CN110509993A - The side-tipping tricycle of the mechanism of non-steered wheel active roll mechanism and application - Google Patents
The side-tipping tricycle of the mechanism of non-steered wheel active roll mechanism and application Download PDFInfo
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- CN110509993A CN110509993A CN201910855239.XA CN201910855239A CN110509993A CN 110509993 A CN110509993 A CN 110509993A CN 201910855239 A CN201910855239 A CN 201910855239A CN 110509993 A CN110509993 A CN 110509993A
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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
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Abstract
The present invention relates to a kind of side-tipping tricycles of the mechanism of non-steered wheel active roll mechanism and application, it is turned to for tricycle by single-wheel, two-wheel is rotated by wheel axis relative to vehicle body, realize that vehicle body and wheel linkage roll, to improve small wheelspan tricycle riding stability or the excessively curved performance of high speed, non- steered wheel active roll mechanism includes: vehicle body, lower pull rod, damper, upper connecting rod, wheel, connecting rod, balancing pole, actuator output shaft drives balancing pole to rotate relative to vehicle body, non- steered wheel active roll mechanism position is determined by activated horn α, by rolling function β=f (α), obtain body roll angle beta, realize the active roll control of tricycle, applied to vehicle when excessively curved or when crossing tilted road surface wing drop certain angle come resist centrifugal force or rollover power, to keep stable driving posture.
Description
Technical field
The present invention relates to a kind of side-tipping tricycles of the mechanism of non-steered wheel active roll mechanism and application, belong to vehicle
Chassis technology field, in particular to the Roll control technology of active roll tricycle.
Background technique
Active roll control system improves vehicle turning by controlling vehicle in turning to curve inner side inclined degree
When control stability, ride comfort, passage speed and safety, vehicle active roll technology can make vehicle when excessively curved or
Wing drop certain angle when crossing tilted road surface generates a trimming moment, to resist the centrifugal force or rollover that vehicle is subject to
Power, to keep small wheelspan tricycle to have stable driving posture.
Vehicle active roll technology is usually independently rolled by vehicle body, the linkage of vehicle body and wheel rolls two ways and implements, preceding
Person's vehicle body independently rolls mode, usually directly drives the rotation of vehicle body relative frame by actuator, and structure is simple, low cost, but
Cause control stability, ride comfort and the security reliability of Ackermann steer angle poor；The latter's vehicle body and wheel linkage inclination mode,
Body roll, Vehicular turn and wheel suspension movement influence each other, and its structure is complicated, cost is high, but the manipulation of Ackermann steer angle
Stability, ride comfort and safety are preferable；Patent of invention CN109625086, Vehicular turn roll linkage and active roll
Vehicle is translatable with respect to vehicle body by wheel axis, realizes Vehicular turn and body roll independent control, it is same to be applied to Vehicular turn
When vehicle body active roll.It is turned to for tricycle by single-wheel, two-wheel is rotated by wheel axis relative to vehicle body, realizes vehicle body and vehicle
Wheel linkage rolls, and improves small wheelspan tricycle riding stability or the excessively curved performance of high speed, for reduce active roll vehicle cost,
Improving tricycle performance has theory significance and practical value.
Summary of the invention
The invention aims to provide a kind of side-tipping tricycle of the mechanism of non-steered wheel active roll mechanism and application,
It is turned to for tricycle by single-wheel, two-wheel is rotated by wheel axis relative to vehicle body, is realized that vehicle body and wheel linkage roll, is improved
Small wheelspan tricycle riding stability or the excessively curved performance of high speed.
It is as follows in order to reach the technical solution that the purpose of the present invention is taken:
Non- steered wheel active roll mechanism includes: vehicle body (1), lower pull rod (2), damper (3), upper connecting rod (4), wheel
(5), connecting rod (6), balancing pole (7), lower pull rod (2) one end couple wheel (5) in the rotation connection of A point, the other end with vehicle body (1),
Wheel (5) is rotated in interface E relative to lower pull rod (2), and damper (3) one end is rotatablely connected with B point on lower pull rod (2), is another
The endpoint C at end and upper connecting rod (4) is rotatablely connected, and the other end of upper connecting rod (4) and vehicle body (1) are rotatablely connected in D point, each tie point
Place relatively rotates axis and in parallel, respectively relatively rotates vertical vertical plane of the axis perpendicular to vehicle body (1), vehicle body (1), lower pull rod (2), damping
Device (3), upper connecting rod (4) are using the vertical vertical plane of vehicle body (1) as relative motion plane, and B point is located at the both ends of drop-down bar on lower pull rod (2)
The side of point A, E line, the AE wire clamp angle p of pivot center and lower pull rod is lower pull rod sweepback at the tie point A of lower pull rod (2)
Angle, the CD wire clamp angle q of pivot center and upper connecting rod is upper connecting rod angle of sweep at tie point C, D of upper connecting rod (4), by vehicle body (1),
Lower pull rod (2), damper (3), upper connecting rod (4), wheel (5) couple as above forms one group of wheel alignment mechanism；Two groups
The identical wheel alignment mechanism ABCDE and A ' B ' C ' D ' E ' of geometric parameter, performance parameter is according to given wheelspan d with vehicle body center
Vertical vertical plane is symmetrically arranged, shares same vehicle body (1), and balancing pole (7) midpoint and vehicle body (1) connect in the horizontal vertical plane rotation of vehicle body
Connect, pivot center is located in vehicle body central longitudinal vertical plane, connecting rod (6) one end and balancing pole (7) left end flexural pivot chain link, the other end with
F point spherical hinge connects on left side upper connecting rod (4), another connecting rod (6) one end and balancing pole (7) right end flexural pivot chain link, the other end
It is connect with F ' spherical hinges on right side upper connecting rod (4), two connecting rods (6) equal length, F point is located at upper connecting rod on upper connecting rod (4)
The side of two-end-point C, D line, two connecting rods (6) are identical as left and right side upper connecting rod (4) tie point position, constitute non-steered wheel
Active roll mechanism；
Wherein: balancing pole (7) is activated horn α in the horizontal vertical plane within angle of vehicle body with vehicle body (1), when activated horn α=90 °,
Pull rod is coplanar under two sides, at this time body roll angle beta=0, and non-steered wheel active roll mechanism is about vehicle body central longitudinal vertical plane pair
Claim；When α ≠ 90 °, two wheel axis are rotated backward, with respect to vehicle body along vehicle body vertical direction moving distance h, vehicle body horizontal plane phase
It is body roll angle beta to ground angle, body roll angle beta changes when tan β=h/d, activated horn α change, and obtains vehicle roll angle
Inclination function β=f (α) of β and activated horn α relationship.
In above-mentioned non-steered wheel active roll mechanism, spherical hinge selects spherical plain bearing rod end or centripetal joint shaft
It holds.
In above-mentioned non-steered wheel active roll mechanism, lower pull rod angle of sweep p≤90 °, upper connecting rod angle of sweep q, value
90 ° of p <, q=p are chosen in range p≤q≤90 °, perhaps choose q=p=90 ° of 90 °, q=90 ° of p < or selection.
In above-mentioned non-steered wheel active roll mechanism, activated horn α is generated by actuator, and actuator selects electromagnetic type
Actuator or electromechanical actuator or electrohydraulic actuator；It is determined by activated horn α and rolls mechanism position, by rolling letter
Number β=f (α) obtains body roll angle beta.
The positive tricycle of active roll includes: to be pressed on same vehicle body by one group of non-steered wheel active roll mechanism postposition
It is preposition according to the given single wheel of wheelbase L, share same vehicle body central longitudinal vertical plane, double rear wheel driving, front-wheel steer, non-bogie car
Active roll mechanism controls body roll is taken turns, single front-wheel adaptively rolls together with vehicle body, and composition has double rear wheel and drives, is preceding
Take turns the positive tricycle of active roll of steering characteristic；Has large carrying capacity, turning radius is small, the good feature of ground adaptability.
Active roll tricycle include: it is preposition by one group of non-steered wheel active roll mechanism, pressed on same vehicle body
According to the given single wheel postposition of wheelbase L, share same vehicle body central longitudinal vertical plane, two front wheels driving, rear-axle steering, non-bogie car
Take turns active roll mechanism controls body roll, single rear-wheel adaptively rolls together with vehicle body, composition have two front wheels driving, after
Take turns the active roll tricycle of steering characteristic；Has small in size, motor-driven, flexible feature.
If Vehicle Speed v, gravity acceleration g, vehicle provides steering angle θ in negotiation of bends, by single-wheel steering, turns
Curved radius r=L/tan θ, dynamic balance condition when meeting turning: mg × tan β=mv2/ r, by tan β=v2/ (g × r) solves inclination
Angle beta solves activated horn α by inclination function β=f (α), generates activated horn α by actuator and drives non-steered wheel active roll machine
Structure realizes body roll, resists turning centrifugal force, with the stability for keeping vehicle bend to travel；Vehicle is on cross fall ground
When driving, cross fall angle b in ground is read by obliquity sensor dynamic, vehicle roll angle β=- b is taken, by inclination function β=f
(α) solves activated horn α, generates activated horn α by actuator and drives non-steered wheel active roll mechanism, realizes body roll, supports
Anti- topography variation causes vehicle rollover power, to keep the driving posture of vehicle stabilization.
The beneficial effects of the present invention are a kind of, the non-steered wheel active roll mechanism that is proposed and the application mechanisms
Side-tipping tricycle is turned to for tricycle by single-wheel, and two-wheel is rotated by wheel axis relative to vehicle body, realizes vehicle body and wheel connection
It is dynamic to roll, improve small wheelspan tricycle riding stability or the excessively curved performance of high speed；It when excessively curved or cross and inclines applied to vehicle
When wrong path face wing drop certain angle come resist centrifugal force or rollover power, to keep stable driving posture.
Detailed description of the invention
Fig. 1 is wheel alignment schematic diagram of mechanism；
Fig. 2 is non-steered wheel active roll mechanism theory of constitution figure；
Fig. 3 is non-steered wheel active roll mechanism schematic three-dimensional figure；
Fig. 4 is that non-steered wheel active roll mechanism rolls schematic diagram；
Fig. 5 is non-steered wheel active roll mechanism p=q setting principle figure；
Fig. 6 is non-steered wheel active roll mechanism p < q setting principle figure；
Fig. 7 is the positive tricycle theory of constitution figure of active roll；
Fig. 8 is another vehicle theory of constitution figure of the positive tricycle of active roll；
Fig. 9 is active roll tricycle theory of constitution figure；
Figure 10 is another vehicle theory of constitution figure of active roll tricycle；
In figure: 1-- vehicle body, pull rod under 2--, 3-- damper, 4-- upper connecting rod, 5-- wheel, 6- connecting rod, 7- balancing pole.
Specific embodiment
The embodiment of the present invention is described below according to attached drawing:
Non- steered wheel active roll mechanism shown in Fig. 2 theory of constitution figure, non-steered wheel active roll mechanism include:
Vehicle body (1), lower pull rod (2), damper (3), upper connecting rod (4), wheel (5), connecting rod (6), balancing pole (7), lower pull rod (2) one end
Couple wheel (5) with vehicle body (1) in the rotation connection of A point, the other end, wheel (5) is rotated in interface E relative to lower pull rod (2), is subtracted
The endpoint C for shaking the rotation connection of B point, the other end and upper connecting rod (4) on device (3) one end and lower pull rod (2) is rotatablely connected, upper connecting rod
(4) the other end and vehicle body (1) is rotatablely connected in D point, and relative rotation axis is parallel at each tie point, respectively relatively rotates axis hangs down
Directly in the vertical vertical plane of vehicle body (1), vehicle body (1), lower pull rod (2), damper (3), upper connecting rod (4) are with the vertical vertical plane of vehicle body (1)
Relative motion plane, tie point A, B, C, D are parallelogram in relative motion plane projection, are formed in relative motion plane and are put down
Row quadrangular mechanism ABCD, B point is located at the side of two-end-point A, E line of drop-down bar, the company of lower pull rod (2) on lower pull rod (2)
The AE wire clamp angle p of pivot center and lower pull rod is lower pull rod angle of sweep, rotation axis at tie point C, D of upper connecting rod (4) at contact A
The CD wire clamp angle q of line and upper connecting rod be upper connecting rod angle of sweep, by vehicle body (1), lower pull rod (2), damper (3), upper connecting rod (4),
Wheel (5) couples as above forms one group of wheel alignment mechanism (as shown in Figure 1)；Two groups of geometric parameters, performance parameter phase
With wheel alignment mechanism ABCDE and A ' B ' C ' D ' E ' be symmetrically arranged with vehicle body central longitudinal vertical plane according to given wheelspan d,
It shares same vehicle body (1), balancing pole (7) midpoint and vehicle body (1) are located in vehicle body in the horizontal vertical plane rotation connection of vehicle body, pivot center
It entreats in vertical vertical plane, F penalty kick on connecting rod (6) one end and balancing pole (7) left end flexural pivot chain link, the other end and left side upper connecting rod (4)
F ' point on hinge connection, another connecting rod (6) one end and balancing pole (7) right end flexural pivot chain link, the other end and right side upper connecting rod (4)
Flexural pivot chain link, two connecting rods (6) equal length, F point is located at the side of two-end-point C, D line of upper connecting rod on upper connecting rod (4), and two
Connecting rod (6) is identical as left and right side upper connecting rod (4) tie point position, constitutes non-steered wheel active roll mechanism (such as Fig. 3 institute
Show)；
Non- steered wheel active roll mechanism shown in Fig. 4 rolls schematic diagram, in non-steered wheel active roll mechanism, puts down
Weighing apparatus bar (7) is activated horn α in the horizontal vertical plane within angle of vehicle body with vehicle body (1), and pull rod is coplanar when activated horn α=90 °, under two sides,
Body roll angle beta=0 at this time, non-steered wheel active roll mechanism are symmetrical (as shown in Figure 3) about vehicle body central longitudinal vertical plane；When
Two wheel axis are rotated backward with respect to vehicle body, along vehicle body vertical direction moving distance h when α ≠ 90 °, and vehicle body horizontal plane is with respect to ground
Angle is body roll angle beta, and body roll angle beta changes when tan β=h/d, activated horn α change, and obtains body roll angle beta and causes
Inclination function β=f (α) of dynamic angle α relationship.
For in non-steered wheel active roll mechanism shown in Fig. 2-4, spherical hinge selects spherical plain bearing rod end GB/
T9161-2001, or select plain radial bearing GB/T 9163-2001；Activated horn α is generated by actuator, actuator choosing
With electromagnetic actuator or electromechanical actuator or electrohydraulic actuator；Actuator output shaft drives balancing pole (7) phase
To vehicle body (1) in the horizontal vertical rotation in surface of vehicle body, wheel alignment mechanism ABCDE and A ' B ' C ' D ' E ' of two sides are driven by two connecting rods
Opposite vehicle body (1) counter motion, two wheel axis are moved along vehicle body vertical direction in the vertical vertical plane of vehicle body, realize body side
Incline, non-steered wheel active roll mechanism position is determined by activated horn α, by rolling function β=f (α), obtains vehicle roll angle
β。
In non-steered wheel active roll mechanism, lower pull rod angle of sweep p≤90 °, upper connecting rod angle of sweep q, value range p≤
q≤90°；It is chosen in design process by following three types: 1., 90 ° of p <, q=p (as shown in Figure 5)；2., 90 ° of p <, q=
90 ° (as shown in Figure 6)；3., q=p=90 °.Lower pull rod angle of sweep p value size influences car gage d, upper connecting rod angle of sweep q
Meet condition p≤q≤90 °, chooses in a certain range.
Fig. 7 is the positive tricycle theory of constitution figure of active roll, Fig. 8 is another vehicle theory of constitution of the positive tricycle of active roll
Figure, the positive tricycle of active roll include: by one group of non-steered wheel active roll mechanism postposition, according to given on same vehicle body
The single wheel of wheelbase L it is preposition, share same vehicle body central longitudinal vertical plane, double rear wheel In-wheel motor driving, single front-wheel is by subtracting
Shake device and steering bearing are connected on vehicle body, front-wheel steer, non-steered wheel active roll mechanism controls body roll, before single
Wheel adaptively rolls together with vehicle body, constitutes the positive tricycle of active roll for having double rear wheel driving, front-wheel steer feature；Have
Large carrying capacity, turning radius is small, the good feature of ground adaptability.Wherein: the positive tricycle theory of constitution of active roll shown in Fig. 7
In figure, upper and lower pull rod goes out formula after being, the positive three-wheeled vehicle applied to front-seat single driving, rear portion loading；Active shown in Fig. 8
It rolls in another vehicle theory of constitution figure of positive tricycle, upper and lower pull rod is extension type, is applied to front-seat single driving, heel row list
The positive three-wheeled vehicle that people takes.
Fig. 9 is active roll tricycle theory of constitution figure, Figure 10 is that another vehicle composition of active roll tricycle is former
Reason figure, active roll tricycle include: it is preposition by one group of non-steered wheel active roll mechanism, according to giving on same vehicle body
The single wheel postposition of fixed wheelbase L shares same vehicle body central longitudinal vertical plane, two front wheels In-wheel motor driving, and single rear-wheel passes through
Damper and steering bearing are connected on vehicle body, rear-axle steering, non-steered wheel active roll mechanism controls body roll, individually
Rear-wheel adaptively rolls together with vehicle body, constitutes the active roll tricycle for having two front wheels driving, rear-axle steering feature；Tool
Standby small in size, motor-driven, flexible feature.Wherein: in active roll tricycle theory of constitution figure shown in Fig. 9, upper and lower pull rod is
Go out formula afterwards, applied to front-seat single driving, the single reverse three-wheeled vehicle taken of heel row；Active roll tricycle shown in Fig. 10
In another vehicle theory of constitution figure, upper and lower pull rod is extension type, the reverse three-wheeled vehicle applied to single driving, front loading.
The active roll tricycle in conjunction with shown in Fig. 7-10, if Vehicle Speed v, gravity acceleration g, vehicle is in bend
When driving, steering angle θ, turning radius r=L/tan θ are provided by single-wheel steering, dynamic balance condition when meeting turning: mg × tan β
=mv2/ r, by tan β=v2/ (g × r) solves angle of heel β, solves activated horn α by inclination function β=f (α), is generated by actuator
Activated horn α drives non-steered wheel active roll mechanism, realizes body roll, resists turning centrifugal force, to keep vehicle bend
The stability of traveling；Vehicle reads ground cross fall angle b in cross fall ground run, by obliquity sensor dynamic, takes
Body roll angle beta=- b solves activated horn α by inclination function β=f (α), generates activated horn α by actuator and drives non-bogie car
Active roll mechanism is taken turns, realizes that body roll, resistance topography variation cause vehicle rollover power, to keep the traveling appearance of vehicle stabilization
State.
By above embodiments, proposed by the invention a kind of non-steered wheel active roll mechanism and the application mechanism
Side-tipping tricycle is turned to for tricycle by single-wheel, and two-wheel is rotated by wheel axis relative to vehicle body, realizes vehicle body and wheel connection
It is dynamic to roll, improve small wheelspan tricycle riding stability or the excessively curved performance of high speed；It when excessively curved or cross and inclines applied to vehicle
When wrong path face wing drop certain angle come resist centrifugal force or rollover power, to keep stable driving posture.
Claims (6)
1. non-steered wheel active roll mechanism characterized by comprising vehicle body, lower pull rod, damper, upper connecting rod, wheel,
Connecting rod, balancing pole, lower pull rod one end and vehicle body couple wheel in the rotation connection of A point, the other end, wheel interface E relatively under
Pull rod rotation, damper one end and the endpoint C of the rotation connection of B point, the other end and upper connecting rod on lower pull rod are rotatablely connected, upper connecting rod
The other end and vehicle body be rotatablely connected in D point, relatively rotate that axis is parallel, each axis that relatively rotates is perpendicular to vehicle at each tie point
The vertical vertical plane of body, vehicle body, lower pull rod, damper, upper connecting rod are using the vertical vertical plane of vehicle body as relative motion plane, B point on lower pull rod
The AE wire clamp angle p of pivot center and lower pull rod at the side of two-end-point A, E line of lower pull rod, the tie point A of lower pull rod
For lower pull rod angle of sweep, the CD wire clamp angle q of pivot center and upper connecting rod is upper connecting rod angle of sweep at tie point C, D of upper connecting rod,
Coupled as above by vehicle body, lower pull rod, damper, upper connecting rod, wheel and forms one group of wheel alignment mechanism；Two groups of geometric parameters
The identical wheel alignment mechanism ABCDE and A ' B ' C ' D ' E ' of number, performance parameter is according to given wheelspan d with vehicle body central longitudinal vertical plane
It is symmetrically arranged, shares same vehicle body, balancing pole midpoint and vehicle body and be located at vehicle in the rotation connection of vehicle body horizontal vertical plane, pivot center
In body central longitudinal vertical plane, F point spherical hinge connects on connecting rod one end and balancing pole left end flexural pivot chain link, the other end and left side upper connecting rod
It connects, another connecting rod one end is connect with F ' spherical hinges on balancing pole right end flexural pivot chain link, the other end and right side upper connecting rod, and two connect
Pole length is equal, and F point is located at the side of two-end-point C, D line of upper connecting rod on upper connecting rod, and two connecting rods and left and right side upper connecting rod connect
Connecting point position is identical；
Wherein: balancing pole and vehicle body are activated horn α in the horizontal vertical plane within angle of vehicle body, when activated horn α=90 °, pull rod under two sides
Coplanar, body roll angle beta=0, non-steered wheel active roll mechanism are symmetrical about vehicle body central longitudinal vertical plane at this time；When α ≠ 90 °
When two wheel axis rotated backward with respect to vehicle body, along vehicle body vertical direction moving distance h, vehicle body horizontal plane is with respect to ground angle
Body roll angle beta, body roll angle beta changes when tan β=h/d, activated horn α change, and obtains body roll angle beta and activated horn α is closed
Inclination function β=f (α) of system.
2. non-steered wheel active roll mechanism according to claim 1, which is characterized in that the spherical hinge selects bar
Hold oscillating bearing or plain radial bearing.
3. non-steered wheel active roll mechanism according to claim 1, which is characterized in that the lower pull rod angle of sweep
P≤90 °, upper connecting rod angle of sweep q, value range p≤q≤90 ° choose 90 ° of p <, q=p, or choose 90 °, q=90 ° of p <,
Or choose q=p=90 °.
4. non-steered wheel active roll mechanism according to claim 1, which is characterized in that the activated horn α be by
Actuator generates, and actuator selects electromagnetic actuator or electromechanical actuator or electrohydraulic actuator.
5. the positive tricycle of active roll, which is characterized in that by one group of non-steered wheel active roll mechanism described in claim 1
Postposition, preposition according to the given single wheel of wheelbase L on same vehicle body, share same vehicle body central longitudinal vertical plane, double rear wheel drives
It moving, front-wheel steer, non-steered wheel active roll mechanism controls body roll, single front-wheel adaptively rolls together with vehicle body,
Constitute the active roll vehicle for having positive three-wheel feature.
6. active roll tricycle, which is characterized in that by one group of non-steered wheel active roll mechanism described in claim 1
It is preposition, on same vehicle body according to the given single wheel postposition of wheelbase L, share same vehicle body central longitudinal vertical plane, two front wheels drive
It moving, rear-axle steering, non-steered wheel active roll mechanism controls body roll, single rear-wheel adaptively rolls together with vehicle body,
Constitute the active roll vehicle for having the feature of falling three-wheel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910855239.XA CN110509993A (en) | 2019-09-10 | 2019-09-10 | The side-tipping tricycle of the mechanism of non-steered wheel active roll mechanism and application |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910855239.XA CN110509993A (en) | 2019-09-10 | 2019-09-10 | The side-tipping tricycle of the mechanism of non-steered wheel active roll mechanism and application |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109625086A (en) * | 2018-12-13 | 2019-04-16 | 王亚 | Vehicular turn rolls linkage and active roll vehicle |
| CN110509994A (en) * | 2019-09-10 | 2019-11-29 | 王亚 | Vehicular turn rolls the active roll vehicle of combined mechanism and the application mechanism |
| CN110936785A (en) * | 2019-12-04 | 2020-03-31 | 王亚 | Vehicle body tilting mechanism and active tilting vehicle applying same |
| CN112172921A (en) * | 2020-08-31 | 2021-01-05 | 河南坐骑科技有限公司 | Vehicle side-tipping driving mechanism and active side-tipping vehicle using same |
| CN112172919A (en) * | 2020-08-31 | 2021-01-05 | 河南坐骑科技有限公司 | Vehicle roll driving device and active roll vehicle |
| WO2022083577A1 (en) * | 2020-09-17 | 2022-04-28 | 深圳市皓颢智能科技有限公司 | Double-wheel linkage mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109625086A (en) * | 2018-12-13 | 2019-04-16 | 王亚 | Vehicular turn rolls linkage and active roll vehicle |
| CN110509994A (en) * | 2019-09-10 | 2019-11-29 | 王亚 | Vehicular turn rolls the active roll vehicle of combined mechanism and the application mechanism |
| CN110509994B (en) * | 2019-09-10 | 2021-12-21 | 河南坐骑科技有限公司 | Vehicle steering and roll combination mechanism and active roll vehicle using same |
| CN110936785A (en) * | 2019-12-04 | 2020-03-31 | 王亚 | Vehicle body tilting mechanism and active tilting vehicle applying same |
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| CN112172921A (en) * | 2020-08-31 | 2021-01-05 | 河南坐骑科技有限公司 | Vehicle side-tipping driving mechanism and active side-tipping vehicle using same |
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| WO2022083577A1 (en) * | 2020-09-17 | 2022-04-28 | 深圳市皓颢智能科技有限公司 | Double-wheel linkage mechanism |
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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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Application publication date: 20191129 |