CN109625088B

CN109625088B - Vehicle steering and roll linkage mechanism and active roll vehicle

Info

Publication number: CN109625088B
Application number: CN201811528857.5A
Authority: CN
Inventors: 王亚; 魏文军
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-12-13
Filing date: 2018-12-13
Publication date: 2021-02-19
Anticipated expiration: 2038-12-13
Also published as: CN109625088A

Abstract

The invention relates to the technical field of vehicle chassis, and discloses a vehicle steering and roll linkage mechanism and an active roll vehicle, wherein the vehicle steering and roll linkage mechanism is formed by linking a roll mechanism and a steering mechanism, the roll mechanism comprises a vehicle body, a lower pull rod, a steering knuckle main shaft, an upper pull rod, a shock absorber, a crank, a steering knuckle, wheels and a crank shaft, the steering mechanism is a steering trapezoid formed by a connecting rod, a left steering arm, a right steering arm and the vehicle body, the roll mechanism and the steering mechanism share the same vehicle body, the cross shaft, the left balancing rod and the right balancing rod are linked, through the two-degree-of-freedom motion of vehicle steering and vehicle body roll, the independent control of vehicle steering and vehicle body roll is realized, and three working conditions of steering and roll, independent roll or independent steering; the vehicle body active side-rolling device is applied to vehicle active side-rolling when the vehicle turns, so that the vehicle can automatically incline at a certain angle to resist centrifugal force or side-rolling force when the vehicle passes a bend or passes an inclined road surface, and a stable driving posture is kept.

Description

Vehicle steering and roll linkage mechanism and active roll vehicle

Technical Field

The invention relates to a vehicle steering and roll linkage mechanism and an active roll vehicle, belongs to the technical field of vehicle chassis, and particularly relates to the technical field of vehicle steering under a vehicle body roll condition.

Background

The active roll control system improves the control stability, smoothness, traffic speed and safety of the vehicle during turning by controlling the degree of the vehicle inclining to the inner side of the turning during turning; the vehicle body rolling technology can enable a vehicle to automatically tilt a certain angle to resist centrifugal force when the vehicle passes a bend or runs on an inclined road surface so as to keep a stable running posture, wherein the vehicle body rolling is usually implemented by two modes of vehicle body independent rolling and vehicle body and wheel linkage rolling, the former mode of vehicle body independent rolling is that the vehicle body rolling and the vehicle steering movement are independent and do not interfere with each other, any steering mechanism can be adopted, but the steering stability and the smoothness of the vehicle during turning are slightly poor; the latter has a vehicle body and wheel linkage side-tipping mode, the vehicle body side-tipping and the vehicle steering motion are mutually influenced, the control stability, smoothness and safety of the vehicle during turning are better, but a two-wheel independent steering or four-wheel independent steering technology is adopted, and the steering wheels are driven and controlled by adopting hydraulic drive and servo control or a servo motor to meet Ackerman steering conditions; the isosceles trapezoid steering mechanism with simple structure and reliable work can not meet the steering technical requirements of the vehicle under the conditions of steering and heeling and can not be directly applied. The invention patent with the application number of 201310395533.X and the name of a wheel track adjusting and steering linkage mechanism provides a technical scheme for linkage of an inner wheel track adjusting mechanism and an isosceles trapezoid steering mechanism in the same motion plane, realizes independent control of wheel track adjustment and vehicle steering, and is applied to a steering system of a vehicle with adjustable wheel track; for the vehicle steering and rolling technology, the motion plane of the steering mechanism is the horizontal plane of the vehicle body, the trapezoidal steering mechanism of the vehicle is arranged in the horizontal plane of the vehicle body, the motion plane of the vehicle body rolling mechanism is the transverse plane or the longitudinal vertical plane of the vehicle body, and generally, the vehicle body rolling mechanism is arranged in the longitudinal vertical plane of the vehicle body, so that the principle of linkage and independent control of the vehicle steering mechanism and the vehicle body rolling mechanism in a non-same plane is explored, and the theoretical significance and the practical value are achieved.

Disclosure of Invention

The invention aims to provide a vehicle steering and roll linkage mechanism and an active roll vehicle, which realize independent control of vehicle steering and vehicle body roll, are applied to vehicle body active roll during vehicle steering, and are convenient for the vehicle to automatically incline at a certain angle to resist centrifugal force or roll force when the vehicle passes a bend or passes an inclined road surface so as to keep a stable running posture.

The technical scheme adopted for achieving the aim of the invention comprises the following steps: the vehicle steering and side-tipping linkage mechanism is formed by linking a side-tipping mechanism and a steering mechanism;

the roll mechanism described above includes: the automobile body 1, the lower link 2, the knuckle main shaft 3, go up pull rod 4 and rotate the connection in proper order, tie point ABCD is parallelogram, two tie points A, B rotation axis of

lower link

2 and 2 contained angles δ of lower link, two tie points C, D rotation axis of going up pull rod 4 and 4 contained angles of last pull rod equal to δ, tie point A, B, C, D rotation axis is parallel, the E point of lower link 2 is located outside plane ABCD, form another plane ADE, plane ABCD and plane ADE intersect AD, two plane contained angles 90- δ, in plane ADE: the shock absorber 5 is rotationally connected with the E point of the lower pull rod 2, the other end of the shock absorber 5 is rotationally connected with the crank 6, the other end of the crank 6 is rotationally connected with the vehicle body 1, all relative rotation axes are parallel and vertical to the relative movement plane ADEFG of all components, the steering knuckle 7 is rotationally connected with the steering knuckle spindle 3 around the axis BC thereof, the steering knuckle 7 is connected with the wheel 8 and controls the direction thereof, and the wheel 8 rotates around the axis of the steering knuckle 7; a vehicle body 1, a lower pull rod 2, a steering knuckle spindle 3, an upper pull rod 4, a shock absorber 5, a crank 6, a steering knuckle 7 and wheels 8 are connected in the above way to form a group of wheel control mechanisms, and two groups of wheel control mechanisms ABCDEFG and A 'B' C 'D' E 'F' G 'with the same geometric parameters and performance parameters are symmetrically arranged in the left and right direction of a central vertical plane of the vehicle body according to a given wheel track D and share the same wheel control mechanism ABCDEFG and A' B 'C' D 'E' F 'G' withThe central vertical plane of the vehicle body is parallel to the plane ADEFG, cranks 6 in the two groups of wheel control mechanisms are fixedly connected by a crank shaft 9 in an angle of 180 degrees, and the crank shaft 9 is vertical to the central vertical plane of the vehicle body relative to the rotating axis GG' of the vehicle body 1 to form a side-tipping mechanism; in the roll mechanism, an included angle between the crank 6 and the vehicle body 1 is an actuating angle alpha, and when the two lower pull rods 2 are coplanar, the actuating angle alpha is equal to alpha₀When the vehicle body roll angle beta is 0; when alpha is not equal to alpha₀When the two wheels move reversely relative to the vehicle body and move for a distance h along the AD direction, the included angle of the horizontal plane of the vehicle body relative to the ground is the vehicle body roll angle beta, tan beta is h/d, the vehicle body roll angle beta changes when the actuating angle alpha changes, and a roll function beta of the relationship between the vehicle body roll angle beta and the actuating angle alpha of the roll mechanism is obtained, wherein f (alpha);

the steering mechanism described above includes: the steering trapezoid MSTN is formed by sequentially and rotatably connecting end points of a left steering arm 12, a connecting rod 11 and a right steering arm 13, and is formed by respectively and rotatably connecting an M point of the left steering arm 12 and an N point of the right steering arm 13 with the vehicle body 1, relative rotating axes are parallel and perpendicular to the horizontal plane of the vehicle body where the steering trapezoid MSTN is located, M, N is respectively located at the same height on AD and A ' D ' lines of the vehicle body 1 in the roll mechanism, AM is equal to A ' N, the left steering arm 12 and the right steering arm 13 are equal in length, MS is equal to NT, and MN is less than ST, so that the steering mechanism is formed; when the two base angles are equal, ST// MN, at this time

The steering mechanism is symmetrical with the longitudinal vertical plane of the center of the vehicle body;

the vehicle roll and turn linkage includes: the roll mechanism and the steering mechanism share the same vehicle body, and have the same vehicle body central longitudinal vertical plane and vehicle body horizontal plane, two axes of the cross shafts 16 are vertically crossed, one axis of each of the two cross shafts 16 is respectively in rotating connection with a point I of a left steering arm 12 and a point J of a right steering arm 13 in the steering mechanism, the rotating axis is vertical to the vehicle body horizontal plane, MI is NJ, and gamma is smaller than TNJ; let U, P for the connection point between the left knuckle 7 and the wheel 8 and the knuckle spindle 3, W and Q for the connection point between the right knuckle 7 and the wheel 8 and the knuckle spindle 3, AM, BP, a 'N, B' Q, and H, B, Q for the left and right knuckles 7 in the roll mechanism, respectively, for one axis of the other two cross shafts 16,The points K are connected in a rotating way, the rotating axes are parallel to the axis of the knuckle spindle 3, PH is equal to QK is equal to MI,

the two ends of the left balance rod 14 are respectively in rotating connection with the other shaft of the I, H-point cross axle, the included angle between the rotating axis of the two connecting points I, H of the left balance rod 14 and the left balance rod 14 is equal to delta, the two ends of the right balance rod 15 are respectively in rotating connection with the other shaft of the J, K-point cross axle, the included angle between the rotating axis of the two connecting points J, K of the right balance rod 15 and the right balance rod 15 is equal to delta, the left balance rod 14 and the right balance rod 15 are equal in length and equal in length to the lower pull rod 2 in the roll mechanism, and IH (MP) is equal to JK (NQ) to form the vehicle steering roll linkage mechanism; in the vehicle steering and rolling linkage mechanism, when a given steering angle theta is equal to 0, two base angles of a steering trapezoid MSTN are equal, and the vehicle runs in a straight line, wherein: when the actuating angle alpha is alpha₀When the vehicle body does not roll, the vehicle runs straight, and when the actuating angle alpha is not equal to alpha₀When the vehicle body is inclined, the vehicle body is driven in a straight line; when the steering angle theta is not equal to 0, the two bottom angles of the steering trapezoid MSTN are not equal, and the deflection angle theta of the outer wheel_eAnd inner wheel deflection angle theta_iThe Ackerman steering condition is met, the vehicle is steered to run, and at the moment: when the actuating angle alpha is alpha₀When the vehicle body is not inclined to turn and runs, the actuating angle alpha is not equal to alpha₀When the vehicle runs, the vehicle body inclines and turns; the vehicle turning and rolling linkage mechanism realizes independent control of vehicle body rolling and vehicle turning through two-degree-of-freedom motion of vehicle turning and vehicle body rolling.

In the vehicle steering and rolling linkage mechanism, the axes of the two journals of the cross shaft are vertically intersected and are L-shaped journals for connecting two orthogonal rotation motions, and the two journals are connected for vertical intersection rotation by adjacent two journals and can be replaced by a cross bearing.

In the above-described vehicle roll and turn linkage mechanism, the actuation angle α is generated by an actuator, and the actuator is selected from an electromagnetic actuator, an electromechanical actuator, or an electrohydraulic actuator; the roll mechanism position is determined from the actuation angle α, and the vehicle body roll angle β is obtained from the roll function β ═ f (α).

In the above-described vehicle roll linkage mechanism, the steering angle θ is generated by a steering gearA gear box type steering gear, a gear rack steering gear, a worm crank pin type steering gear or a circulating ball type steering gear is selected, and the steering gear can be directly or indirectly driven by a steering actuator to realize steer-by-wire; determining the position of the steering mechanism according to the steering angle theta_eInner wheel deflection angle theta_iAnd the Ackerman steering condition is met, and the turning radius R of the vehicle is obtained.

The front-wheel steering active-roll rear-wheel drive driven-roll vehicle includes: the two-wheel driving active roll vehicle with the characteristics of front wheel steering, rear wheel driving and all-wheel roll is formed by arranging a group of vehicle steering roll linkage mechanisms and a group of roll suspension mechanisms on the same vehicle body in a front-back mode according to a given axle distance L, sharing the central vertical plane of the same vehicle body, driving by double rear wheels, controlling the roll of the vehicle body by the vehicle steering roll linkage mechanisms and enabling the roll suspension mechanisms to roll in a self-adaptive mode;

the roll suspension mechanism is formed by changing the mode that a steering knuckle 7 and a steering knuckle main shaft 3 are in rotating connection around an axis BC in the roll mechanism, the steering knuckle 7 is connected with a wheel 8 and controls the direction of the wheel 8, the wheel 8 rotates around the axis of the steering knuckle 7 into the mode that the steering knuckle 7 is vertically and fixedly connected with the steering knuckle main shaft 3, the steering knuckle 7 is connected with the wheel 8, and the rotating axis of the wheel 8 is vertical to a plane ADEFG, and comprises the following components: the automobile body 1, the lower link 2, the knuckle main shaft 3, go up pull rod 4 and rotate the connection in proper order, tie point ABCD is parallelogram, two tie points A, B rotation axis of

lower link

2 and 2 contained angles δ of lower link, two tie points C, D rotation axis of going up pull rod 4 and 4 contained angles of last pull rod equal to δ, tie point A, B, C, D rotation axis is parallel, the E point of lower link 2 is located outside plane ABCD, form another plane ADE, plane ABCD and plane ADE intersect AD, two plane contained angles 90- δ, in plane ADE: the shock absorber 5 is rotationally connected with the E point of the lower pull rod 2, the other end of the shock absorber 5 is rotationally connected with the crank 6, the other end of the crank 6 is rotationally connected with the vehicle body 1, all relative rotation axes are parallel and vertical to the relative movement plane ADEFG of all components, the steering knuckle 7 is vertically and fixedly connected with the steering knuckle spindle 3, the steering knuckle 7 is connected with the wheels 8, and the rotation axes of the wheels 8 are vertical to the plane ADEFG; comprises a vehicle body 1, a lower pull rod 2, a steering knuckle spindle 3, an upper pull rod 4, a shock absorber 5, a crank 6, a steering knuckle 7 and a vehicleThe wheels 8 are connected to form a group of wheel suspension mechanisms according to the mode, two groups of wheel suspension mechanisms ABCDEFG and A 'B' C 'D' E 'F' G 'with the same geometric parameters and performance parameters are symmetrically arranged in the left and right direction of the central vertical plane of the vehicle body according to the given wheel track D and share the same vehicle body 1, the central vertical plane of the vehicle body is parallel to a plane ADEFG, cranks 6 in the two groups of wheel suspension mechanisms are fixedly connected by a crank shaft 9 at 180 degrees, and the crank shaft 9 is vertical to the central vertical plane of the vehicle body relative to the rotating axis GG' of the vehicle body 1 to form the side-tipping suspension mechanism; in the roll suspension mechanism, when the roll angle beta of the vehicle body is equal to 0, the two lower pull rods 2 are coplanar, and the included angle alpha between the crank 6 and the vehicle body 1 is equal to alpha₀When the roll angle beta of the vehicle body is not equal to 0, the two wheels move reversely relative to the vehicle body, and the self-adaptive included angle between the crank 6 and the vehicle body 1 is alpha.

The front-wheel steering active-roll rear-wheel drive follow-up roll vehicle includes: the two-wheel driving active roll vehicle with the characteristics of front wheel steering, rear wheel driving and all-wheel roll is formed by arranging a group of vehicle steering roll linkage mechanisms and a group of roll follow-up mechanisms on the same vehicle body in a front-back manner according to a given axle distance L, sharing the central vertical plane of the same vehicle body, driving by double rear wheels, controlling the roll of the vehicle body by the vehicle steering roll linkage mechanisms and self-adaptively rolling by the roll follow-up mechanisms;

the roll-following mechanism described above includes: left suspension A₂B₂C₂D₂K₂G₂Is composed of a left lower swing rod 21, a left support rod 23, a left upper swing rod 25, an upright post 20 and a left shock absorber 27, the end points of which are sequentially and rotatably connected, and the other end of the left shock absorber 27 is connected with the middle G of the left upper swing rod 25₂Point-rotation connection, each relative rotation axis being parallel and perpendicular to the left suspension A₂B₂C₂D₂K₂G₂On the plane, a left wheel shaft 29 is vertically and fixedly connected with the left support rod 23, the left wheel shaft 29 is connected with a left rear wheel 31, the rotation axis of the left rear wheel 31 is parallel to the plane A₂B₂C₂D₂K₂G₂(ii) a Right suspension A₂E₂F₂D₂K₂H₂Is composed of a right lower swing rod 22, a right supporting rod 24, a right upper swing rod 26, a vertical post 20 and a right shock absorber 28 which are connected in sequence in a rotating way, and the right shock absorberThe other end of the device 28 and the middle part H of the upper right swing rod 26₂Point-rotation connection, each relative rotation axis being parallel and perpendicular to the right suspension A₂E₂F₂D₂K₂H₂On the plane, a right wheel shaft 30 is vertically and fixedly connected with the right support rod 24, the right wheel shaft 30 is connected with a right rear wheel 32, the rotation axis of the right rear wheel 32 is parallel to the plane A₂E₂F₂D₂K₂H₂(ii) a The vehicle body 1 is at A₂The point is rotationally connected with the left lower swing rod and the right lower swing rod, and the vehicle body 1 is positioned at D₂The point is rotationally connected with the left upper swing rod, the right upper swing rod and the upright post, K₂A common rotation connection point for the left damper 27, the right damper 28 and the upright post 20, plane A₂B₂C₂D₂K₂G₂And plane A₂E₂F₂D₂K₂H₂The left suspension and the right suspension share the vehicle body 1 and the upright post 20 and share the connection point A in the same vehicle body transverse plane₂、D₂、K₂，B₂C₂＝E₂F₂＝A₂D₂，A₂B₂＝C₂D₂＝A₂E₂＝F₂D₂The left shock absorber 27 and the right shock absorber 28 are equal in length and same in performance, and form a side-tipping follow-up mechanism; in the roll follow-up mechanism, when the vehicle body roll angle β is 0, the pillar 20 is collinear with the vehicle body 1, and α is₂180 ° with respect to a roll-following mechanism₂D₂Symmetrically, when the vehicle body side inclination angle beta is not equal to 0, the two wheels move reversely at equal distance relative to the vehicle body, and the self-adaptive included angle between the upright post 20 and the vehicle body 1 is alpha₂。

The front-wheel steering active-roll rear-wheel drive auxiliary-roll vehicle includes: the two-wheel driving active roll vehicle with the characteristics of front wheel steering, rear wheel driving and all-wheel roll is formed by arranging a group of vehicle steering roll linkage mechanisms and a group of roll auxiliary linkage mechanisms on the same vehicle body in a front-back manner according to a given axle distance L, sharing the central vertical plane of the same vehicle body, driving by double rear wheels, controlling the roll of the vehicle body by the vehicle steering roll linkage mechanisms and self-adaptively rolling by the roll auxiliary linkage mechanisms;

the above-mentioned side-tipping assistanceMechanism for changing the three connecting point positions of left damper 27, pillar 20 and right damper 28 in roll follow-up mechanism, G₂Pointing on the left lower swing link 21, H₂The point is taken on the lower right swing rod 22 and shares the connection point K₂The connecting point of the lower end of the upright post 20 is A₂Forming, including: left suspension D₂C₂B₂A₂K₂G₂Is composed of a left upper swing rod 25, a left supporting rod 23, a left lower swing rod 21, an upright post 20 and a left shock absorber 27, the end points of which are sequentially and rotatably connected, and the other end of the left shock absorber 27 is connected with the middle G of the left lower swing rod 21₂Point-rotation connection, each relative rotation axis being parallel and perpendicular to the left suspension D₂C₂B₂A₂K₂G₂On the plane, a left wheel shaft 29 is vertically and fixedly connected with the left support rod 23, the left wheel shaft 29 is connected with a left rear wheel 31, the rotation axis of the left rear wheel 31 is parallel to the plane D₂C₂B₂A₂K₂G₂(ii) a Right suspension D₂F₂E₂A₂K₂H₂Is composed of a right upper swing rod 26, a right supporting rod 24, a right lower swing rod 22, an upright post 20 and a right shock absorber 28, the end points of which are sequentially and rotatably connected, and the other end of the right shock absorber 28 is connected with the middle part H of the right lower swing rod 22₂Point-rotation connection, each relative rotation axis being parallel and perpendicular to the right suspension D₂F₂E₂A₂K₂H₂On the plane, a right wheel shaft 30 is vertically and fixedly connected with the right support rod 24, the right wheel shaft 30 is connected with a right rear wheel 32, the rotation axis of the right rear wheel 32 is parallel to the plane D₂F₂E₂A₂K₂H₂(ii) a The vehicle body 1 is at A₂The point is rotationally connected with the left lower swing rod, the right lower swing rod and the upright post, and the vehicle body 1 is positioned at D₂The point is rotationally connected with the left and right upper swing rods, K₂A common rotation connection point for the left damper 27, the right damper 28 and the upright post 20, plane D₂C₂B₂A₂K₂G₂And plane D₂F₂E₂A₂K₂H₂The left suspension and the right suspension share the vehicle body 1 and the upright post 20 and share the connection point A in the same vehicle body transverse plane₂、D₂、K₂，B₂C₂＝E₂F₂＝A₂D₂，A₂B₂＝C₂D₂＝A₂E₂＝F₂D₂The left shock absorber 27 and the right shock absorber 28 are equal in length and same in performance, and form a side-tilting auxiliary mechanism; in the roll assist mechanism, when the vehicle body roll angle β is 0, the pillar 20 is collinear with the vehicle body 1, and α is₂0, roll assist mechanism with respect to a₂D₂Symmetrically, when the vehicle body side inclination angle beta is not equal to 0, the two wheels move reversely at equal distance relative to the vehicle body, and the self-adaptive included angle between the upright post 20 and the vehicle body 1 is alpha₂。

The four-wheel drive active roll vehicle includes: the four-wheel drive active roll vehicle with all-wheel steering, all-wheel driving and all-wheel roll characteristics is formed by arranging two groups of same vehicle steering roll linkage mechanisms on the same vehicle body in a front-back manner according to a given wheel base L, sharing the same vehicle body central vertical plane, and performing four-wheel drive and synchronous roll control; the adhesive has the characteristics of large adhesive force, small turning radius and good ground adaptability.

The single-wheel drive active roll vehicle includes: the single-wheel driving active roll vehicle with the characteristics of front wheel steering, rear wheel driving and three-wheel reversing is formed by arranging a group of vehicle steering roll linkage mechanisms in front, arranging a single wheel on the same vehicle body in back according to a given axle distance L, sharing the central vertical plane of the same vehicle body and driving the rear wheel; has the characteristics of small volume, mobility and flexibility.

The distance k of a main shaft of a steering knuckle, the vehicle speed v and the gravity acceleration g are set, a vehicle steering and rolling linkage mechanism is a two-degree-of-freedom motion system, and vehicle body rolling and vehicle steering can be independently carried out or simultaneously finished, so that three operation modes of steering and rolling, independent rolling or independent steering can be realized in the vehicle running process: firstly, when the vehicle runs at high speed and turns, a steering angle theta is given, and a steering gear drives a steering mechanism to obtain an outer wheel deflection angle theta_eInner wheel deflection angle theta_iAnd the Ackerman steering condition is met: cot (theta)_e)-cot(θ_i) k/L, and a turning radius R Lcot (theta)_i) + k/2, force balance condition during cornering: mg × tanq ═ mv × v/R, consisting of tanq ═ v × vSolving a gravity center side inclination angle q, obtaining a functional relation q of the gravity center side inclination angle q with a steering angle theta and a vehicle speed v, wherein the functional relation q is h (theta, v), taking a vehicle body side inclination angle beta as q, solving an actuating angle beta 1 from a rolling function beta as f (beta 0), and generating an actuating angle alpha by an actuator to drive a rolling mechanism to roll a vehicle body and resist the turning centrifugal force so as to keep the stability of the vehicle in high-speed running; when a beta 2 vehicle runs on a transverse slope ground, a ground transverse slope angle p is dynamically read by an inclination angle sensor, a vehicle body side inclination angle beta is-p, an actuating angle alpha is solved by a roll function beta, f (alpha), and the actuating angle alpha is generated by an actuator to drive a roll mechanism, so that vehicle body roll is realized, and a vehicle roll force caused by terrain change is resisted, so that the stable running posture of the vehicle is maintained; when the beta 3 vehicle runs at low speed, taking alpha as alpha₀Beta is 0, the value of theta can be arbitrarily selected within a certain range, and a steering gear drives a steering mechanism to obtain a corresponding outer wheel deflection angle theta_eInner wheel deflection angle theta_iThe Ackerman steering condition is met, low-speed running and steering without heeling are realized, and the running smoothness of the vehicle is kept.

The invention has the beneficial effects that the provided vehicle turning and roll linkage mechanism and the active roll vehicle realize the independent control of vehicle turning and vehicle body roll, and can realize three working conditions of turning and roll, independent roll or independent turning in the vehicle running process; the vehicle body active side-rolling device is applied to vehicle active side-rolling when the vehicle turns, so that the vehicle can automatically incline at a certain angle to resist centrifugal force or side-rolling force when the vehicle passes a bend or passes an inclined road surface, and a stable driving posture is kept.

Drawings

FIG. 1 is a schematic view of a wheel control mechanism;

FIG. 2 is a schematic diagram of the roll mechanism assembly;

FIG. 3 is a schematic diagram of the roll mechanism roll;

FIG. 4 is a schematic view of the steering mechanism assembly;

FIG. 5 is a drawing showing

The steering mechanism forms a schematic diagram;

FIG. 6 is a steering schematic of the steering mechanism;

FIG. 7 is a schematic diagram of the vehicle steering and roll linkage assembly;

FIG. 8 is a schematic view of a roll suspension mechanism;

FIG. 9 is a schematic view of a roll follower;

FIG. 10 is a schematic view of a side assist mechanism;

FIG. 11 is a schematic diagram of a front wheel steering active roll rear wheel drive driven roll vehicle assembly;

FIG. 12 is a schematic diagram of a front wheel steering active roll rear wheel drive follow-up roll vehicle assembly;

FIG. 13 is a schematic diagram of a front-wheel steering active-heeled rear-wheel drive auxiliary-heeled vehicle assembly;

FIG. 14 is a schematic diagram of a four wheel drive active roll vehicle assembly;

FIG. 15 is a schematic diagram of a single wheel drive active roll vehicle assembly;

in the figure: 1-vehicle body, 2-lower tie rod, 3-knuckle spindle, 4-upper tie rod, 5-shock absorber, 6-crank, 7-knuckle, 8-wheel, 9-crank shaft, 11-connecting rod, 12-left steering arm, 13-right steering arm, 14-left balance rod, 15-right balance rod, 16-cross shaft, 20-upright post, 21-left lower swing rod, 22-right lower swing rod, 23-left supporting rod, 24-right supporting rod, 25-left upper swing rod, 26-right upper swing rod, 27-left shock absorber, 28-right shock absorber, 29-left wheel axle, 30-right wheel axle, 31-left rear wheel, 32-right rear wheel.

Detailed Description

Embodiments of the present invention are described below with reference to the drawings.

The vehicle steering and rolling linkage mechanism is formed by linkage of a rolling mechanism and a steering mechanism (as shown in figure 7);

the roll mechanism shown in fig. 2 is composed of a schematic diagram, and the roll mechanism includes: the automobile body 1, the lower link 2, the knuckle main shaft 3, go up pull rod 4 and rotate the connection in proper order, tie point ABCD is parallelogram, two tie points A, B rotation axis of

lower link

2 and 2 contained angles δ of lower link, two tie points C, D rotation axis of going up pull rod 4 and 4 contained angles of last pull rod equal to δ, tie point A, B, C, D rotation axis is parallel, the E point of lower link 2 is located outside plane ABCD, form another plane ADE, plane ABCD and plane ADE intersect AD, two plane contained angles 90- δ, in plane ADE: the shock absorber 5 is rotationally connected with the E point of the lower pull rod 2, the other end of the shock absorber 5 is rotationally connected with the crank 6, the other end of the crank 6 is rotationally connected with the vehicle body 1, all relative rotation axes are parallel and vertical to the relative movement plane ADEFG of all components, the steering knuckle 7 is rotationally connected with the steering knuckle spindle 3 around the axis BC thereof, the steering knuckle 7 is connected with the wheel 8 and controls the direction thereof, and the wheel 8 rotates around the axis of the steering knuckle 7; a vehicle body 1, a lower pull rod 2, a steering knuckle spindle 3, an upper pull rod 4, a shock absorber 5, a crank 6, a steering knuckle 7 and wheels 8 are connected in the above way to form a group of wheel control mechanisms (as shown in figure 1), two groups of wheel control mechanisms ABCDEFG and A 'B' C 'D' E 'F' G 'with the same geometric parameters and performance parameters are symmetrically arranged in the left and right direction of a vehicle body central vertical plane according to a given wheel track D and share the same vehicle body 1, the vehicle body central vertical plane is parallel to a plane ADEFG, the cranks 6 in the two groups of wheel control mechanisms are fixedly connected by a crank shaft 9 in an angle of 180 degrees, and the crank shaft 9 is vertical to the vehicle body central vertical plane relative to a vehicle body 1 rotating axis GG' to form a side-tipping;

in the roll mechanism, an included angle between the crank 6 and the vehicle body 1 is an actuating angle alpha, and when the two lower pull rods 2 are coplanar, the actuating angle alpha is equal to alpha₀At this time, the vehicle body roll angle β is 0 (as shown in fig. 2); when alpha is not equal to alpha₀When the two wheels move reversely relative to the vehicle body, the two wheels move for a distance h (as shown in fig. 3) along the direction AD, the included angle of the horizontal plane of the vehicle body relative to the ground is the vehicle body roll angle beta, tan beta is h/d, the vehicle body roll angle beta changes when the actuating angle alpha changes, and the roll function beta of the relationship between the vehicle body roll angle beta and the actuating angle alpha of the roll mechanism is obtained, wherein the roll function beta is f (alpha); setting the maximum deflection angle theta of the wheels when the vehicle is turning_mTaking delta not more than 90 degrees to theta_mAnd the interference of the wheels with the upper pull rod and the lower pull rod when the vehicle turns is avoided.

The steering mechanism shown in fig. 4 constitutes a schematic diagram, and the steering mechanism includes: the steering trapezoid MSTN is formed by sequentially and rotatably connecting end points of a left steering arm 12, a connecting rod 11 and a right steering arm 13, and respectively and rotatably connecting an M point of the left steering arm 12 and an N point of the right steering arm 13 with the vehicle body 1, relative rotation axes are parallel and vertical to the horizontal plane of the vehicle body where the steering trapezoid MSTN is located, and M, N are respectively located on the roll mechanismThe middle car body 1 has the same height on the AD and A ' D ' lines, AM is equal to A ' N, the left steering arm 12 and the right steering arm 13 have the same length, MS is equal to NT, and MN is less than ST, so that a steering mechanism is formed; when the two base angles are equal, ST// MN, at this time

fig. 7 is a schematic view of a vehicle roll linkage, which includes: the roll mechanism and the steering mechanism share the same vehicle body, and are provided with the same vehicle body central longitudinal vertical plane and a vehicle body horizontal plane, two axes of the cross shafts 16 are vertically crossed, one axis of each of the two cross shafts 16 is respectively in rotary connection with an I point of a left steering arm 12 and a J point of a right steering arm 13 in the steering mechanism, the rotary axis is vertical to the vehicle body horizontal plane, MI is NJ, gamma is smaller than TNJ, and Delta SMI is also smaller than TNJ; let U, P for the joint point between the left knuckle 7 and the wheel 8 and the knuckle spindle 3, W and Q for the joint point between the right knuckle 7 and the wheel 8 and the knuckle spindle 3, AM, BP, a 'N, B' Q, and two other cross axles 16, each axis of which is connected with H, K of the left and right knuckle 7, respectively, each axis of rotation is parallel to the axis of the knuckle spindle 3, PH, QK, MI,

meanwhile, QK equals NJ, MP equals NQ equals A 'B'; the two ends of the left balance rod 14 are respectively in rotary connection with the other shaft of the I, H-point cross axle, an included angle between a rotary axis of two connecting points I, H of the left balance rod 14 and the left balance rod 14 is equal to delta, the two ends of the right balance rod 15 are respectively in rotary connection with the other shaft of the J, K-point cross axle, an included angle between a rotary axis of two connecting points J, K of the right balance rod 15 and the right balance rod 15 is equal to delta, the left balance rod 14 and the right balance rod 15 are equal in length and equal in length to a lower pull rod 2 in the roll mechanism, namely IH (JK) is AB, then IH (MP) is equal to JK (NQ), and a vehicle steering roll linkage mechanism is formed;

in the vehicle turning and rolling linkage mechanism,

when the temperature of the water is higher than the set temperature,as shown in fig. 4, angle UPH is < WQK < 180 °;

in the process, as shown in fig. 5, an angle UPH is equal to an angle WQK is equal to 180 degrees, UPH three points on a steering knuckle on the left side and a steering knuckle on the right side are collinear, and WQK three points are collinear; when the steering angle theta is changed, two base angles of the steering trapezoid MSTN are changed, and the outer wheel deflection angle theta is obtained through linkage of the parallelograms MIHP and NJKQ_eAnd inner wheel deflection angle theta_iAnd the vehicle turns, as shown in fig. 6. In fig. 4, 5 and 6, the axes of the two journals of the cross shaft are perpendicularly intersected and are L-shaped journals for connecting two orthogonal rotation motions, and a cross bearing can be used for replacing the L-shaped journals, and two perpendicularly intersected rotation motions are connected by two adjacent journals.

In the vehicle steering and rolling linkage mechanism, when a given steering angle theta is equal to 0, two base angles of a steering trapezoid MSTN are equal, and the vehicle runs in a straight line, wherein: when the actuating angle alpha is alpha₀When the vehicle body does not roll, the vehicle runs straight, and when the actuating angle alpha is not equal to alpha₀When the vehicle body is inclined, the vehicle body is driven in a straight line; when the steering angle theta is not equal to 0, the two bottom angles of the steering trapezoid MSTN are not equal, and the deflection angle theta of the outer wheel_eAnd inner wheel deflection angle theta_iThe Ackerman steering condition is met, the vehicle is steered to run, and at the moment: when the actuating angle alpha is alpha₀When the vehicle body is not inclined to turn and runs, the actuating angle alpha is not equal to alpha₀When the vehicle runs, the vehicle body inclines and turns; the vehicle turning and rolling linkage mechanism realizes independent control of vehicle body rolling and vehicle turning through two-degree-of-freedom motion of vehicle turning and vehicle body rolling.

In the vehicle steering and rolling linkage mechanism, the actuating angle alpha is generated by an actuator, and the actuator is an electromagnetic actuator, an electromechanical actuator or an electrohydraulic actuator; the crank shaft 9 of the roll mechanism driven by the actuator output shaft rotates around an axis GG' relative to the vehicle body 1, the position of the roll mechanism is determined by the actuation angle α, and the vehicle body roll angle β is obtained by a roll function β being f (α). The steering angle theta is generated by a steering gear, the steering gear is selected from a gear box type steering gear, a gear rack type steering gear, a worm crank pin type steering gear or a circulating ball type steering gear, and the steering gear can be directly or indirectly driven by a steering actuator to realize the drive-by-wireTurning; the left steering arm 12 of the steering mechanism is driven by the output shaft of the steering gear to rotate around the M point or the right steering arm 13 of the steering mechanism rotates around the N point, the position of the steering mechanism is determined by the steering angle theta, and the steering angle theta corresponds to the deflection angle theta of the outer wheels_eInner wheel deflection angle theta_iAnd the Ackerman steering condition is met, and the turning radius R of the vehicle is obtained.

Fig. 8 shows a schematic diagram of a roll suspension mechanism, in which "a knuckle 7 is rotatably connected with a knuckle spindle 3 around an axis BC thereof, the knuckle 7 is connected with a wheel 8 and controls the direction thereof, the wheel 8 rotates around the axis BC of the knuckle 7" in the roll suspension mechanism, and "the knuckle 7 is vertically and fixedly connected with the knuckle spindle 3, the knuckle 7 is connected with the wheel 8, and the rotation axis of the wheel 8 is perpendicular to a plane ADEFG", and the roll suspension mechanism comprises: the automobile body 1, the lower link 2, the knuckle main shaft 3, go up pull rod 4 and rotate the connection in proper order, tie point ABCD is parallelogram, two tie points A, B rotation axis of

lower link

2 and 2 contained angles δ of lower link, two tie points C, D rotation axis of going up pull rod 4 and 4 contained angles of last pull rod equal to δ, tie point A, B, C, D rotation axis is parallel, the E point of lower link 2 is located outside plane ABCD, form another plane ADE, plane ABCD and plane ADE intersect AD, two plane contained angles 90- δ, in plane ADE: the shock absorber 5 is rotationally connected with the E point of the lower pull rod 2, the other end of the shock absorber 5 is rotationally connected with the crank 6, the other end of the crank 6 is rotationally connected with the vehicle body 1, all relative rotation axes are parallel and vertical to the relative movement plane ADEFG of all components, the steering knuckle 7 is vertically and fixedly connected with the steering knuckle spindle 3, the steering knuckle 7 is connected with the wheels 8, and the rotation axes of the wheels 8 are vertical to the plane ADEFG; the vehicle body 1, the lower pull rod 2, the steering knuckle main shaft 3, the upper pull rod 4, the shock absorber 5, the crank 6, the steering knuckle 7 and the wheels 8 are connected in the above mode to form a group of wheel suspension mechanisms, two groups of wheel suspension mechanisms ABCDEFG and A 'B' C 'D' E 'F' G 'with the same geometric parameters and performance parameters are symmetrically arranged in the left and right direction of the central vertical plane of the vehicle body according to a given wheel distance D and share the same vehicle body 1, the central vertical plane of the vehicle body is parallel to a plane ADEFG, the cranks 6 in the two groups of wheel suspension mechanisms are fixedly connected by the crank shaft 9 at 180 degrees, and the crank shaft 9 is vertical to the central vertical plane of the vehicle body relative to the rotating axis GG' of the vehicle body 1 to; in the roll suspension mechanism, when the roll angle β of the vehicle body is 0, the two lower links 2 are coplanarThe included angle alpha between the crank 6 and the vehicle body 1 is alpha₀When the roll angle β of the vehicle body is not equal to 0, the two wheels move in opposite directions relative to the vehicle body, the adaptive included angle α between the crank 6 and the vehicle body 1 is α, and fig. 8 illustrates that the adaptive included angle α is α₀The roll suspension mechanism is simplified.

Fig. 11 is a schematic diagram showing a front-wheel steering active-roll rear-wheel drive driven-roll vehicle including: a group of vehicle turning and rolling linkage mechanisms and a group of rolling suspension mechanisms are arranged in front and back on the same vehicle body according to a given axle distance L and share the central vertical plane of the same vehicle body, rod pieces with the same name in the rolling mechanism and the rolling suspension mechanism of the vehicle turning and rolling linkage mechanisms are equal in length, shape and geometric dimension, the wheel pitch of a front wheel is equal to that of a rear wheel, the double-rear-wheel hydraulic motor drives the vehicle turning and rolling linkage mechanisms to control the vehicle body to roll, and when an actuating angle alpha is given, the vehicle body side inclination angle beta is given, the rolling suspension mechanisms roll in a self-adaptive mode, so that the two-wheel driving active rolling vehicle with the characteristics of front wheel turning, rear wheel driving and all-wheel rolling is.

Fig. 9 shows a simplified roll-following mechanism, comprising: left suspension A₂B₂C₂D₂K₂G₂Is composed of a left lower swing rod 21, a left support rod 23, a left upper swing rod 25, an upright post 20 and a left shock absorber 27, the end points of which are sequentially and rotatably connected, and the other end of the left shock absorber 27 is connected with the middle G of the left upper swing rod 25₂Point-rotation connection, each relative rotation axis being parallel and perpendicular to the left suspension A₂B₂C₂D₂K₂G₂On the plane, a left wheel shaft 29 is vertically and fixedly connected with the left support rod 23, the left wheel shaft 29 is connected with a left rear wheel 31, the rotation axis of the left rear wheel 31 is parallel to the plane A₂B₂C₂D₂K₂G₂(ii) a Right suspension A₂E₂F₂D₂K₂H₂Is composed of a right lower swing rod 22, a right supporting rod 24, a right upper swing rod 26, an upright post 20 and a right shock absorber 28, the end points of which are sequentially and rotatably connected, and the other end of the right shock absorber 28 is connected with the middle part H of the right upper swing rod 26₂Point-rotation connection, each relative rotation axis being parallel and perpendicular toRight suspension A₂E₂F₂D₂K₂H₂On the plane, a right wheel shaft 30 is vertically and fixedly connected with the right support rod 24, the right wheel shaft 30 is connected with a right rear wheel 32, the rotation axis of the right rear wheel 32 is parallel to the plane A₂E₂F₂D₂K₂H₂(ii) a The vehicle body 1 is at A₂The point is rotationally connected with the left lower swing rod and the right lower swing rod, and the vehicle body 1 is positioned at D₂The point is rotationally connected with the left upper swing rod, the right upper swing rod and the upright post, K₂A common rotation connection point for the left damper 27, the right damper 28 and the upright post 20, plane A₂B₂C₂D₂K₂G₂And plane A₂E₂F₂D₂K₂H₂The left suspension and the right suspension share the vehicle body 1 and the upright post 20 and share the connection point A in the same vehicle body transverse plane₂、D₂、K₂，B₂C₂＝E₂F₂＝A₂D₂，A₂B₂＝C₂D₂＝A₂E₂＝F₂D₂The left shock absorber 27 and the right shock absorber 28 are equal in length and same in performance, and form a side-tipping follow-up mechanism; in the roll follow-up mechanism, when the vehicle body roll angle β is 0, the pillar 20 is collinear with the vehicle body 1, and α is₂180 ° with respect to a roll-following mechanism₂D₂Symmetrically, when the vehicle body side inclination angle beta is not equal to 0, the two wheels move reversely at equal distance relative to the vehicle body, and the self-adaptive included angle between the upright post 20 and the vehicle body 1 is alpha₂FIG. 9 shows an adaptive angle α₂The roll-following mechanism at 180 ° is simplified.

Fig. 12 is a schematic diagram showing a front-wheel steering active-roll rear-wheel drive follow-up roll vehicle, the front-wheel steering active-roll rear-wheel drive follow-up roll vehicle including: the two-wheel driving active roll vehicle is characterized in that a group of vehicle steering roll linkage mechanisms and a group of roll follow-up mechanisms are arranged on the same vehicle body in a front-back mode according to a given axle distance L and share the same vehicle body central vertical plane, the wheel distance of front wheels is equal to that of rear wheels, the two rear wheels are driven by hydraulic motors, the vehicle steering roll linkage mechanisms control the roll of the vehicle body, the roll follow-up mechanisms roll in a self-adaptive mode when an actuating angle alpha is given and the vehicle body roll angle beta is given, and the two-wheel driving active roll vehicle with the characteristics of front wheel steering, rear wheel driving and all-wheel roll.

FIG. 10 is a schematic view of a roll auxiliary mechanism for changing the positions of three connecting points, G, of a left damper 27, a right damper 20 and a right damper 28 in a roll follow-up mechanism₂Pointing on the left lower swing link 21, H₂The point is taken on the lower right swing rod 22 and shares the connection point K₂The connecting point of the lower end of the upright post 20 is A₂Forming, including: left suspension D₂C₂B₂A₂K₂G₂Is composed of a left upper swing rod 25, a left supporting rod 23, a left lower swing rod 21, an upright post 20 and a left shock absorber 27, the end points of which are sequentially and rotatably connected, and the other end of the left shock absorber 27 is connected with the middle G of the left lower swing rod 21₂Point-rotation connection, each relative rotation axis being parallel and perpendicular to the left suspension D₂C₂B₂A₂K₂G₂On the plane, a left wheel shaft 29 is vertically and fixedly connected with the left support rod 23, the left wheel shaft 29 is connected with a left rear wheel 31, the rotation axis of the left rear wheel 31 is parallel to the plane D₂C₂B₂A₂K₂G₂(ii) a Right suspension D₂F₂E₂A₂K₂H₂Is composed of a right upper swing rod 26, a right supporting rod 24, a right lower swing rod 22, an upright post 20 and a right shock absorber 28, the end points of which are sequentially and rotatably connected, and the other end of the right shock absorber 28 is connected with the middle part H of the right lower swing rod 22₂Point-rotation connection, each relative rotation axis being parallel and perpendicular to the right suspension D₂F₂E₂A₂K₂H₂On the plane, a right wheel shaft 30 is vertically and fixedly connected with the right support rod 24, the right wheel shaft 30 is connected with a right rear wheel 32, the rotation axis of the right rear wheel 32 is parallel to the plane D₂F₂E₂A₂K₂H₂(ii) a The vehicle body 1 is at A₂The point is rotationally connected with the left lower swing rod, the right lower swing rod and the upright post, and the vehicle body 1 is positioned at D₂The point is rotationally connected with the left and right upper swing rods, K₂A common rotation connection point for the left damper 27, the right damper 28 and the upright post 20, plane D₂C₂B₂A₂K₂G₂And plane D₂F₂E₂A₂K₂H₂The left suspension and the right suspension share the vehicle body 1 and the upright post 20 and share the connection point A in the same vehicle body transverse plane₂、D₂、K₂，B₂C₂＝E₂F₂＝A₂D₂，A₂B₂＝C₂D₂＝A₂E₂＝F₂D₂The left shock absorber 27 and the right shock absorber 28 are equal in length and same in performance, and form a side-tilting auxiliary mechanism; in the roll assist mechanism, when the vehicle body roll angle β is 0, the pillar 20 is collinear with the vehicle body 1, and α is₂0, roll assist mechanism with respect to a₂D₂Symmetrically, when the vehicle body side inclination angle beta is not equal to 0, the two wheels move reversely at equal distance relative to the vehicle body, and the self-adaptive included angle between the upright post 20 and the vehicle body 1 is alpha₂。

Fig. 13 is a schematic diagram of a front-wheel steering active-roll rear-wheel drive auxiliary-roll vehicle, the front-wheel steering active-roll rear-wheel drive auxiliary-roll vehicle including: the two-wheel driving active roll vehicle is characterized in that a group of vehicle steering roll linkage mechanisms and a group of roll auxiliary linkage mechanisms are arranged in front and back on the same vehicle body according to a given axle distance L and share the central vertical plane of the same vehicle body, the wheel distance of a front wheel is equal to that of a rear wheel, the two rear wheels are driven by hydraulic motors, the vehicle steering roll linkage mechanisms control the roll of the vehicle body, the roll angle beta of the vehicle body is given when an actuating angle alpha is given, and the roll auxiliary linkage mechanisms roll in a self-adaptive mode, so that the two-wheel driving active roll vehicle with the characteristics of front wheel steering, rear wheel driving and;

the four-wheel drive active roll vehicle shown in fig. 14 is a schematic diagram, two groups of same vehicle steering roll linkage mechanisms are arranged in front and back on the same vehicle body according to a given wheel base L and share the same central vertical plane of the vehicle body, the same name of rod pieces in the front mechanism and the rear mechanism are equal in length, shape and geometric size, the wheel base of the front wheel is equal to that of the rear wheel, the four-wheel hub motor drives, and the actuating angles alpha of the front roll mechanism and the rear roll mechanism are equal to that of the rear wheel₁、α₂Corresponding vehicle body roll angle beta₁、β₂Taking the actuation angle α ═ α₁＝α₂Then the vehicle body roll angle beta is equal to beta₁＝β₂To realize synchronous side-tippingControlling to form a four-wheel drive active roll vehicle with all-wheel steering, all-wheel drive and all-wheel roll characteristics; the adhesive has the characteristics of large adhesive force, small turning radius and good ground adaptability.

Fig. 15 is a schematic diagram of a single-wheel-drive active-roll vehicle, in which a group of vehicle steering-roll linkages is arranged in front, a single wheel is arranged behind and shares the central vertical plane of the same vehicle body according to a given axle distance L, a single rear wheel is connected to the vehicle body through a swing arm and a shock absorber, and a rear wheel hub motor is used for driving, so as to form the single-wheel-drive active-roll vehicle with the characteristics of front wheel steering, rear wheel driving and three-wheel reversing; has the characteristics of small volume, mobility and flexibility.

In combination with the working schematic diagram of the vehicle turning and rolling linkage mechanism shown in fig. 3, 6, 7, 11 or 12, the distance k of the main shaft of the steering knuckle, the vehicle speed v and the gravity acceleration g are set, the vehicle turning and rolling linkage mechanism is a two-degree-of-freedom motion system, and the vehicle body rolling and the vehicle turning can be performed independently or simultaneously, so that three operation modes of turning and rolling, independent rolling or independent turning can be realized in the vehicle running process, and the vehicle rolling control method comprises the following steps:

firstly, when the vehicle runs at high speed and turns, a steering angle theta is given, and a steering gear drives a steering mechanism to obtain an outer wheel deflection angle theta_eInner wheel deflection angle theta_iAnd the Ackerman steering condition is met: cot (theta)_e)-cot(θ_i) k/L, and a turning radius R Lcot (theta)_i) + k/2, force balance condition during cornering: mg × tanq is mv × v/R, a gravity center side inclination angle q is solved from tan q is v × v/(gR), a functional relation q between the gravity center side inclination angle q and a steering angle θ and a vehicle speed v is obtained, a vehicle body side inclination angle β is obtained as q, an actuation angle α is solved from a roll function β is f (α), the actuation angle α is generated by an actuator to drive a roll mechanism, and vehicle body roll and turning centrifugal force resistance are realized to keep the stability of the vehicle in high-speed running;

when the vehicle runs on a transverse slope ground, dynamically reading a ground transverse slope angle p by using an inclination angle sensor, taking a vehicle side inclination angle beta as-p, solving an actuating angle alpha by using a roll function beta as f (alpha), and generating the actuating angle alpha by using an actuator to drive a roll mechanism so as to realize vehicle body roll and resist the side turning force of the vehicle caused by terrain change, thereby keeping the stable running posture of the vehicle;

③ when the vehicle runs at low speed, taking alpha as alpha₀Beta is 0, the value of theta can be arbitrarily selected within a certain range, and a steering gear drives a steering mechanism to obtain a corresponding outer wheel deflection angle theta_eInner wheel deflection angle theta_iThe Ackerman steering condition is met, low-speed running and steering without heeling are realized, and the running smoothness of the vehicle is kept.

Through the embodiment, the vehicle turning and roll linkage mechanism and the active roll vehicle provided by the invention realize independent control of vehicle turning and vehicle body roll, and can realize three working conditions of turning and roll, independent roll or independent turning in the vehicle running process; the active roll vehicle based on the vehicle steering roll linkage mechanism is further provided, and is applied to active roll of a vehicle body when the vehicle is steered, so that the vehicle can automatically incline at a certain angle to resist centrifugal force or side-turning force when the vehicle passes a bend or runs on an inclined road surface, and a stable running posture is kept.

Claims

1. The vehicle turns to the link gear that heels, constitutes its characterized in that by the linkage of mechanism and the steering mechanism that heels:

the roll mechanism includes: the automobile body, the lower link, the knuckle main shaft, go up the pull rod and rotate the connection in proper order, and tie point ABCD is parallelogram, and the axis of rotation and the pull rod formation contained angle delta of two tie points A, B of pull rod down, and the axis of rotation of two tie points C, D of going up the pull rod equals the delta with the contained angle of last pull rod, and tie point A, B, C, D axis of rotation is parallel, and the E point of pull rod is located outside plane ABCD, forms another plane ADE, and plane ABCD and plane ADE intersect AD, two plane contained angles are 90-delta, in plane ADE: the shock absorber is rotationally connected with the E point of the lower pull rod, the other end of the shock absorber is rotationally connected with the crank, the other end of the crank is rotationally connected with the vehicle body, the relative rotation axes of all the connection points are parallel to each other and are all perpendicular to the relative movement plane ADEFG of all the components, the steering knuckle is rotationally connected with the steering knuckle spindle around the axis BC thereof, and the steering knuckle is connected with the wheel and controls the direction thereof, and the wheel rotates around the steering knuckle axis; the vehicle body, the lower pull rod, the steering knuckle spindle, the upper pull rod, the shock absorber, the crank, the steering knuckle and the wheels are connected in the above mode to form a group of wheel control mechanisms, two groups of wheel control mechanisms ABCDEFG and A ' B ' C ' D ' E ' F ' G ' with the same geometric parameters and performance parameters are symmetrically arranged in the left and right direction of the central vertical plane of the vehicle body according to a given wheel distance D and share the same vehicle body, the central vertical plane of the vehicle body is parallel to a plane ADEFG, the cranks in the two groups of wheel control mechanisms are fixedly connected by a crank shaft at 180 degrees, and the crank shaft is vertical to the central vertical plane of the vehicle body relative to the rotational axis GG;

wherein: the included angle between the crank and the vehicle body is an actuating angle alpha, and when the two lower pull rods are in the same plane, the actuating angle alpha is alpha₀When the vehicle body roll angle beta is 0; when alpha is not equal to alpha₀When the two wheels move reversely relative to the vehicle body and move for a distance h along the AD direction, the included angle of the horizontal plane of the vehicle body relative to the ground is a vehicle body roll angle beta, and the vehicle body roll angle beta changes when the actuating angle alpha changes;

the steering mechanism comprises: the steering trapezoid MSTN is formed by sequentially and rotatably connecting end points of a left steering arm, a connecting rod and a right steering arm, and respectively and rotatably connecting an M point of the left steering arm and an N point of the right steering arm with the vehicle body, wherein each relative rotating axis is parallel to and perpendicular to the horizontal plane of the vehicle body where the steering trapezoid MSTN is located, M, N is respectively located at the same height on AD and A 'D' lines of the vehicle body in the roll mechanism, the left steering arm and the right steering arm are equal in length, and MN is less than ST;

when in use, the steering mechanisms are symmetrical with the longitudinal vertical plane of the center of the vehicle body;

the roll mechanism and the steering mechanism share the same vehicle body, and are provided with the same vehicle body central longitudinal vertical plane and a vehicle body horizontal plane, two axes of the cross shafts are vertically crossed, one axis of each of the two cross shafts is respectively and rotationally connected with an I point of a left steering arm and a J point of a right steering arm in the steering mechanism, the rotation axis is vertical to the vehicle body horizontal plane, MI is NJ, and gamma is less TNJ; let U, P be the left knuckle-to-wheel and knuckle spindle coupling points in the roll mechanism, W and Q be the right knuckle-to-wheel and knuckle spindle coupling points, and AM be "BP" or "a 'N" or "B'Q, one axis of the other two cross shafts is respectively and rotatably connected with H, K points of the left and right steering knuckles in the roll mechanism, each rotating axis is parallel to the axis of the main shaft of the steering knuckle, PH is equal to QK is equal to MI,

the two ends of the left balance rod are respectively and rotatably connected with the other shaft of the I, H-point cross axle, the included angle between the rotating axis of the two connecting points I, H of the left balance rod and the left balance rod is equal to delta, the two ends of the right balance rod are respectively and rotatably connected with the other shaft of the J, K-point cross axle, the included angle between the rotating axis of the two connecting points J, K of the right balance rod and the right balance rod is equal to delta, the left balance rod and the right balance rod are equal in length and equal to the length of a pull rod in the roll mechanism, and IH (MP) is equal to JK (NQ) to form a vehicle steering roll linkage mechanism;

wherein: when the steering angle theta is given to be 0, the two base angles of the steering trapezoid MSTN are equal, the vehicle runs in a straight line, and at the moment: when the actuating angle alpha is alpha₀When the vehicle body does not roll, the vehicle runs straight, and when the actuating angle alpha is not equal to alpha₀When the vehicle body is inclined, the vehicle body is driven in a straight line; when the steering angle theta is not equal to 0, the two bottom angles of the steering trapezoid MSTN are not equal, and the deflection angle theta of the outer wheel_eAnd inner wheel deflection angle theta_iThe Ackerman steering condition is met, the vehicle is steered to run, and at the moment: when the actuating angle alpha is alpha₀When the vehicle body is not inclined to turn and runs, the actuating angle alpha is not equal to alpha₀When the vehicle body is inclined and turned to run.

2. The vehicle roll and steering linkage according to claim 1, wherein the axes of the journals of the cross are perpendicularly intersecting, optionally with cross bearings, and the two perpendicularly intersecting axes are connected for movement by two adjacent journals.

3. The vehicle roll and turn linkage according to claim 1 wherein the actuation angle α is generated by an actuator selected from the group consisting of an electromagnetic actuator, an electromechanical actuator, and an electrohydraulic actuator.

4. The vehicle roll and turn linkage according to claim 1, wherein the steering angle θ is generated by a steering gear, the steering gear is selected from a gear box type steering gear, a gear rack type steering gear, a worm crank pin type steering gear or a recirculating ball type steering gear, and the steering gear is directly or indirectly driven by a steering actuator to realize steer-by-wire.

5. The front wheel steering active-heeling rear wheel driving driven heeling vehicle is characterized in that a group of vehicle steering heeling linkage mechanisms and a group of heeling suspension mechanisms are arranged in front and at the back of the same vehicle body according to a given axle distance L and share the same vehicle body central vertical plane, the vehicle steering heeling linkage mechanisms control the vehicle body to heel, and the heeling suspension mechanisms self-adaptively heels to form the vehicle with the characteristics of front wheel steering, rear wheel driving and all-wheel heeling;

the roll suspension mechanism is formed by that in the roll mechanism of the vehicle turning and roll linkage mechanism of claim 1, a steering knuckle is rotationally connected with a steering knuckle spindle around an axis BC thereof, the steering knuckle is connected with a wheel and controls the direction of the wheel, the wheel rotates around the steering knuckle axis ' and is changed into ' the steering knuckle is vertically and fixedly connected with the steering knuckle spindle, the steering knuckle is connected with the wheel, and the rotating axis of the wheel is vertical to a plane ADEFG ', and comprises: the automobile body, the lower link, the knuckle main shaft, go up the pull rod and rotate the connection in proper order, and tie point ABCD is parallelogram, and the axis of rotation and the pull rod formation contained angle delta of two tie points A, B of pull rod down, and the axis of rotation of two tie points C, D of going up the pull rod equals the delta with the contained angle of last pull rod, and tie point A, B, C, D axis of rotation is parallel, and the E point of pull rod is located outside plane ABCD, forms another plane ADE, and plane ABCD and plane ADE intersect AD, two plane contained angles are 90-delta, in plane ADE: the shock absorber is rotationally connected with the E point of the lower pull rod, the other end of the shock absorber is rotationally connected with the crank, the other end of the crank is rotationally connected with the vehicle body, the relative rotation axes of all the connection points are parallel to each other and are all perpendicular to the relative movement plane ADEFG of all the components, the steering knuckle is vertically and fixedly connected with the steering knuckle spindle, the steering knuckle is connected with the wheel, and the rotation axis of the wheel is perpendicular to the plane ADEFG; a vehicle body, a lower pull rod, a steering knuckle main shaft, an upper pull rod, a shock absorber, a crank, a steering knuckle and wheels are connected in the above mode to form a group of wheel suspension mechanisms, two groups of wheel suspension mechanisms ABCDEFG and A ' B ' C ' D ' E ' F ' G ' with the same geometric parameters and performance parameters are symmetrically arranged in the left and right direction of a central vertical plane of the vehicle body according to a given wheel distance D and share the same vehicle body, the central vertical plane of the vehicle body is parallel to a plane ADEFG, the cranks in the two groups of wheel suspension mechanisms are fixedly connected by a crank shaft at 180 degrees, and the crank shaft is vertical to the central vertical plane of the vehicle body relative to a vehicle body rotation axis GG.

6. The front wheel steering active roll rear wheel driving follow-up roll vehicle is characterized in that a group of vehicle steering roll linkage mechanisms and a group of roll follow-up mechanisms are arranged in front and back of the same vehicle body according to a given axle distance L and share the same vehicle body central vertical plane, the vehicle steering roll linkage mechanisms control the roll of the vehicle body, and the roll follow-up mechanisms roll in a self-adaptive mode to form the vehicle with the characteristics of front wheel steering, rear wheel driving and all-wheel roll;

the roll-following mechanism includes: left suspension A₂B₂C₂D₂K₂G₂The left lower swing rod, the left support rod, the left upper swing rod, the upright post and each end point of the left shock absorber are sequentially and rotatably connected, and the other end of the left shock absorber is connected with the middle part G of the left upper swing rod₂Point-rotation connection structure, the relative rotation axes of all the connection points are parallel to each other and are perpendicular to the left suspension A₂B₂C₂D₂K₂G₂On the plane, a left wheel axle is vertically and fixedly connected with the left support rod, the left wheel axle is connected with a left rear wheel, and the rotation axis of the left rear wheel is parallel to the plane A₂B₂C₂D₂K₂G₂(ii) a Right suspension A₂E₂F₂D₂K₂H₂The other end of the right shock absorber is connected with the middle part H of the right upper swing rod₂Point-rotation connection structure, the relative rotation axes of all the connection points are parallel to each other and are perpendicular to the right suspension A₂E₂F₂D₂K₂H₂On the plane, a right wheel shaft is vertically and fixedly connected with a right supporting rod, the right wheel shaft is connected with a right rear wheel, and the rotation axis of the right rear wheel is parallel to the plane A₂E₂F₂D₂K₂H₂(ii) a The vehicle body is at A₂The point is rotationally connected with the left lower swing rod and the right lower swing rod, and the vehicle body is positioned at D₂The point is rotationally connected with the left upper swing rod, the right upper swing rod and the upright post, K₂A rotary connection point shared by the left shock absorber, the right shock absorber and the upright post, and a plane A₂B₂C₂D₂K₂G₂And plane A₂E₂F₂D₂K₂H₂The left suspension and the right suspension share the vehicle body and the upright post and share the connection point A in the same vehicle body transverse plane₂、D₂、K₂，B₂C₂＝E₂F₂＝A₂D₂，A₂B₂＝C₂D₂＝A₂E₂＝F₂D₂The left shock absorber and the right shock absorber are equal in length and same in performance.

7. The front wheel steering active roll rear wheel driving auxiliary roll vehicle is characterized in that a group of vehicle steering roll linkage mechanisms and a group of roll auxiliary linkage mechanisms according to claim 1 are arranged in front and back of the same vehicle body according to a given axle distance L and share the same vehicle body central vertical plane, the vehicle steering roll linkage mechanisms control the vehicle body to roll, and the roll auxiliary linkage mechanisms are self-adaptively rolled to form the vehicle with the characteristics of front wheel steering, rear wheel driving and all-wheel roll;

the roll-assist mechanism of a front-wheel steering active-roll rear-wheel drive follow-up roll vehicle according to claim 6, wherein the positions of three connecting points of the left shock absorber, the upright post and the right shock absorber are changed, G₂Pointing on the left lower swing link, H₂The point is taken on the lower right swing rod and shares the connection point K₂The connecting point of the lower end of the upright post is A₂Forming, including: left suspension D₂C₂B₂A₂K₂G₂From the left to the topThe rod, the left support rod, the left lower swing rod, the upright post and each end point of the left shock absorber are sequentially and rotatably connected, and the other end of the left shock absorber is connected with the middle part G of the left lower swing rod₂Point-rotation connection structure, the relative rotation axes of the connection points are parallel to each other and are perpendicular to the left suspension D₂C₂B₂A₂K₂G₂On the plane, a left wheel axle is vertically and fixedly connected with the left support rod, the left wheel axle is connected with a left rear wheel, and the rotation axis of the left rear wheel is parallel to the plane D₂C₂B₂A₂K₂G₂(ii) a Right suspension D₂F₂E₂A₂K₂H₂The end points of the upper right swing rod, the right supporting rod, the lower right swing rod, the upright post and the right shock absorber are sequentially and rotatably connected, and the other end of the right shock absorber is connected with the middle part H of the lower right swing rod₂Point-rotation connection structure, the relative rotation axes of the connection points are parallel to each other and are perpendicular to the right suspension D₂F₂E₂A₂K₂H₂On the plane, a right wheel shaft is vertically and fixedly connected with a right supporting rod, the right wheel shaft is connected with a right rear wheel, and the rotation axis of the right rear wheel is parallel to the plane D₂F₂E₂A₂K₂H₂(ii) a The vehicle body is at A₂The point is rotationally connected with the left lower swing rod, the right lower swing rod and the upright post, and the vehicle body is positioned at D₂The point is rotationally connected with the left and right upper swing rods, K₂A rotating connection point shared by the left shock absorber, the right shock absorber and the upright post, and a plane D₂C₂B₂A₂K₂G₂And plane D₂F₂E₂A₂K₂H₂The left suspension and the right suspension share the vehicle body and the upright post and share the connection point A in the same vehicle body transverse plane₂、D₂、K₂，B₂C₂＝E₂F₂＝A₂D₂，A₂B₂＝C₂D₂＝A₂E₂＝F₂D₂The left shock absorber and the right shock absorber are equal in length and same in performance.

8. A four-wheel drive active roll vehicle characterized in that a vehicle having all-wheel steering, all-wheel drive, and all-wheel roll characteristics is constructed by two identical sets of the vehicle turning roll linkages of claim 1 arranged in tandem on the same vehicle body at a given wheel base L, sharing the same vehicle body central vertical plane, four-wheel drive, and synchronous roll control.

9. A single-wheel-drive active roll vehicle characterized in that a vehicle having front-wheel steering, rear-wheel-drive, and inverted three-wheel characteristics is constructed by arranging a set of the vehicle steering roll linkages of claim 1 in front, arranging single wheels in rear, sharing the same vehicle body central vertical plane, and driving rear wheels on the same vehicle body at a given wheel base L.