gravity angle of heel q and steering angle θ, speed v =h (θ, v), takes vehicle roll angle β=q, solves activated horn α by inclination function β=f (α), generates activated horn α by actuator and drives It is dynamic to roll mechanism, it realizes body roll, resist turning centrifugal force, to keep the stability of high vehicle speeds；2. vehicle is in cross When to gradient ground run, cross fall angle p in ground is read by obliquity sensor dynamic, vehicle roll angle β=- p is taken, by rolling Function β=f (α) solves activated horn α, generates activated horn α driving by actuator and rolls mechanism, realizes body roll, resists landform Variation causes vehicle rollover power, to keep the driving posture of vehicle stabilization；3. when low vehicle speeds, taking α=α0, β=0, In a certain range θ can any value, steering mechanism is driven by diverter, obtains corresponding outer wheel deflection angle thetae, interior vehicle Wheel angle θi, meet Ackermann steering condition, realization runs at a low speed, turns to and does not roll, to keep vehicle driving ride comfort.
The beneficial effects of the present invention are, a kind of Vehicular turn proposed rolls linkage mechanism and active roll vehicle, Vehicular turn and body roll independent control are realized, may be implemented to turn to inclination, independent inclination or only in vehicle travel process It is vertical to turn to three kinds of operating conditions；Vehicle body active roll when applied to Vehicular turn when excessively curved or crosses tilted road surface so as to vehicle When wing drop certain angle come resist centrifugal force or rollover power, to keep stable driving posture.
Detailed description of the invention
Fig. 1 is wheel control mechanism schematic diagram；
Fig. 2 is to roll mechanism theory of constitution figure；
Fig. 3 is to roll mechanism to roll schematic diagram；
Fig. 4 is steering mechanism's theory of constitution figure；
Fig. 5 isWhen steering mechanism theory of constitution figure；
Fig. 6 is steering mechanism's steering principle figure；
Fig. 7 is that Vehicular turn rolls linkage mechanism theory of constitution figure；
Fig. 8 is to roll suspension mechanism schematic diagram；
Fig. 9 is to roll follower schematic diagram；
Figure 10 is to roll auxiliary dynamic schematic diagram of mechanism；
Figure 11 is the driven tilling vehicle theory of constitution figure of front-wheel steer active roll rear wheel drive；
Figure 12 is that front-wheel steer active roll rear wheel drive is servo-actuated tilling vehicle theory of constitution figure；
Figure 13 is the auxiliary dynamic tilling vehicle theory of constitution figure of front-wheel steer active roll rear wheel drive；
Figure 14 is four-wheel drive active roll vehicle theory of constitution figure；
Figure 15 is single wheel drive active roll vehicle theory of constitution figure；
In figure: 1-- vehicle body, pull rod under 2--, 3-- knuckle main shaft, 4-- upper connecting rod, 5-- damper, 6- crank, 7- turn Xiang Jie, 8-- wheel, 9-- crank axle, 11-- connecting rod, 12-- left steering arm, 13-- right turn arm, the left balancing pole of 14--, 15-- are right Balancing pole, 16-- cross axle, 20-- column, the lower-left 21-- swing rod, the bottom right 22-- swing rod, 23-- left support bar, 24-- right support Bar, the upper left 25-- swing rod, 26-- upper right swing rod, the left damper of 27--, the right damper of 28--, 29-- left wheel axis, the right vehicle of 30-- Wheel shaft, 31-- rear left wheel, 32-- right rear wheel.
Specific embodiment
The embodiment of the present invention is described below according to attached drawing.
Vehicular turn rolls linkage mechanism and forms (as shown in Figure 7) by inclination mechanism and steering mechanism's linkage；
Inclination mechanism shown in Fig. 2 theory of constitution figure, roll mechanism include: vehicle body 1, lower pull rod 2, knuckle main shaft 3, on Successively order rotation connects pull rod 4, and tie point ABCD is parallelogram, 2 liang of tie point A, B pivot centers of lower pull rod and drop-down 2 angle δ of bar, 4 liang of tie point C, D pivot centers of upper connecting rod and 4 angle of upper connecting rod are equal to δ, and tie point A, B, C, D pivot center is flat Row, the E point of lower pull rod 2 are located at outside plane ABCD, form another plane ADE, plane ABCD and plane ADE intersection AD, two planes 90 ° of-δ of angle, in plane ADE: the E point of damper 5 and lower pull rod 2 is rotatablely connected, and 5 other end of damper and crank 6 rotate Connection, 6 other end of crank and vehicle body 1 are rotatablely connected, and each axis that relatively rotates is parallel and perpendicular to each member relative motion plane ADEFG, knuckle 7 and knuckle main shaft 3 are rotatablely connected around its axis BC, and knuckle 7 couples wheel 8 and controls its direction, vehicle Wheel 8 is rotated around 7 axis of knuckle；By vehicle body 1, lower pull rod 2, knuckle main shaft 3, upper connecting rod 4, damper 5, crank 6, knuckle 7, wheel 8 couples as above forms one group of wheel control mechanism (as shown in Figure 1), two groups of geometric parameters, performance parameter phase Same wheel control mechanism ABCDEFG and A ' B ' C ' D ' E ' F ' G ' is according to given wheelspan d with vehicle body central longitudinal vertical plane or so pair Claim installation, share same vehicle body 1, vehicle body central longitudinal vertical plane is parallel to plane ADEFG, the crank 6 in two groups of wheel control mechanisms It is connected in 180 ° by crank axle 9, crank axle 9, perpendicular to vehicle body central longitudinal vertical plane, is constituted and rolled with respect to 1 pivot center GG ' of vehicle body Mechanism；
It rolls in mechanism, crank 6 and 1 angle of vehicle body are activated horn α, when two pull rod 2 is coplanar down, activated horn α=α0, this When body roll angle beta=0 (as shown in Figure 2)；As α ≠ α0When two wheels with respect to vehicle body counter motion, along the direction AD moving distance h (as shown in Figure 3), vehicle body horizontal plane are body roll angle beta, body side when tan β=h/d, activated horn α change with respect to ground angle Angle of inclination beta variation obtains inclination function β=f (α) of the body roll angle beta and activated horn α relationship that roll mechanism；If Vehicular turn When, wheel maximum deflection angle θm, take δ≤90 °-θm, wheel and upper and lower pull rod when Vehicular turn is avoided to interfere.
Steering mechanism's theory of constitution figure shown in Fig. 4, steering mechanism include: steering trapezium MSTN by left steering arm 12, company Bar 11 is connected with each endpoint order rotation of right turn arm 13, and is distinguished by the M point of left steering arm 12 and the N point of right turn arm 13 Be rotatablely connected and constitute with vehicle body 1, each axis that relatively rotates parallel and perpendicular to the vehicle body horizontal plane where steering trapezium MSTN, M, N is located in inclination mechanism sustained height, AM=A ' N on AD and A ' D ' line of vehicle body 1, left steering arm 12 and right turn arm 13 Isometric, MS=NT, MN < ST form steering mechanism；When two base angles are equal, ST//MN, at this timeTurning machine Structure is symmetrical with vehicle body central longitudinal vertical plane；
Vehicular turn shown in Fig. 7 rolls linkage mechanism theory of constitution figure, and it includes: to roll that Vehicular turn, which rolls linkage mechanism, Mechanism and steering mechanism share same vehicle body, have same vehicle body central longitudinal vertical plane and vehicle body horizontal plane, two axis of cross axle 16 Line intersects vertically, two cross axles, 16 each axis respectively with the I point and right turn arm 13 of left steering arm 12 in steering mechanism The rotation connection of J point, pivot center is perpendicular to vehicle body horizontal plane, MI=NJ, γ=∠ SMI=∠ TNJ, △ SMI ≌ △ TNJ； If the knuckle 7 and wheel 8 and 3 interface of knuckle main shaft that roll left side in mechanism are respectively U, P, the knuckle 7 on right side with Wheel 8 and 3 interface of knuckle main shaft are respectively W, Q, AM=BP=A ' N=B ' Q, 16 each axis of another two cross axle point It is not rotatablely connected with H, K point for rolling mechanism middle left and right side knuckle 7, each pivot center is parallel to the axis of knuckle main shaft 3 Line, PH=QK=MI,QK=NJ, MP=AB=NQ=A ' B ' simultaneously；14 liang of left balancing pole End is rotatablely connected with another axis of I, H point cross axle respectively, 14 liang of tie point I, H pivot centers of left balancing pole and left balancing pole 14 Angle is equal to δ, and right 15 both ends of balancing pole are rotatablely connected with another axis of J, K point cross axle respectively, 15 liang of tie points of right balancing pole J, K pivot center and right 15 angle of balancing pole are equal to δ, left balancing pole 14 it is isometric with right balancing pole 15 and with roll in mechanism under 2 equal length of pull rod, i.e. IH=JK=AB, then IH=MP=JK=NQ, forms Vehicular turn and rolls linkage mechanism；
Vehicular turn rolls in linkage mechanism,When, as shown in figure 4,180 ° of < of ∠ UPH=∠ WQK；When, such as scheme Shown in 5, ∠ UPH=∠ WQK=180 °, UPH three point on a straight line, WQK three point on a straight line on left and right side knuckle；Change steering angle θ When, two base angle steering trapezium MSTN changes, and is linked by parallelogram MIHP, NJKQ, obtains outer wheel deflection angle thetaeWith it is interior Wheel deflection angle thetai, Vehicular turn, as shown in Figure 6.It is to use in Fig. 4,5,6, the axis of two axle journal of cross axle intersects vertically In the L shape axle journal for connecting two orthogonal rotational motions, cross-bearing substitution can be selected, intersected vertically and turned by adjacent two axle journal connection two It is dynamic.
Vehicular turn rolls in linkage mechanism, and when giving steering angle θ=0, two base angle steering trapezium MSTN is equal, and vehicle is straight Line traveling, at this time: as activated horn α=α0When, vehicle body does not roll straight-line travelling, as activated horn α ≠ α0When, body roll linear rows It sails；When steering angle θ ≠ 0, two base angle steering trapezium MSTN is unequal, outer wheel deflection angle thetaeWith interior wheel deflection angle thetaiMeet Ah Gram graceful steering condition, Vehicular turn traveling, at this time: as activated horn α=α0When, vehicle body not roll steer travel, when activated horn α ≠ α0When, body roll Turning travel；Vehicular turn rolls linkage mechanism and is moved by Vehicular turn and body roll double freedom, Realize body roll and Vehicular turn independent control.
Vehicular turn rolls in linkage mechanism, and activated horn α is generated by actuator, actuator selection electromagnetic actuator, Or electromechanical actuator or electrohydraulic actuator；Actuator output shaft driving rolls the crank axle 9 of mechanism with respect to vehicle body 1 It around axis GG ' rotation, is determined by activated horn α and rolls mechanism position, by rolling function β=f (α), obtain body roll angle beta. Steering angle θ is generated by diverter, and diverter selects gear-box type diverter or rack and pinion steering gear or worm screw bent Handle pin type diverter or recirculating ball-type steering, and this diverter can directly or indirectly be driven by steering actuator, be realized Steering-by-wire；Diverter output shaft drives the left steering arm 12 of steering mechanism to turn around the rotation of M point or right turn arm 13 around N point It is dynamic, steering mechanism positions, corresponding outer wheel deflection angle theta are determined by steering angle θe, interior wheel deflection angle thetai, meet Ackermann steering Condition obtains vehicle turn radius R.
Inclination suspension mechanism schematic diagram shown in Fig. 8 rolls suspension mechanism by " knuckle 7 and knuckle master in inclination mechanism Axis 3 is rotatablely connected around its axis BC, and knuckle 7 couples wheel 8 and controls its direction, wheel 8 is rotated around 7 axis of knuckle " change Become that " knuckle 7 is vertical with knuckle main shaft 3 to be connected, and knuckle 7 couples that wheel 8,8 pivot center of wheel is perpendicular to plane ADEFG " formation, comprising: successively order rotation connects for vehicle body 1, lower pull rod 2, knuckle main shaft 3, upper connecting rod 4, tie point ABCD For parallelogram, 2 liang of tie point A, B pivot centers of lower pull rod and lower 2 angle δ of pull rod, 4 liang of tie point C, D rotations of upper connecting rod Axis and 4 angle of upper connecting rod are equal to δ, and tie point A, B, C, D pivot center is parallel, and the E point of lower pull rod 2 is located at outside plane ABCD, Form another plane ADE, plane ABCD and plane ADE intersection AD, 90 ° of two plane included angle-δ, in plane ADE: damper 5 with The E point of lower pull rod 2 is rotatablely connected, and 5 other end of damper and crank 6 are rotatablely connected, and 6 other end of crank and vehicle body 1 are rotatablely connected, For each axis that relatively rotates parallel and perpendicular to each member relative motion plane ADEFG, knuckle 7 is vertical with knuckle main shaft 3 solid Even, knuckle 7 couples wheel 8,8 pivot center of wheel perpendicular to plane ADEFG；By vehicle body 1, lower pull rod 2, knuckle main shaft 3, Upper connecting rod 4, damper 5, crank 6, knuckle 7, wheel 8 couple as above forms one group of wheel suspension arrangement, and two groups several What parameter, performance parameter identical wheel suspension arrangement ABCDEFG and A ' B ' C ' D ' E ' F ' G ' are according to given wheelspan d with vehicle body Central longitudinal vertical plane is left and right symmetrically arranged, shares same vehicle body 1, and vehicle body central longitudinal vertical plane is parallel to plane ADEFG, and two groups of wheels are outstanding Crank 6 in suspension mechanism is connected in 180 ° by crank axle 9, and crank axle 9 is with respect to 1 pivot center GG ' of vehicle body perpendicular to vehicle body center Vertical vertical plane, constitutes and rolls suspension mechanism；It rolls in suspension mechanism, when body roll angle beta=0, two lower pull rods 2 are coplanar, crank 6 With 1 angle α of vehicle body=α0, when body roll angle beta ≠ 0, two wheels are moved backward with respect to vehicle body, and crank 6 and vehicle body 1 are adaptive Angle is α, and Fig. 8 is adaptive angle α=α0When inclination suspension mechanism schematic diagram.
The driven tilling vehicle theory of constitution figure of front-wheel steer active roll rear wheel drive shown in Figure 11, front-wheel steer is actively Rolling the driven tilling vehicle of rear wheel drive includes: to roll linkage mechanism and one group of inclination suspension mechanism same by one group of Vehicular turn According to arranging before and after given wheelbase L, sharing same vehicle body central longitudinal vertical plane on one vehicle body, a steering of picking up the car rolls a linkage mechanism Inclination mechanism with roll suspension mechanism in same names rod length it is equal, shape, geometric dimension are identical, front tread with after Take turns wheelspan it is equal, double rear wheel hydraulic motor driving, Vehicular turn roll linkage mechanism control body roll, give activated horn α when, Body roll angle beta rolls suspension mechanism and adaptively rolls, and constitutes two for having front-wheel steer, rear wheel drive, taking turns inclination feature entirely Wheel drive active roll vehicle.
Inclination follower schematic diagram shown in Fig. 9, rolling follower includes: left suspension A2B2C2D2K2G2By lower-left swing rod 21, left support bar 23, upper left swing rod 25, column 20 are connected with each endpoint order rotation of left damper 27, and left damper 27 is another One end and 25 middle part G of upper left swing rod2Point rotation connection is constituted, and each axis that relatively rotates is parallel and perpendicular to left suspension A2B2C2D2K2G2Place plane, left wheel axis 29 is vertical with left support bar 23 to be connected, and left wheel axis 29 couples rear left wheel 31, a left side 31 pivot center of rear wheel is parallel to plane A2B2C2D2K2G2；Right suspension A2E2F2D2K2H2By bottom right swing rod 22, right support bar 24, Upper right swing rod 26, column 20 are connected with each endpoint order rotation of right damper 28, and 28 other end of right damper and upper right swing rod 26 middle part H2Point rotation connection is constituted, and each axis that relatively rotates is parallel and perpendicular to right suspension A2E2F2D2K2H2Place plane, it is right Axletree 30 is vertical with right support bar 24 to be connected, and it is parallel that right axletree 30 couples right rear wheel 32,32 pivot center of right rear wheel In plane A2E2F2D2K2H2；Vehicle body 1 is in A2Point is rotatablely connected with left and right draft link, and vehicle body 1 is in D2Point and left and right upper pendulum bar and vertical Column rotation connection, K2Rotating joint, plane A are shared for left damper 27, right damper 28 and column 202B2C2D2K2G2With it is flat Face A2E2F2D2K2H2In the horizontal vertical plane of same vehicle body, left suspension and right suspension share vehicle body 1 and column 20, share tie point A2、D2、K2, B2C2=E2F2=A2D2, A2B2=C2D2=A2E2=F2D2, left damper 27 and right 28 equal length of damper, property Can be identical, it is formed and rolls follower；Roll in follower, when body roll angle beta=0, column 20 and vehicle body 1 it is conllinear, α2=180 °, follower is rolled about A2D2Symmetrically, when body roll angle beta ≠ 0, two wheels are equidistant with respect to vehicle body reversed Mobile, column 20 and the adaptive angle of vehicle body 1 are α2, Fig. 9 is adaptive angle α2Inclination follower schematic diagram at=180 °.
Front-wheel steer active roll rear wheel drive shown in Figure 12 is servo-actuated tilling vehicle theory of constitution figure, and front-wheel steer is actively Rolling rear wheel drive and being servo-actuated tilling vehicle includes: to roll linkage mechanism and one group of inclination follower same by one group of Vehicular turn It arranged on one vehicle body according to the given front and back wheelbase L, share same vehicle body central longitudinal vertical plane, front tread and rear track phase Deng the driving of, double rear wheel hydraulic motor, Vehicular turn rolls linkage mechanism and controls body roll, when giving activated horn α, body roll Angle beta rolls follower and adaptively rolls, and constitutes and has front-wheel steer, rear wheel drive, the full two-wheel drive master for taking turns inclination feature Dynamic tilling vehicle.
It is shown in Fig. 10 to roll auxiliary dynamic schematic diagram of mechanism, auxiliary motivation structure is rolled by changing left damper in inclination follower 27,28 3 tie point positions of column 20 and right damper, G2Point takes on lower-left swing rod 21, H2Point takes on bottom right swing rod 22, Share tie point K2Constant, 20 lower end tie point of column is A2It is formed, comprising: left suspension D2C2B2A2K2G2By upper left swing rod 25, a left side Support rod 23, lower-left swing rod 21, column 20 are connected with each endpoint order rotation of left damper 27, and 27 other end of left damper with 21 middle part G of lower-left swing rod2Point rotation connection is constituted, and each axis that relatively rotates is parallel and perpendicular to left suspension D2C2B2A2K2G2Place Plane, left wheel axis 29 is vertical with left support bar 23 to be connected, and left wheel axis 29 couples rear left wheel 31,31 rotation axis of rear left wheel Line is parallel to plane D2C2B2A2K2G2；Right suspension D2F2E2A2K2H2By upper right swing rod 26, right support bar 24, bottom right swing rod 22, stand Column 20 is connected with each endpoint order rotation of right damper 28, and 28 other end of right damper and 22 middle part H of bottom right swing rod2Point rotation It connects and composes, each axis that relatively rotates is parallel and perpendicular to right suspension D2F2E2A2K2H2Place plane, right axletree 30 and right branch Strut 24 is vertically connected, and right axletree 30 couples right rear wheel 32,32 pivot center of right rear wheel is parallel to plane D2F2E2A2K2H2；Vehicle body 1 is in A2Point is rotatablely connected with left and right draft link and column, and vehicle body 1 is in D2Point is rotated with left and right upper pendulum bar Connection, K2Rotating joint, plane D are shared for left damper 27, right damper 28 and column 202C2B2A2K2G2With plane D2F2E2A2K2H2In the horizontal vertical plane of same vehicle body, left suspension and right suspension share vehicle body 1 and column 20, share tie point A2、 D2、K2, B2C2=E2F2=A2D2, A2B2=C2D2=A2E2=F2D2, left damper 27 and right 28 equal length of damper, performance It is identical, it is formed and rolls auxiliary motivation structure；It rolls in auxiliary motivation structure, when body roll angle beta=0, column 20 and vehicle body 1 is conllinear, α2 =0, auxiliary motivation structure is rolled about A2D2Symmetrically, when body roll angle beta ≠ 0, two wheels with respect to the equidistant reverse movement of vehicle body, Column 20 and the adaptive angle of vehicle body 1 are α2。
The auxiliary dynamic tilling vehicle theory of constitution figure of front-wheel steer active roll rear wheel drive shown in Figure 13, front-wheel steer is actively Rolling the auxiliary dynamic tilling vehicle of rear wheel drive includes: to roll linkage mechanism and the auxiliary motivation structure of one group of inclination same by one group of Vehicular turn It arranged on one vehicle body according to the given front and back wheelbase L, share same vehicle body central longitudinal vertical plane, front tread and rear track phase Deng the driving of, double rear wheel hydraulic motor, Vehicular turn rolls linkage mechanism and controls body roll, when giving activated horn α, body roll Angle beta rolls auxiliary motivation structure and adaptively rolls, and constitutes and has front-wheel steer, rear wheel drive, the full two-wheel drive master for taking turns inclination feature Dynamic tilling vehicle；
Four-wheel drive active roll vehicle theory of constitution figure shown in Figure 14 rolls linkage by two groups of identical Vehicular turns Mechanism on same vehicle body according to being arranged before and after given wheelbase L, share same vehicle body central longitudinal vertical plane, in forward and backward two mechanism Same names rod length is equal, and shape, geometric dimension are identical, and front tread is equal with rear track, and four-wheel hub motor is driven Dynamic, front and rear sides is inclined the activated horn α of mechanism1、α2, corresponding body roll angle beta1、β2, take activated horn α=α1=α2, then vehicle Body angle of heel β=β1=β2, realize synchronous Roll control, constitute have all-wheel steering, a11wheel drive, full wheel roll the four of feature Wheel drive active roll vehicle；It is big to have adhesive force, turning radius is small, the good feature of ground adaptability.
Single wheel drive active roll vehicle theory of constitution figure shown in figure 15, before rolling linkage mechanism by one group of Vehicular turn Set, on same vehicle body according to given wheelbase L single-wheel postposition, share same vehicle body central longitudinal vertical plane, single rear-wheel is by swing arm It is connected on vehicle body with damper, rear wheel hub motors driving constitutes and has front-wheel steer, rear wheel drive, the feature of falling three-wheel Single wheel drive active roll vehicle；Has small in size, motor-driven, flexible feature.
The Vehicular turn in conjunction with shown in Fig. 3,6,7,11 or 12 roll linkage mechanism working principle diagram, if knuckle main shaft away from From k, speed v, gravity acceleration g, it is double freedom kinematic system that Vehicular turn, which rolls linkage mechanism, and body roll and vehicle turn To can independently carry out, can also be completed at the same time, it therefore, in vehicle travel process may be implemented to turn to and roll, independent roll or solely It is vertical to turn to three kinds of operational modes, vehicle roll control method are as follows:
1., high vehicle speeds turning when, provide steering angle θ, steering mechanism obtains the deflection of outer wheel by diverter driving Angle θe, interior wheel deflection angle thetai, meet Ackermann steering condition: cot (θe)-cot(θi)=k/L, turning radius R=Lcot (θi) + k/2, dynamic balance condition when turning: mg × tanq=mv × v/R solves center of gravity angle of heel q by tanq=v × v/ (gR), obtains The functional relation q=h (θ, v) of center of gravity angle of heel q and steering angle θ, speed v, take vehicle roll angle β=q, by inclination function β =f (α) solves activated horn α, generates activated horn α driving by actuator and rolls mechanism, realizes body roll, resists turning centrifugation Power, to keep the stability of high vehicle speeds；
2., vehicle in cross fall ground run, by obliquity sensor dynamic read ground cross fall angle p, pick up the car Body angle of heel β=- p solves activated horn α by inclination function β=f (α), generates activated horn α driving by actuator and rolls mechanism, real Existing body roll, resistance topography variation cause vehicle rollover power, to keep the driving posture of vehicle stabilization；
3., low vehicle speeds when, take α=α0, β=0, in a certain range θ can any value, driven by diverter Steering mechanism obtains corresponding outer wheel deflection angle thetae, interior wheel deflection angle thetai, meet Ackermann steering condition, realize low speed Traveling, steering do not roll, to keep vehicle driving ride comfort.
By above embodiments, a kind of Vehicular turn proposed by the invention rolls linkage mechanism and active roll vehicle, Vehicular turn and body roll independent control are realized, may be implemented to turn to inclination, independent inclination or only in vehicle travel process It is vertical to turn to three kinds of operating conditions；The active roll vehicle for rolling linkage mechanism based on Vehicular turn is further provided, vehicle is applied to Vehicle body active roll when steering, so as to vehicle when excessively curved or when crossing tilted road surface wing drop certain angle come resist from Mental and physical efforts or rollover power, to keep stable driving posture.

Claims (9)

1. Vehicular turn rolls linkage mechanism, it is made of inclination mechanism and steering mechanism's linkage, it is characterised in that:
The inclination mechanism includes: that successively order rotation connects for vehicle body, lower pull rod, knuckle main shaft, upper connecting rod, tie point ABCD is parallelogram, lower two tie point A, B pivot center of pull rod and drop-down bar cramp angle δ, upper connecting rod two tie point C, D rotation Axis and upper connecting rod angle are equal to δ, and tie point A, B, C, D pivot center is parallel, and the E point of lower pull rod is located at outside plane ABCD, shape At another plane ADE, plane ABCD and plane ADE intersection AD, 90 ° of two plane included angle-δ, in plane ADE: damper is under The E point of pull rod is rotatablely connected, and the damper other end and crank are rotatablely connected, and the crank other end and vehicle body are rotatablely connected, each opposite Pivot center is rotated parallel and perpendicular to each member relative motion plane ADEFG, knuckle and knuckle main shaft around its axis BC Connection, knuckle connection wheel simultaneously control its direction, wheel around steer axis rotation；By vehicle body, lower pull rod, knuckle master Axis, upper connecting rod, damper, crank, knuckle, wheel couple as above forms one group of wheel control mechanism, two groups of geometry The identical wheel control mechanism ABCDEFG and A ' B ' C ' D ' E ' F ' G ' of parameter, performance parameter is according to given wheelspan d in vehicle body It entreats vertical vertical plane to be left and right symmetrically arranged, share same vehicle body, vehicle body central longitudinal vertical plane is parallel to plane ADEFG, two groups of wheel controls Crank in mechanism is connected in 180 ° by crank axle, and crank axle is with respect to vehicle body pivot center GG ' perpendicular to vehicle body central longitudinal vertical plane；
Wherein: crank and vehicle body angle are activated horn α, when two pull rod is coplanar down, activated horn α=α0, body roll angle beta at this time =0；As α ≠ α0When two wheels with respect to vehicle body counter motion, along the direction AD moving distance h, vehicle body horizontal plane is with respect to ground angle For body roll angle beta, body roll angle beta changes when tan β=h/d, activated horn α change；
The steering mechanism includes: that steering trapezium MSTN is connected by left steering arm, connecting rod and each endpoint order rotation of right turn arm It connects, and is made of respectively with vehicle body rotation connection the N point of the M of left steering arm point and right turn arm, each axis that relatively rotates is put down Row and perpendicular to the vehicle body horizontal plane where steering trapezium MSTN, M, N be located at roll mechanism in vehicle body AD and A ' D ' line Upper sustained height, left steering arm and right turn arm are isometric, MN < ST；When, steering mechanism is with vehicle body center Vertical vertical plane is symmetrical；
The inclination mechanism and steering mechanism share same vehicle body, have same vehicle body central longitudinal vertical plane and vehicle body horizontal plane, The two axial lines of cross axle intersect vertically, each axis of two cross axles respectively with the I point of left steering arm in steering mechanism and the right side The J point of steering arm is rotatablely connected, pivot center is perpendicular to vehicle body horizontal plane, MI=NJ, γ=∠ SMI=∠ TNJ；If the machine of inclination The knuckle and wheel and knuckle main shaft interface in left side are respectively U, P, the knuckle and wheel and knuckle on right side in structure Main shaft interface is respectively W, Q, and AM=BP=A ' N=B ' Q, each axis of another two cross axle is respectively and in inclination mechanism H, K point of left and right side knuckle is rotatablely connected, and each pivot center is parallel to the axis of knuckle main shaft, PH=QK=MI,Left balancing pole both ends are rotatablely connected with another axis of I, H point cross axle respectively, left balancing pole Two tie point I, H pivot centers and left balancing pole angle are equal to δ, right balancing pole both ends another axis with J, K point cross axle respectively Rotation connection, right two tie point J, K pivot center of balancing pole and right balancing pole angle are equal to δ, left balancing pole and right balancing pole etc. Long and equal with lower rod length in mechanism is rolled, IH=MP=JK=NQ forms Vehicular turn and rolls linkage mechanism；
Wherein: when given steering angle θ=0, two base angle steering trapezium MSTN is equal, straight line traveling, at this time: as activated horn α =α0When, vehicle body does not roll straight-line travelling, as activated horn α ≠ α0When, body roll straight-line travelling；When steering angle θ ≠ 0, steering ladder Two base angle shape MSTN is unequal, outer wheel deflection angle thetaeWith interior wheel deflection angle thetaiMeet Ackermann steering condition, Vehicular turn row It sails, at this time: as activated horn α=α0When, roll steer does not travel vehicle body, as activated horn α ≠ α0When, body roll Turning travel.
2. Vehicular turn according to claim 1 rolls linkage mechanism, which is characterized in that two axle journal of cross axle Axis intersects vertically, and cross-bearing substitution can be selected, and is intersected vertically rotation by adjacent two axle journal connection two.
3. Vehicular turn according to claim 1 rolls linkage mechanism, which is characterized in that the activated horn α is by causing Dynamic device generates, and actuator selects electromagnetic actuator or electromechanical actuator or electrohydraulic actuator.
4. Vehicular turn according to claim 1 rolls linkage mechanism, which is characterized in that the steering angle θ is by turning Generated to device, diverter select gear-box type diverter or rack and pinion steering gear or bishop gear, Or recirculating ball-type steering, diverter are directly or indirectly driven by steering actuator, realize steering-by-wire.
5. the driven tilling vehicle of front-wheel steer active roll rear wheel drive, which is characterized in that by one group of vehicle described in claim 1 It turns to and to roll linkage mechanism and one group of inclination suspension mechanism on same vehicle body according to arranging, share before and after given wheelbase L Same vehicle body central longitudinal vertical plane, double rear wheel driving, Vehicular turn roll linkage mechanism and control body roll, roll suspension mechanism certainly It adapts to roll, constitutes and have front-wheel steer, rear wheel drive, take turns the vehicle for rolling feature entirely；
The inclination suspension mechanism, by inclination mechanism described in claim 1, " knuckle and knuckle main shaft are around its axis BC rotation connection, knuckle connection wheel simultaneously control its direction, wheel around steer axis rotate " change into " and knuckle with turn To section main shaft be vertically connected, knuckle couple wheel, vehicle wheel rotation axis perpendicular to plane ADEFG " formation, comprising: vehicle body, under Successively order rotation connects for pull rod, knuckle main shaft, upper connecting rod, and tie point ABCD is parallelogram, lower two tie point of pull rod A, B pivot center and drop-down bar cramp angle δ, two tie point C, D pivot center of upper connecting rod and upper connecting rod angle equal to δ, tie point A, B, C, D pivot center are parallel, and the E point of lower pull rod is located at outside plane ABCD, form another plane ADE, plane ABCD and plane ADE Intersection AD, 90 ° of two plane included angle-δ, in plane ADE: the E point rotation connection of damper and lower pull rod, the damper other end with Crank rotation connection, the crank other end and vehicle body are rotatablely connected, and each axis that relatively rotates is transported parallel and perpendicular to each component is opposite Dynamic plane ADEFG, knuckle is vertical with knuckle main shaft to be connected, and knuckle couples wheel, vehicle wheel rotation axis perpendicular to plane ADEFG；Shape is coupled by vehicle body, lower pull rod, knuckle main shaft, upper connecting rod, damper, crank, knuckle, wheel as above At one group of wheel suspension arrangement, two groups of geometric parameters, performance parameter identical wheel suspension arrangement ABCDEFG and A ' B ' C ' D ' E ' F ' G ' is left and right symmetrically arranged with vehicle body central longitudinal vertical plane according to given wheelspan d, shares same vehicle body, and vehicle body central longitudinal vertical plane is flat Crank of the row in plane ADEFG, two groups of wheel suspension arrangements is connected in 180 ° by crank axle, and crank axle is with respect to vehicle body rotation axis Line GG ' is perpendicular to vehicle body central longitudinal vertical plane.
6. front-wheel steer active roll rear wheel drive is servo-actuated tilling vehicle, which is characterized in that by one group of vehicle described in claim 1 It turns to and to roll linkage mechanism and one group of inclination follower on same vehicle body according to arranging, share before and after given wheelbase L Same vehicle body central longitudinal vertical plane, double rear wheel driving, Vehicular turn roll linkage mechanism and control body roll, roll follower certainly It adapts to roll, constitutes and have front-wheel steer, rear wheel drive, take turns the vehicle for rolling feature entirely；
The inclination follower includes: left suspension A2B2C2D2K2G2By lower-left swing rod, left support bar, upper left swing rod, column It is connected with each endpoint order rotation of left damper, and G in the middle part of the left damper other end and upper left swing rod2Point rotation connection is constituted, Each axis that relatively rotates is parallel and perpendicular to left suspension A2B2C2D2K2G2Place plane, left wheel axis are vertical with left support bar solid Even, left wheel axis connection rear left wheel, rear left wheel pivot center are parallel to plane A2B2C2D2K2G2；Right suspension A2E2F2D2K2H2 It is connected by bottom right swing rod, right support bar, upper right swing rod, column with each endpoint order rotation of right damper, and right damper is another End and H in the middle part of upper right swing rod2Point rotation connection is constituted, and each axis that relatively rotates is parallel and perpendicular to right suspension A2E2F2D2K2H2Institute In plane, right axletree is vertical with right support bar to be connected, and right axletree connection right rear wheel, right rear wheel pivot center are parallel to Plane A2E2F2D2K2H2；Vehicle body is in A2Point is rotatablely connected with left and right draft link, and vehicle body is in D2Point turns with left and right upper pendulum bar and column Dynamic connection, K2Rotating joint, plane A are shared for left damper, right damper and column2B2C2D2K2G2With plane A2E2F2D2K2H2In the horizontal vertical plane of same vehicle body, left suspension and right suspension share vehicle body and column, share tie point A2、D2、 K2, B2C2=E2F2=A2D2, A2B2=C2D2=A2E2=F2D2, left damper is identical as right damper equal length, performance.
7. the auxiliary dynamic tilling vehicle of front-wheel steer active roll rear wheel drive, which is characterized in that by one group of vehicle described in claim 1 It turns to and to roll linkage mechanism and the auxiliary motivation structure of one group of inclination on same vehicle body according to arranging, share before and after given wheelbase L Same vehicle body central longitudinal vertical plane, double rear wheel driving, Vehicular turn roll linkage mechanism and control body roll, roll auxiliary motivation structure certainly It adapts to roll, constitutes and have front-wheel steer, rear wheel drive, take turns the vehicle for rolling feature entirely；
The auxiliary motivation structure of the inclination is subtracted by changing left damper, column and the right side in inclination follower as claimed in claim 6 Shake three tie point positions of device, G2Point takes on the swing rod of lower-left, H2Point takes on the swing rod of bottom right, shares tie point K2It is constant, column Lower end tie point is A2It is formed, comprising: left suspension D2C2B2A2K2G2By upper left swing rod, left support bar, lower-left swing rod, column and a left side Each endpoint order rotation connection of damper, and G in the middle part of the left damper other end and lower-left swing rod2Point rotation connection is constituted, each phase To pivot center parallel and perpendicular to left suspension D2C2B2A2K2G2Place plane, left wheel axis is vertical with left support bar to be connected, left Axletree connection rear left wheel, rear left wheel pivot center are parallel to plane D2C2B2A2K2G2；Right suspension D2F2E2A2K2H2By the right side Upper pendulum bar, right support bar, bottom right swing rod, column are connected with each endpoint order rotation of right damper, and the right damper other end with H in the middle part of the swing rod of bottom right2Point rotation connection is constituted, and each axis that relatively rotates is parallel and perpendicular to right suspension D2F2E2A2K2H2Place is flat Face, right axletree is vertical with right support bar to be connected, and right axletree connection right rear wheel, right rear wheel pivot center are parallel to plane D2F2E2A2K2H2；Vehicle body is in A2Point is rotatablely connected with left and right draft link and column, and vehicle body is in D2Point connects with the rotation of left and right upper pendulum bar It connects, K2Rotating joint, plane D are shared for left damper, right damper and column2C2B2A2K2G2With plane D2F2E2A2K2H2Position In in the horizontal vertical plane of same vehicle body, left suspension and right suspension share vehicle body and column, share tie point A2、D2、K2, B2C2=E2F2= A2D2, A2B2=C2D2=A2E2=F2D2, left damper is identical as right damper equal length, performance.
8. four-wheel drive active roll vehicle, which is characterized in that rolled by two groups of identical Vehicular turns described in claim 1 Linkage mechanism on same vehicle body according to being arranged before and after given wheelbase L, share same vehicle body central longitudinal vertical plane, four-wheel drive, Synchronous Roll control constitutes and has all-wheel steering, a11wheel drive, the full vehicle for taking turns inclination feature.
9. single wheel drive active roll vehicle, which is characterized in that roll gear by one group of Vehicular turn described in claim 1 Structure is preposition, on same vehicle body according to given wheelbase L single-wheel postposition, share same vehicle body central longitudinal vertical plane, rear wheel drive, structure At have front-wheel steer, rear wheel drive, the feature of falling three-wheel vehicle.
CN201811528857.5A 2018-12-13 2018-12-13 Vehicle steering and roll linkage mechanism and active roll vehicle Active CN109625088B (en)

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CN109625086A (en) * 2018-12-13 2019-04-16 王亚 Vehicular turn rolls linkage and active roll vehicle
CN110509994A (en) * 2019-09-10 2019-11-29 王亚 Vehicular turn rolls the active roll vehicle of combined mechanism and the application mechanism
CN111688428A (en) * 2020-06-11 2020-09-22 河南坐骑科技有限公司 Vehicle side-tipping driving mechanism and design method
CN112172919A (en) * 2020-08-31 2021-01-05 河南坐骑科技有限公司 Vehicle roll driving device and active roll vehicle
CN112172921A (en) * 2020-08-31 2021-01-05 河南坐骑科技有限公司 Vehicle side-tipping driving mechanism and active side-tipping vehicle using same

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109625086A (en) * 2018-12-13 2019-04-16 王亚 Vehicular turn rolls linkage and active roll vehicle
CN110509994A (en) * 2019-09-10 2019-11-29 王亚 Vehicular turn rolls the active roll vehicle of combined mechanism and the application mechanism
CN110509994B (en) * 2019-09-10 2021-12-21 河南坐骑科技有限公司 Vehicle steering and roll combination mechanism and active roll vehicle using same
CN111688428A (en) * 2020-06-11 2020-09-22 河南坐骑科技有限公司 Vehicle side-tipping driving mechanism and design method
CN111688428B (en) * 2020-06-11 2023-04-11 河南坐骑科技有限公司 Vehicle side-tipping driving mechanism and design method
CN112172919A (en) * 2020-08-31 2021-01-05 河南坐骑科技有限公司 Vehicle roll driving device and active roll vehicle
CN112172921A (en) * 2020-08-31 2021-01-05 河南坐骑科技有限公司 Vehicle side-tipping driving mechanism and active side-tipping vehicle using same
CN112172919B (en) * 2020-08-31 2022-03-15 河南坐骑科技有限公司 Vehicle roll driving device and active roll vehicle
CN112172921B (en) * 2020-08-31 2022-03-15 河南坐骑科技有限公司 Vehicle side-tipping driving mechanism and active side-tipping vehicle using same

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