CN110294035B - Vehicle body side-tipping driving mechanism and vehicle using same - Google Patents
Vehicle body side-tipping driving mechanism and vehicle using same Download PDFInfo
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- CN110294035B CN110294035B CN201910613700.0A CN201910613700A CN110294035B CN 110294035 B CN110294035 B CN 110294035B CN 201910613700 A CN201910613700 A CN 201910613700A CN 110294035 B CN110294035 B CN 110294035B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
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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
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Abstract
The invention relates to the technical field of vehicle chassis, and discloses a vehicle body side-tipping driving mechanism and a vehicle applying the same, wherein the vehicle body side-tipping driving mechanism comprises: the closed transmission loop eliminates transmission clearance, reduces motion impact, improves the stability and reliability of the vehicle in the tilting process, and is applied to the situation that the vehicle body actively tilts a certain angle to resist centrifugal force or side-turning force when the vehicle passes a bend or runs on an inclined road surface so as to keep a stable running posture of the vehicle.
Description
Technical Field
The invention relates to a vehicle body side-tipping driving mechanism and a vehicle using the same, belongs to the technical field of vehicle chassis, and particularly relates to the technical field of vehicle body side-tipping driving and controlling.
Background
The active roll control system improves the operation stability, smoothness, traffic speed and safety of the vehicle during turning by controlling the degree of the vehicle inclining to the inner side of the turning during turning, and the vehicle active roll technology can enable the vehicle to automatically incline for a certain angle during passing a bend or driving on an inclined road surface to generate a balance moment to resist the centrifugal force or the side overturning force applied to the vehicle so as to keep the stable driving posture of the vehicle.
The active roll technology of the vehicle is generally implemented by two modes of independent roll of a vehicle body and linkage roll of the vehicle body and wheels, wherein: the vehicle body and the wheels are in linkage roll mode, the roll of the vehicle body and the steering motion of the vehicle are mutually influenced, the control stability, the smoothness and the safety of the vehicle during turning are better, two-wheel independent steering or four-wheel independent steering is required to be adopted, or a vehicle steering roll linkage device formed by the linkage of a roll mechanism and a steering mechanism is adopted, but the structure is complex, the manufacturing cost is high, and the vehicle steering roll linkage device is suitable for high-end vehicles; the vehicle body independent side-tipping mode is adopted, the vehicle body side-tipping and the vehicle steering movement are independently carried out without mutual interference, any steering mechanism can be adopted, the structure is simple, the manufacturing cost is low, and the vehicle body is directly driven by an actuator to rotate relative to the vehicle frame, so that the operation stability, the smoothness and the safety reliability of the vehicle during turning are poor; the method has the advantages that the independent side-tipping driving mode of the vehicle body is explored, the independent side-tipping transmission and control method of the vehicle body is researched, and the theoretical significance and the practical value are achieved for reducing the manufacturing cost of the active side-tipping vehicle and improving the performance of the independent side-tipping vehicle of the vehicle body.
Disclosure of Invention
The invention aims to provide a vehicle body side-tipping driving mechanism and a vehicle using the same, wherein a double-path series connection is adopted to drive a vehicle body to move in a side-tipping mode, a closed transmission loop eliminates transmission clearance, reduces motion impact, improves the stability and reliability of the vehicle in the side-tipping process, and is applied to the situation that the vehicle body actively tilts a certain angle to resist centrifugal force or side-tipping force when the vehicle passes a bend or runs on an inclined road surface so as to keep the stable running posture of the vehicle.
The technical scheme adopted for achieving the purpose of the invention is as follows:
the vehicle body roll driving mechanism includes: the bicycle comprises a frame (1), a bicycle body (2), a left crank (3), a left connecting rod (4), a right crank (5), a right connecting rod (6), a left gear (7), a middle gear (8) and a right gear (9), wherein the bicycle body (2) is rotationally connected with the frame (1) at a point O around a roll axis L, a roll center O is positioned on a symmetrical line of a central line of the frame (1) and the bicycle body (2), one end of the left crank (3) is rotationally connected with the frame (1) at a point A, one end of the left connecting rod (4) is rotationally connected with the bicycle body (2) at a point C, the other end of the left crank (3) is rotationally connected with the other end of the left connecting rod (4) at a connecting point B, one end of the right crank (5) is rotationally connected with the frame (1) at a point D, one end of the right connecting rod (6) is rotationally connected with the bicycle body (2) at a point F, the relative rotation axis of each connecting point is parallel to a roll axis L, the connecting point A, D is symmetrical about the center line of the frame (1), the connecting point C, F takes the symmetry line of the vehicle body (2) as a perpendicular bisector to form two parallelogram kinematic chains of ABCO and DEFO, AB is DE and BC is EF, the G point is arranged on the center line of the frame (1), the left gear (7), the middle gear (8) and the right gear (9) are respectively connected with A, G, D points on the frame (1) in a rotating manner, the three cylindrical gears are sequentially meshed for transmission, the left gear (7) and the right gear (9) rotate in the same direction, the left gear (7) is fixedly connected with the left crank (3) and rotates around the A point together, the right gear (9) is fixedly connected with the right crank (5) and rotates around the D point together to form a vehicle body roll driving mechanism; the actuator drives the middle gear (8) to rotate around a G point, the left crank (3) and the right crank (5) rotate in the same angle and the same direction through the left gear (7) and the right gear (9), the left connecting rod (4) and the right connecting rod (6) are synchronously linked, the vehicle body (2) rotates around a roll axis L relative to the vehicle frame (1) at a roll angle beta, an ABCO and DEFO two-way series motion chain drives the vehicle body to roll, a GABCOFEDG closed type transmission loop is formed to eliminate transmission gaps and reduce motion impact, and the vehicle body roll motion is stable, safe and reliable.
In the above-described body roll driving mechanism, the actuator is an electromagnetic actuator, an electromechanical actuator, or an electrohydraulic actuator, and the required body roll angle β can be obtained.
The four-wheeled vehicle with actively rolling body includes: the vehicle body roll driving mechanism is characterized by that it uses four groups of suspensions and shock absorbers to respectively connect left front wheel, right front wheel, left rear wheel and right rear wheel according to the given wheel base and wheel base, and makes them respectively implement double front wheel steering and double rear wheel driving so as to form the four-wheel vehicle with front wheel steering, rear wheel driving and vehicle body active roll characteristics.
The three-wheeled vehicle with a body tilting on the active side comprises: the car body heeling driving mechanism is characterized in that a frame is respectively connected with a left front wheel and a right front wheel through two groups of suspensions and shock absorbers according to a given wheel base, double front wheels are used for steering, a car body is connected with a rear wheel through a swing arm and a shock absorber according to a given wheel base, and the rear wheel is used for driving, so that the inverted three-wheeled car with the characteristics of front wheel steering, single rear wheel driving and active heeling of the car body is formed.
The invention has the beneficial effects that the double-path series connection is adopted to drive the vehicle body to roll, the closed transmission loop eliminates the transmission clearance, reduces the motion impact, improves the stability and the reliability of the vehicle in the roll process, and is applied to the active roll of the vehicle body when the vehicle turns, so that the vehicle body actively tilts a certain angle to resist the centrifugal force or the roll-over force when the vehicle passes a bend or passes an inclined road surface, and the stable running posture of the vehicle is kept.
Drawings
FIG. 1 is a diagrammatic view of a vehicle body roll drive mechanism;
FIG. 2 is a schematic diagram of the roll of the body roll drive mechanism;
FIG. 3 is a schematic diagram of the components of a four-wheeled vehicle with an actively rolling body;
FIG. 4 is a schematic diagram of a three-wheeled vehicle with a body tilting on the driving side;
in the figure; 1-frame, 2-body, 3-left crank, 4-left connecting rod, 5-right crank, 6-right connecting rod, 7-left gear, 8-middle gear, 9-right gear.
Detailed Description
Embodiments of the present invention are described below with reference to the drawings.
Fig. 1 shows a schematic view of a roll drive mechanism for a vehicle body, the roll drive mechanism comprising: the bicycle comprises a frame (1), a bicycle body (2), a left crank (3), a left connecting rod (4), a right crank (5), a right connecting rod (6), a left gear (7), a middle gear (8) and a right gear (9), wherein the bicycle body (2) is rotationally connected with the frame (1) at a point O around a roll axis L, a roll center O is positioned on a symmetrical line of a central line of the frame (1) and the bicycle body (2), one end of the left crank (3) is rotationally connected with the frame (1) at a point A, one end of the left connecting rod (4) is rotationally connected with the bicycle body (2) at a point C, the other end of the left crank (3) is rotationally connected with the other end of the left connecting rod (4) at a connecting point B, one end of the right crank (5) is rotationally connected with the frame (1) at a point D, one end of the right connecting rod (6) is rotationally connected with the bicycle body (2) at a point F, the relative rotation axis of each connecting point is parallel to a roll axis L, the connecting point A, D is symmetrical about the center line of the frame (1), the connecting point C, F takes the symmetry line of the vehicle body (2) as a perpendicular bisector to form two parallelogram kinematic chains of ABCO and DEFO, AB is DE and BC is EF, G is on the center line of the frame (1), a left gear (7), a middle gear (8) and a right gear (9) are respectively connected with A, G, D points on the frame (1) in a rotating way, the three straight-tooth cylindrical gears have the same modulus and pressure angle, the three straight-tooth cylindrical gears are sequentially in meshing transmission, the left gear (7) and the right gear (9) have the same number of teeth, the left gear (7) and the right gear (9) rotate in the same direction at the same speed, the left gear (7) and the middle gear (8) are in meshing transmission center distance AG, the middle gear (8) and the right gear (9) are in meshing transmission center distance GD and GD, the left gear (7) is fixedly connected with a left crank (3), Rotate around the point A together, the right gear (9) is fixedly connected with the right crank (5) and rotates around the point D together to form a vehicle body side-tipping driving mechanism.
The roll principle diagram of the vehicle body roll driving mechanism shown in fig. 2 is that an actuator M is fixedly connected to a vehicle frame, an output shaft of the actuator M drives a middle gear (8) to rotate around a point G, a left crank (3) and a right crank (5) rotate in the same angle and the same direction through a left gear (7) and a right gear (9) which are meshed with the middle gear (8), the vehicle body (2) rotates around a roll axis L through synchronous linkage of a left connecting rod (4) and a right connecting rod (6), and a vehicle body roll motion is driven by an ABCO and DEFO two-way serial motion chain, so that a GABCOFEDG closed type transmission circuit is formed to eliminate transmission gaps and reduce motion impact, and the vehicle body roll motion is stable, safe and reliable; the actuator is an electromagnetic actuator, an electromechanical actuator or an electrohydraulic actuator, and the required vehicle body roll angle beta can be obtained. The vehicle body mass m, the distance h between the center of mass of the vehicle body and the roll axis L, the gravity acceleration g, the vehicle body roll angle beta and the balance moment N are mg · h · sin (beta) during work, and the balance moment N resists the centrifugal force or the side turning force applied to the vehicle to keep the stable running posture of the vehicle.
Fig. 3 is a schematic diagram of a vehicle body actively rolling four-wheel vehicle, including: the side-rolling driving mechanism for car body is characterized by that it uses four groups of suspensions and shock absorbers to respectively connect left front wheel, right front wheel, left rear wheel and right rear wheel according to the given wheel base and wheel base, and the two groups of front suspensions are identical, and the isosceles trapezoidal steering mechanism is linked with double front wheels to make steering, and the two groups of rear suspensions are identical, and are driven by double rear wheel hub motors so as to form the four-wheel car with front wheel steering, rear wheel driving and car body active side-rolling characteristics.
FIG. 4 is a schematic view of a three-wheeled vehicle with a body tilting on the front side; the car body heels the actuating mechanism, connect left front wheel, right front wheel separately according to the given wheel base by the frame through two groups of identical suspensions and shock absorbers, the isosceles trapezoid steering mechanism links the steering of double front wheels, the car body connects a rear wheel according to the given wheel base through swing arm and shock absorber, the hub motor of the rear wheel drives, form and possess the front wheel and turn to, single rear wheel drives, car body initiative heels the characteristic inverted tricycle vehicle, possess the small, maneuver, flexible characteristic.
Through the embodiment, the vehicle body roll driving mechanism and the vehicle applying the mechanism provided by the invention adopt two paths of serial driving vehicle body roll motion, the closed transmission loop eliminates transmission clearance, reduces motion impact, improves the stability and reliability of the vehicle in the roll process, and is applied to vehicle body active roll when the vehicle turns, so that the vehicle body actively tilts a certain angle to resist centrifugal force or side-turning force when the vehicle passes a bend or passes an inclined road surface, and the stable driving posture of the vehicle is kept.
Claims (4)
1. A vehicle body roll drive mechanism, comprising: the vehicle comprises a frame, a vehicle body, a left crank, a left connecting rod, a right crank, a right connecting rod, a left gear, a middle gear and a right gear, wherein the vehicle body is rotatably connected with the frame around a roll axis L at a roll center O, the roll center O is positioned on a symmetrical line of the frame center line and the vehicle body, one end of the left crank is rotatably connected with the frame at a point A, one end of the left connecting rod is rotatably connected with the vehicle body at a point C, the other end of the left crank is rotatably connected with the other end of the left connecting rod, a connecting point B, one end of the right crank is rotatably connected with the frame at a point D, one end of the right connecting rod is rotatably connected with the vehicle body at a point F, the other end of the right crank is rotatably connected with the other end of the right connecting rod, a connecting point E, the relative rotation axes of the connecting points are parallel to the roll axis L, the connecting points A, D, BC is equal to EF, a point G on the middle line of the frame, a left gear, a middle gear and a right gear are respectively connected with the A, G, D point on the frame in a rotating mode, three cylindrical gears are sequentially meshed for transmission, the left gear and the right gear rotate in the same direction and at the same speed, the left gear is fixedly connected with a left crank and rotates around the point A together, and the right gear is fixedly connected with a right crank and rotates around the point D together;
wherein: the actuator drives the middle gear to rotate, the left crank and the right crank rotate in the same angle and the same direction through the left gear and the right gear, the vehicle body rotates around a roll axis L through synchronous linkage of the left connecting rod and the right connecting rod, the vehicle body rotates around a roll angle beta relative to the vehicle frame, the two-way series motion chain drives the vehicle body to roll, and the closed type transmission loop eliminates transmission gaps.
2. The roll drive mechanism of claim 1 wherein the actuator is selected from the group consisting of an electromagnetic actuator, an electromechanical actuator, and an electrohydraulic actuator to achieve the desired roll angle β.
3. A four-wheeled vehicle with an actively rolling body, comprising: the vehicle body roll driving mechanism according to claim 1, wherein the four-wheeled vehicle having front wheel steering, rear wheel driving and vehicle body active roll characteristics is formed by connecting a left front wheel, a right front wheel, a left rear wheel and a right rear wheel respectively through four sets of suspensions and shock absorbers according to a given wheelbase and a given wheelbase, and by double front wheel steering and double rear wheel driving.
4. Three-wheeled vehicle is emptyd to automobile body initiative side, its characterized in that includes: the vehicle body roll driving mechanism of claim 1, wherein the frame is connected with a left front wheel and a right front wheel respectively according to a given wheel base through two groups of suspensions and shock absorbers, the double front wheels are used for steering, the vehicle body is connected with a rear wheel according to a given wheel base through a swing arm and a shock absorber, and the rear wheel is used for driving, so that the inverted three-wheeled vehicle with the characteristics of front wheel steering, single rear wheel driving and vehicle body active roll is formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910613700.0A CN110294035B (en) | 2019-07-09 | 2019-07-09 | Vehicle body side-tipping driving mechanism and vehicle using same |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910613700.0A CN110294035B (en) | 2019-07-09 | 2019-07-09 | Vehicle body side-tipping driving mechanism and vehicle using same |
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| CN110294035A CN110294035A (en) | 2019-10-01 |
| CN110294035B true CN110294035B (en) | 2021-02-19 |
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| CN201910613700.0A Active CN110294035B (en) | 2019-07-09 | 2019-07-09 | Vehicle body side-tipping driving mechanism and vehicle using same |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509994B (en) * | 2019-09-10 | 2021-12-21 | 河南坐骑科技有限公司 | Vehicle steering and roll combination mechanism and active roll vehicle using same |
| CN110936785B (en) * | 2019-12-04 | 2021-07-02 | 王亚 | Vehicle body tilting mechanism and active tilting vehicle applying same |
| CN111688812B (en) * | 2020-06-11 | 2022-07-12 | 河南坐骑科技有限公司 | Vehicle body side-tipping driving mechanism and design method |
| CN112172921B (en) * | 2020-08-31 | 2022-03-15 | 河南坐骑科技有限公司 | Vehicle side-tipping driving mechanism and active side-tipping vehicle using same |
| CN112172919B (en) * | 2020-08-31 | 2022-03-15 | 河南坐骑科技有限公司 | Vehicle roll driving device and active roll vehicle |
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| DE102004028053A1 (en) * | 2004-06-09 | 2005-12-29 | Still Gmbh | Method for avoiding tipping of industrial truck has tip coefficient determined in control unit in dependence upon operating parameter of truck, and inclination of truck's body is adjusted in dependence upon tip coefficient |
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Effective date of registration: 20200616 Address after: Room 102, building 2, Xinghua building, 58 Second Street, economic development zone, Zhengzhou City, Henan Province Applicant after: Henan Mount Technology Co., Ltd Address before: 100083 No. 17 Qinghua East Road, Beijing, Haidian District Applicant before: Wang Ya |
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