CN110901815B

CN110901815B - Suspension assembly, control method and vehicle

Info

Publication number: CN110901815B
Application number: CN201911221338.9A
Authority: CN
Inventors: 胡依林; 崔巍; 成明
Original assignee: Beijing Niudian Information Technology Co ltd
Current assignee: Beijing Niudian Information Technology Co ltd
Priority date: 2019-12-03
Filing date: 2019-12-03
Publication date: 2021-05-18
Anticipated expiration: 2039-12-03
Also published as: CN110901815A

Abstract

The invention relates to the technical field of vehicles, and particularly discloses a suspension assembly, a control method and a vehicle, wherein the suspension assembly comprises a main bracket, a linkage piece, a suspension component, a balance component and two vibration reduction components, wherein the linkage piece is pivoted with the main bracket; the suspension assembly is arranged on the main bracket in a swinging manner; one ends of the two vibration damping assemblies are respectively connected to the left side and the right side of the suspension assembly, and the other ends of the two vibration damping assemblies are respectively connected to two ends of the linkage member; thereby two damping subassembly, linkage and suspension assembly form a whole, when the wheel jolts, two damping subassembly accessible linkage with hang the subassembly and carry out the damping, the one end of balance subassembly is fixed, the other end is connected in the linkage, the balance subassembly can be followed its axial direction and stretched out and drawn back, through the flexible degree of control balance subassembly along its axial direction, can adjust the inclination of linkage and main support, and then realize the regulation to the vehicle angle of inclination, better balance adjustment ability has, can effectively prevent to turn on one's side.

Description

Suspension assembly, control method and vehicle

Technical Field

The invention relates to the technical field of vehicles, in particular to a suspension assembly, a control method and a vehicle.

Background

To increase the stability of existing motorcycles, hybrid vehicles, such as inverted tricycles (including two front wheels and one rear wheel), have been developed to combine vehicle stability and motorcycle handling. In order to effectively improve the anti-rollover performance of the vehicle during turning, a tiltable suspension assembly is usually arranged on the vehicle, so that the inner wheel of the vehicle can generate enough positive pressure on the ground to balance the centrifugal force applied to the vehicle.

For example, in the related art, as disclosed in the previous patent with application number CN201611022290.5, an anchor-shaped connecting frame is inserted into the front end of a main frame, the main frame and the anchor-shaped connecting frame are connected into a whole by a torsion spring, and the main frame can perform a torsion motion with a limited angle relative to the anchor-shaped connecting frame; when the main frame is turned, the main frame is twisted relative to the anchor-shaped connecting frame; after the steering, the main frame is reversely twisted and reset. This two front wheel tricycle frames can rotate through making the relative anchor shape link of main frame ability, can effectively solve above-mentioned problem, but, the balancing capability mutual independence of its two front wheels, balanced effect is not good, experiences and feels poor, has the risk of turning on one's side moreover.

Disclosure of Invention

The invention aims to: the suspension assembly, the control method and the vehicle are provided to solve the problems that the balance capacity of two front wheels of the suspension assembly in the related art is independent and the balance effect is poor.

In one aspect, the present invention provides a suspension assembly comprising:

a main support;

a linkage piece pivoted to the main bracket;

a suspension assembly swingably provided to the main stand;

one ends of the two vibration damping assemblies are respectively connected to the left side and the right side of the suspension assembly, and the other ends of the two vibration damping assemblies are respectively connected to two ends of the linkage member;

and one end of the balance assembly is fixed, the other end of the balance assembly is connected to the linkage piece, and the balance assembly can stretch along the axial direction of the balance assembly so as to adjust the balance of the main support through the linkage piece.

As a preferable technical solution of the suspension assembly, the number of the balancing components is two, the two balancing components are respectively disposed at the left and right sides of the main bracket, one end of each of the two balancing components is fixed, and the other end of each of the two balancing components is respectively connected to two ends of the linkage member.

Preferably, the two balancing components are both located above the linkage member or both located below the linkage member.

As a preferable technical scheme of the suspension assembly, the two balancing components are arranged in parallel along the left-right direction.

As a preferable technical scheme of the suspension assembly, the two balancing components are arranged in a staggered mode along the left direction and the right direction.

As a preferable technical solution of the suspension assembly, the two balancing members are respectively located at upper and lower sides of the linkage member.

As a preferable technical scheme of the suspension assembly, the balancing component is a hydraulic oil cylinder or an air cylinder.

As a preferable technical solution of the suspension assembly, the suspension assembly further includes a detection mechanism and a control mechanism electrically connected to the detection mechanism, the detection mechanism is configured to detect a vehicle state, the vehicle state includes a tilt angle of the vehicle, and the control mechanism controls the balancing member to move in the axial direction thereof according to the detected tilt angle.

As a preferable embodiment of the suspension assembly, the vehicle state further includes a traveling speed of the vehicle, and the control mechanism controls the two balancing members to move in the axial directions thereof in accordance with the detected tilt angle and the traveling speed of the vehicle.

In a preferred embodiment of the suspension assembly, the balancer member has a locked state and an active state, the length of the balancer member is locked when the balancer member is in the locked state, the balancer member is capable of extending and contracting in the axial direction thereof when the balancer member is in the active state, and the control unit controls the two balancer members to switch between the locked state and the active state according to the detected tilt angle.

As a preferable embodiment of the suspension assembly, the suspension assembly further includes a switch component electrically connected to the control mechanism, and the switch component is configured to control the balancing component to switch between the locked state and the active state.

As a preferable technical solution of the suspension assembly, the balancing component includes a cylinder body having a cavity therein, a piston slidably located in the cavity, and a piston rod connected to the piston, the piston rod slidably penetrates through the cylinder body, the piston divides the cavity into a rod cavity and a rodless cavity, and damping media capable of flowing are respectively disposed in the rod cavity and the rodless cavity, and when the switching component controls the balancing component to be in the active state, the damping media can flow into the rod cavity and flow out from the rodless cavity, or the damping media can flow out from the rod cavity and flow into the rodless cavity.

As a preferable technical solution of the suspension assembly, the switch component includes an electric push rod disposed in the cavity, the piston is provided with a through hole, the through hole communicates the rod chamber and the rodless chamber, the through hole can be plugged or opened by the electric push rod, when the through hole is opened by the electric push rod, the damping medium in the rod chamber can flow into the rodless chamber through the through hole, or the damping medium in the rodless chamber can flow into the rod chamber through the through hole.

As a preferred technical solution of the suspension assembly, a first damping hole and a second damping hole are respectively arranged on the cavity walls of the rod cavity and the rodless cavity, when the balance component is in the active state, the damping medium in the rod cavity flows out through the first damping hole, and the damping medium flows into the rodless cavity through the second damping hole; alternatively, the first and second electrodes may be,

and the damping medium in the rodless cavity flows out through the second damping hole, and the damping medium flows into the rod cavity through the first damping hole.

As a preferred technical solution of the suspension assembly, the suspension assembly includes two upper cantilevers, two lower cantilevers, and two steering seats, the two upper cantilevers are disposed on the left and right sides of the main bracket, the two lower cantilevers are disposed on the left and right sides of the main bracket, first ends of the two upper cantilevers are pivoted to the top end of the main bracket, second ends of the two upper cantilevers are respectively pivoted to the top ends of the two steering seats, first ends of the two lower cantilevers are pivoted to the bottom end of the main bracket, second ends of the two lower cantilevers are respectively pivoted to the bottom ends of the two steering seats, the steering seats are used for supporting wheels, and the bottom ends of the two vibration reduction assemblies are respectively pivoted to the two lower cantilevers.

As a preferable technical solution of the suspension assembly, the steering base includes a housing and a pivot, the pivot is rotatably disposed through the housing, the housing is used for connecting the wheels, and the second end of the upper suspension arm and the second end of the lower suspension arm are respectively pivoted with the upper end and the lower end of the corresponding pivot.

As a preferable technical solution of the suspension assembly, the suspension assembly further includes a steering mechanism for driving the housing to rotate.

As a preferred technical solution of the suspension assembly, the steering mechanism includes a steering handle, a steering arm fixedly connected to the steering handle, and two steering rods both pivotally connected to the steering arm, the steering arm is rotatably inserted into the main bracket, and the two steering rods are respectively connected to the two housings.

As a preferable technical solution of the suspension assembly, the steering mechanism further includes a steering gear, and the steering gear is connected to the steering arm and is used for controlling the steering arm to rotate.

In another aspect, the present invention provides a method of controlling a suspension assembly in any one of the above aspects, the method comprising:

the control method of the suspension assembly comprises the following steps:

acquiring the running speed of a vehicle;

if the running speed of the vehicle is less than the preset speed, acquiring the inclination angle of the vehicle;

and if the inclination angle of the vehicle is greater than or equal to the preset angle, controlling the vibration damping assembly to be in an active state.

As a preferable aspect of the control method of the suspension assembly, the damping member is controlled to be in the locked state if the inclination angle of the vehicle is smaller than the preset angle.

As a preferable technical solution of the control method of the suspension assembly, if the traveling speed of the vehicle is greater than a preset speed, the damping member is controlled to be in a locked state.

In yet another aspect, the present invention provides a vehicle including a suspension assembly according to any one of the preceding claims.

As a preferred technical solution of the vehicle, the suspension assembly includes two upper suspension arms, two lower suspension arms, and two steering seats, the vehicle further includes a frame, two front wheels, and a rear wheel, the front end of the frame is connected to the main bracket, the two front wheels are respectively mounted on the two steering seats, and the rear wheel is rotatably disposed at the rear end of the frame.

As a preferable technical solution of the vehicle, the suspension assembly further includes a steering mechanism, the steering mechanism further includes a bogie rotatably sleeved on the steering arm, and the bogie is fixedly connected to the frame.

The invention has the beneficial effects that:

the invention provides a suspension assembly, a control method and a vehicle. And the one end of balanced subassembly is fixed, and the other end is connected in the linkage, and through the flexible degree of control balanced subassembly along its axial direction, can adjust the inclination of linkage and main support, and then realize the regulation to the vehicle angle of inclination, have better balance adjustment ability, can effectively prevent to turn on one's side, can promote the security of vehicle.

Drawings

FIG. 1 is a first schematic structural diagram of a vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of the suspension assembly of FIG. 1;

FIG. 3 is a second schematic structural view of a vehicle according to an embodiment of the present invention;

FIG. 4 is a schematic structural view of the suspension assembly of FIG. 3;

FIG. 5 is a third schematic structural view of a vehicle according to an embodiment of the present invention;

FIG. 6 is a schematic view of the suspension assembly of FIG. 5;

FIG. 7 is a block diagram of a suspension assembly provided in an embodiment of the present invention;

FIG. 8 is a flow chart of a method of controlling a suspension assembly provided by an embodiment of the present invention;

fig. 9 is a flow chart of another method of controlling a suspension assembly according to an embodiment of the present invention.

In the figure:

1. a main support;

2. a linkage member;

3. a suspension assembly; 31. an upper cantilever; 32. a lower cantilever; 33. a steering seat; 331. a pivot; 332. a housing;

4. a vibration reduction assembly;

5. a balancing component; 51. a through hole;

6. a switch assembly; 61. a motor; 62. a threaded sleeve; 63. a screw;

7. a steering mechanism; 71. a handlebar; 72. a steering arm; 73. a steering tie rod; 74. a bogie;

8. a detection mechanism; 81. a gyroscope; 82. an acceleration sensor; 83. a gravity sensor; 84. a speed sensor;

9. a control mechanism;

10. a lock state detection mechanism;

20. a locking switch;

30. a front wheel;

40. a rear wheel;

50. a frame;

60. a bus.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Where the terms "first position" and "second position" are two different positions, and where a first feature is "over", "above" and "on" a second feature, it is intended that the first feature is directly over and obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

The present embodiment provides a suspension assembly that can be applied to a vehicle having three wheels, four wheels, and four or more wheels, which can be configured with two wheels after a front wheel, or two wheels after a front wheel, and the like. Specifically, the present embodiment is described by taking the suspension assembly as an example for a tricycle with two front wheels and one rear wheel.

FIG. 1 is a first schematic structural diagram of a vehicle according to an embodiment of the present invention; FIG. 2 is a schematic structural view of the suspension assembly of FIG. 1; FIG. 3 is a second schematic structural view of a vehicle according to an embodiment of the present invention; FIG. 4 is a schematic structural view of the suspension assembly of FIG. 3; FIG. 5 is a third schematic structural view of a vehicle according to an embodiment of the present invention; FIG. 6 is a schematic view of the suspension assembly of FIG. 5; fig. 7 is a structural block diagram of a suspension assembly provided in an embodiment of the present invention. As shown in fig. 1 to 7, the suspension assembly includes a main bracket 1, a linkage 2, a suspension assembly 3, a balance assembly 5, and two damping assemblies 4. The linkage member 2 is pivotally connected to the main support 1, in this embodiment, the linkage member 2 extends along a left-right direction, the main support 1 extends along a front-rear direction, the left-right direction is a vehicle width direction, the front-rear direction is a vehicle length direction, two ends of the linkage member 2 in the length direction are respectively located at left and right sides of the main support 1, and the two ends are oppositely arranged with respect to the main support 1. The suspension assembly 3 is swingably provided to the main stand 1, and the two front wheels 30 are supported on the left and right sides of the suspension assembly 3, and both the two front wheels 30 are rotatably mounted on the suspension assembly 3. Two damping component 4, two damping component 4's one end is connected respectively in the left and right sides that hangs subassembly 3, and two damping component 4's the other end is connected respectively in the both ends of linkage 2. Therefore, the two vibration reduction assemblies 4, the linkage part 2 and the suspension assembly 3 form a whole, when any front wheel 30 jolts, the two vibration reduction assemblies 4 can reduce the vibration of the suspension assembly 3 through the linkage part 2, and then the front wheel 30 is reduced in vibration.

One end of the balance assembly 5 is fixed, the other end of the balance assembly is connected to the linkage part 2, and the balance assembly can stretch along the axial direction of the balance assembly to adjust the balance of the main support 1 through the linkage part 2. Through the flexible degree of control balance assembly 5 edge its axial direction, can adjust the inclination of linkage 2 and main support 1, and then realize having better balance adjustment ability to the regulation at vehicle angle of inclination, can effectively prevent to turn on one's side, can promote the security of vehicle.

Two damping subassembly 4 set up in the left and right sides of main support 1 relatively, and damping subassembly 4 is shaft-like, and two damping subassembly 4 are equallyd divide and do not hang the pin joint of subassembly 3 with linkage 2, and when arbitrary front wheel 30 jolted, under linkage 2's effect, extension in two damping subassembly 4, another compression can alleviate the degree of jolting of front wheel 30 to improve and drive experience. In this embodiment, the damping component 4 may be a silicone oil damper, a spring damper, or a combination of a silicone oil damper and a spring damper. In the present embodiment, the distance between the top ends of the two vibration damping modules 4 is smaller than the distance between the bottom ends of the two vibration damping modules 4. Two damping component 4 are the splayed setting, can reduce damping component 4's space and occupy, and can increase the stability of suspension assembly.

The balance assembly 5 has a locking state and an active state, when the balance assembly 5 is in the locking state, the length of the balance assembly 5 is locked, at the moment, the relative position of the linkage member 2 and the main bracket 1 is kept unchanged, the linkage member and the main bracket do not rotate relatively, further, the length of the two vibration reduction assemblies 4 is kept unchanged, and the inclination angle of the vehicle can be kept unchanged. When the balancing assembly 5 is in the active state, the balancing assembly 5 can be extended and retracted along the axial direction thereof, at this time, the two vibration damping assemblies 4 can be extended and retracted cooperatively through the link 2 to damp the two front wheels 30, and the main stand 1 is freely tiltable. When the road surface condition is relatively poor, when the driver drives the vehicle and the vehicle is about to topple over, the vibration damping assembly 4 is controlled to be positioned in the locking state, the main support 1 and even the vehicle can be prevented from further inclining, the main support 1 can be kept in a state of being capable of maintaining balance to prevent toppling over, and the driving safety of the driver is further improved. When the vehicle runs on a curve, the vibration damping assembly 4 is controlled to be in the active state, so that the main support 1 can be freely tilted, the inner wheel of the vehicle can generate enough positive pressure on the ground to balance with the centrifugal force applied to the vehicle, and the vehicle is prevented from rolling over.

The suspension assembly further comprises a switch assembly 6, the switch assembly 6 being adapted to control the balance member 5 to switch between the lockout condition and the active condition. In particular, the balancing assembly 5 may be a hydraulic cylinder or an air cylinder. The balance assembly 5 comprises a cylinder body, a cavity is arranged inside the cylinder body, a piston is located in the cavity in a sliding mode, and a piston rod connected with the piston is arranged in a penetrating mode, the piston separates the cavity into a rod cavity and a rodless cavity, damping media capable of flowing are arranged in the rod cavity and the rodless cavity respectively, the damping media can be hydraulic oil or gas and the like, when the switch assembly 6 enables the balance assembly 5 to be in an active state, the damping media can flow into the rod cavity and flow out of the rodless cavity, or the damping media can flow out of the rod cavity and flow into the rodless cavity.

Specifically, the switch component 6 may include an electric push rod disposed in the cavity, the piston is provided with a through hole 51, the through hole 51 is communicated with a rod cavity and a rodless cavity, the electric push rod can block or open the through hole 51, when the electric push rod opens the through hole 51, the piston rod extrudes a damping medium through the piston under the action of an external force, the damping medium in the rod cavity can flow into the rodless cavity through the through hole 51, or the damping medium in the rodless cavity can flow into the rod cavity through the through hole 51, the expansion and contraction of the overall length of the balance component 5 can be realized, when the through hole 51 is blocked by the switch component 6, the damping medium cannot flow between the rod cavity and the rodless cavity, the pressure in the rod cavity and the rodless cavity is stable, the positions of the piston and the piston rod are kept stable, and the overall length of the balance component. Because the switch assembly 6 is arranged in the cavity, the occupied space can be effectively reduced, and the suspension assembly is more compact. Specifically, the electric push rod comprises a motor 61, a threaded sleeve 62 and a threaded rod 63, an output shaft of the motor 61 is connected with the threaded rod 63, the threaded rod 63 is in threaded fit with the threaded sleeve 62, the threaded sleeve 62 can move along the axial direction of the motor 61 when the motor 61 rotates, and when the threaded sleeve 62 is inserted into the through hole 51, the through hole 51 can be blocked, so that the rod cavity and the rodless cavity are disconnected, and the balance assembly 5 is in a locking state; when the screw sleeve 62 exits the through hole 51, the rod chamber and the rodless chamber are communicated, and the balance assembly 5 is in an active state.

As an alternative scheme, the cavity walls of the rod cavity and the rodless cavity are respectively provided with a first damping hole and a second damping hole, when the balance assembly 5 is in an active state, damping media in the rod cavity flow out through the first damping hole, and the damping media flow into the rodless cavity through the second damping hole; or the damping medium in the rodless cavity flows out through the second damping hole, and the damping medium flows into the rod cavity through the first damping hole. Specifically, the switch assembly 6 may also be an electromagnetic valve, such as a three-position four-way electromagnetic valve, the damping medium may be hydraulic oil or gas, taking the damping medium as hydraulic oil as an example, the first damping hole and the second damping hole are both communicated with the port a and the port B of the three-position four-way electromagnetic valve through a pipeline, the port P of the three-position four-way electromagnetic valve is connected with a hydraulic pump through a pipeline, the port T of the two-position four-way electromagnetic valve is communicated with an oil tank, and the hydraulic pump is communicated with the oil tank. When the three-position four-way electromagnetic valve is positioned at the middle position, the port A, the port B, the port P and the port T are not communicated, and the balance assembly 5 is in a locking state; when the three-position four-way electromagnetic valve is positioned at the left position, the port A is communicated with the port P, the port B is communicated with the port T, the balance assembly 5 contracts, when the three-position four-way electromagnetic valve is positioned at the right position, the port A is communicated with the port T, the port B is communicated with the port P, and the balance assembly 5 extends out. When the three-position four-way solenoid valve is in the left position or the right position, the balance assembly 5 is in the active state and can retract or extend. So set up, be in left position, right position through control switch subassembly 6, can realize that the piston rod is flexible controllable, guarantee the precision to vehicle inclination regulation.

Optionally, the number of the balance assemblies 5 is two, and by arranging two balance assemblies 5, the linkage 2 is ensured to be stressed evenly. It is understood that the number of the balancing assemblies 5 is not limited in the present embodiment, and the same is possible when the number of the balancing assemblies 5 is one or more than two.

In this embodiment, the two balance assemblies 5 may be both disposed above the linkage member 2, and the piston rods of the two balance assemblies 5 are respectively connected to two ends of the linkage member 2. In particular, in the present embodiment, the piston rods of the two balancing assemblies 5 are pivoted to the linkage 2, and the cylinders of the balancing assemblies 5 are also pivoted to the supporting members thereof. Referring to fig. 1 to 4, the two balancing assemblies 5 may be disposed in parallel. Referring to fig. 5 and 6, the two balancing assemblies 5 may be alternatively disposed. In other embodiments, two balancing assemblies 5 may be disposed below the linkage 2, and one may be disposed above the linkage 2 and the other may be disposed below the linkage 2. When the linkage member 2 is in a horizontal state (i.e. the linkage member 2 is perpendicular to the main support 1), the two balance assemblies 5 are both in a natural extension state, and when the linkage member 2 rotates (at this time, the two balance assemblies 5 are both in a movable state), one of the balance assemblies 5 is pulled by the linkage member 2 to be extended, and the other balance assembly 5 is pushed by the linkage member 2 to be retracted. For example, the left end of the linkage member 2 rotates upwards, the right end rotates downwards, at this time, the piston rod of the balance assembly 5 acting on the left end of the linkage member 2 is pulled by the linkage member 2 to be stretched, and the balance assembly 5 acting on the left end of the linkage member 2 is pushed by the linkage member 2 to be contracted, so that the two balance assemblies 5 can cooperatively adjust the rotation degree of the linkage member 2 relative to the main stand 1, and further adjust the inclination angle of the vehicle.

In other embodiments, the balancing assembly 5 includes two elastic members, the elastic members are capable of extending and retracting, the two elastic members are disposed on the upper and lower sides of the linkage member 2, and are spaced from the main support 1, one end of each of the two elastic members is connected to the linkage member 2, and the other end of each of the two elastic members is fixed. It is understood that the two elastic members may act on a first end of the link 2 in the length direction (the left end of the link 2) or may act on a second end of the link 2 in the length direction (the right end of the link 2). The elastic element can be a tension spring or a compression spring.

In this embodiment, the suspension assembly 3 includes two upper cantilevers 31, two lower cantilevers 32 and two steering seats 33, the two upper cantilevers 31 are oppositely disposed on the left and right sides of the main bracket 1, the two lower cantilevers 32 are oppositely disposed on the left and right sides of the main bracket 1, first ends of the two upper cantilevers 31 are pivotally connected to the top end of the main bracket 1, second ends of the two upper cantilevers 31 are pivotally connected to top ends of the two steering seats 33, respectively, first ends of the two lower cantilevers 32 are pivotally connected to the bottom end of the main bracket 1, second ends of the two lower cantilevers 32 are pivotally connected to bottom ends of the two steering seats 33, the steering seats 33 are used for supporting wheels, bottom ends of the two vibration reduction assemblies 4 are pivotally connected to the two lower cantilevers 32, respectively, in this embodiment, the piston rod is pivotally connected to the corresponding lower cantilever 32, the cylinder body is pivotally connected to the linkage 2, in, the piston rod is pivoted with the linkage piece 2. Preferably, the upper suspension arm 31 and the lower suspension arm 32 each include a V-shaped main body portion and two extension portions, the main body portion includes two opposite connection ends and a tip end located in the middle, the two extension portions are respectively disposed at the two connection ends, and the two connection portions are arranged in parallel and spaced, and the two connection portions respectively form free ends of the upper suspension arm 31 and the lower suspension arm 32, so that the upper suspension arm 31 and the lower suspension arm 32 each have five inflection points, and stress applied thereto can be effectively absorbed. Specifically, two free ends of the upper cantilever 31 are pivoted to the main bracket 1, the tip of the upper cantilever 31 is pivoted to the steering seat 33, two free ends of the lower cantilever 32 are pivoted to the main bracket 1, and the tip of the lower cantilever 32 is pivoted to the steering seat 33, so that the main bracket 1 and the suspension assembly 3 form a plurality of triangular structures, the overall structure can be kept stable, the upper cantilever 31 and the lower cantilever 32 support the upper end and the lower end of the steering seat 33, and the support strength of the steering seat 33 can be ensured. It should be noted that the two upper cantilevers 31 in this embodiment may be independently disposed or integrally disposed, and the two lower cantilevers 32 may also be independently disposed or integrally disposed.

Optionally, the steering base 33 includes a housing 332 and a pivot 331, the pivot 331 is rotatably disposed through the housing 332, the housing 332 is used for connecting with a wheel, and the second end of the upper suspension arm 31 and the second end of the lower suspension arm 32 are respectively pivoted to the upper end and the lower end of the corresponding pivot 331.

Optionally, the suspension assembly further comprises a steering mechanism 7, and the steering mechanism 7 is used for driving the housing 332 to rotate. Specifically, the steering mechanism 7 includes a steering handle 71, a steering arm 72 fixedly connected to the steering handle 71, and two steering rods 73 pivotally connected to the steering arm 72, the steering arm 72 is rotatably disposed through the main bracket 1, and the two steering rods 73 are respectively connected to the two housings 332. When the handle bar 71 rotates, the handle bar 71 drives the steering arm 72 to rotate integrally, and the steering arm 72 drives the two steering rods 73 to drive the two shells 332 to rotate, thereby driving the two wheels to rotate together. Preferably, the steering mechanism 7 further comprises a steering gear (not shown in the drawings), which is connected to the steering arm 72 and is used for controlling the steering arm 72 to rotate. The steering engine is the prior art, can assist the driver to drive easily.

Optionally, the suspension assembly further comprises a detection mechanism 8, the detection mechanism 8 comprises a gyroscope 81 and an acceleration sensor 82, the gyroscope 81 is used for detecting the inclination angle of the main stand 1 when the main stand is inclined, and the acceleration sensor 82 is used for detecting the acceleration of the vehicle to judge whether the vehicle is in the curve driving state. The control mechanism 9 is connected with the switch assembly 6, and specifically, when the switch assembly 6 is an electric push rod, the control mechanism 9 is electrically connected with the motor 61 of the electric push rod to control the forward rotation, the reverse rotation and the stop of the motor 61. When the switch assembly 6 is an electromagnetic valve, the control mechanism 9 is connected with an electromagnetic control end of the electromagnetic valve to control the electromagnetic valve to be positioned at a left position, a middle position or a right position. For example, taking the switch assembly 6 as an electric push rod as an example, after the vehicle is started, the detection mechanism 8 detects the vehicle state in real time and sends the vehicle state information to the control mechanism 9, the control mechanism 9 analyzes and processes the vehicle state information according to the received vehicle state information and sends a tilt angle control signal to the switch assembly 6 according to the analysis and processing result, and the switch assembly 6 executes an operation of controlling the size of the tilt angle according to the received tilt angle control signal. The state of the vehicle includes the inclination angle of the main stand 1 and the acceleration of the vehicle. For example, when the detecting mechanism 8 detects that the vehicle is inclined at a small angle, this time, it indicates that the main stand 1 of the vehicle is still in a balanced state, in order to prevent the inclination angle from increasing continuously and avoid the main stand 1 of the vehicle from being unable to maintain the balanced state, the controlling mechanism 9 controls the switch assembly 6 to enable the vibration damping assembly 4 to be in a locked state to control the inclination angle to be not changed any more, so that the inclination angle is controlled within an angle range for maintaining the balance of the main stand 1, thereby enabling the main stand 1 of the vehicle to maintain the balanced state and further avoiding the vehicle from swinging. For another example, when the detection mechanism 8 detects that the vehicle is running on a curve, the control mechanism 9 controls the switch assembly 6 to enable the vibration damping assembly 4 to be in an active state, so that the main stand 1 can be freely tilted, the inner wheel of the vehicle can generate enough positive pressure on the ground to balance the centrifugal force applied to the vehicle, and the vehicle is prevented from rolling over. Of course, the driver can also manually trigger the control mechanism 9 to control the switch assembly 6 to be in the locking state or the active state at a proper time so as to enhance the active control of the vehicle.

Optionally, referring to fig. 7, the suspension assembly may further include a locking state detection mechanism 10 and a control mechanism 9, the locking state detection mechanism 10 is electrically connected to the control mechanism 9 and is configured to detect a communication state between the rod chamber and the rod-less chamber, the locking state detection mechanism 10 includes a pressure-sensitive sensor or a touch switch, the pressure-sensitive sensor or the touch switch is disposed at the through hole 51 of the piston, and the control mechanism 9 may be a microcontroller such as a single chip microcomputer. Thus, the control mechanism 9 can determine whether to lock the position of the balancer assembly 5 according to the communication state of the through hole 51 fed back by the lock state detecting mechanism 10. For example, if the lock state detection mechanism 10 detects that the through hole 51 has been blocked, and the control mechanism 9 determines to transmit a lock control signal for blocking the through hole 51 to the switch assembly 6 according to the vehicle state at this time, the control mechanism 9 need not transmit the lock control signal, but the control mechanism 9 determines to transmit an unlock control signal for opening the through hole 51 to the switch assembly 6 according to the vehicle state at this time, and the control mechanism 9 transmits the unlock control signal.

In the present embodiment, the lock state detection mechanism 10 may not be provided. At this time, the control mechanism 9 directly sends a locking control signal or an unlocking control signal to the switch assembly 6 according to the vehicle state, and if the control mechanism 9 directly sends the locking control signal to the switch assembly 6 according to the vehicle state, the switch assembly 6 does not need to be operated if the switch assembly 6 has performed an operation of plugging the through hole 51; if the switch block 6 does not perform the operation of closing the through hole 51, the switch block 6 performs the operation of closing the through hole 51.

Optionally, the detection mechanism 8 may further include a gravity sensor 83 and a speed sensor 84; at this time, the control means 9 is further configured to determine whether the vehicle is in a running state according to the detection result of the gravity sensor 83 and/or the speed sensor 84, and if it is determined that the vehicle is running, determine whether the running speed of the vehicle is less than a preset speed; if it is determined that the vehicle is not running, the switch unit 6 is controlled to perform an operation of closing the through hole 51. Thus, when it is determined that the vehicle is not running, the balancer module 5 can be directly controlled to be in the locked state, and the vehicle that is stopped can be prevented from falling over.

The control mechanism 9 may be a central control system of the vehicle, and at this time, the control mechanism 9 performs vehicle-mounted communication with the vehicle through the bus 60; at this time, the control mechanism 9 is further configured to detect whether each module of the vehicle has a fault when the vehicle is started, so as to ensure that each module of the vehicle operates normally, and ensure the safety of the vehicle in running. In this embodiment, the various modules of the vehicle may include a power module, an engine control module, an automatic transmission control module, an instrument panel control module, and the like. When detecting whether each module of the vehicle is faulty, the control mechanism 9 may send a fault detection request to each module, and if the module responds to the fault detection request, it indicates that the module is normal; otherwise, the module breaks down, and a fault warning can be sent out at the moment to prompt the driver to carry out maintenance.

Optionally, referring to fig. 7, the suspension assembly of the present embodiment may further include a lock switch 20, where the lock switch 20 is electrically connected to the control mechanism 9, and is configured to send a lock signal or an unlock signal to the control mechanism 9 according to a switch state of the lock switch 20. Illustratively, when the driver turns on the lock switch 20, a lock signal is triggered to the control mechanism 9, at which point the control mechanism 9 is forced to send a lock control signal to the switch assembly 6; when the driver closes the locking switch 20, an unlocking signal is triggered to the control mechanism 9, at which point the control mechanism 9 is forced to send an unlocking control signal to the switch assembly 6. Therefore, the balance assembly 5 can be locked or unlocked in another mode when one mode fails by combining the manual mode and the automatic mode for locking or unlocking the balance assembly 5, and the driving safety is further improved.

The specific working principle of the suspension assembly provided by the invention is as follows: when the vehicle is started, the control mechanism 9 detects whether each module of the vehicle is in fault, if so, a fault warning is sent out, if not, the control mechanism 9 judges whether the vehicle is in a running state according to the detection result of the gravity sensor 83 and/or the speed sensor 84, and if the vehicle is judged to be running, the control mechanism 9 judges whether the running speed of the vehicle is less than a preset speed according to the running speed of the vehicle detected by the speed sensor 84; if the vehicle is judged not to run, the control mechanism 9 sends locking control signals to the two motors 61, at the moment, the two balance assemblies 5 are in a locking state, the length of the two balance assemblies is kept stable, and then the main support 1 of the vehicle is fixed; if the control mechanism 9 determines that the running speed of the vehicle is less than the preset speed, the control mechanism 9 determines whether the inclination angle is less than the preset angle according to the inclination angle detected by the gyroscope 81; if the control mechanism 9 judges that the running speed of the vehicle is greater than or equal to the preset speed, the control mechanism 9 sends unlocking control signals to the two motors 61, at the moment, the two balance assemblies 5 are both in a movable state and can freely extend and retract in length, so that the main support 1 of the vehicle can freely tilt, and the vehicle is prevented from turning on one side when turning at a high speed; if the control mechanism 9 judges that the inclination angle is smaller than the preset angle, the control mechanism 9 sends locking control signals to the two motors 61, at the moment, the two balance assemblies 5 are both in a locking state, the length of the two balance assemblies is kept stable, and the main support 1 of the vehicle is further fixed; if the control mechanism 9 determines that the inclination angle is greater than or equal to the preset angle, the control mechanism 9 issues an unbalance warning to prompt the driver that the main stand 1 of the vehicle cannot maintain a balanced state, so that the driver manually balances the main stand 1. Wherein, the preset angle is preferably 10 degrees, which is the included angle between the left end surface or the right end surface of the main support 1 and the horizontal plane, and the preset speed is preferably 2 km/h.

With continued reference to fig. 1-7, the present invention further provides a vehicle including the suspension assembly described above, having the same functions and benefits.

The vehicle further comprises a frame 50, two front wheels 30 and a rear wheel 40, wherein the front end of the frame 50 is connected with the main support 1, the two front wheels 30 are respectively arranged on the two steering seats 33, the rear wheel 40 is rotatably arranged at the rear end of the frame 50, and the vehicle is a reverse tricycle. It should be noted that the number of the rear wheels 40 of the vehicle may be two, and the vehicle is a front-drive four-wheel vehicle. In other embodiments, the vehicle may further include a frame 50, two rear wheels 40 and one or two front wheels 30, respectively, the two rear wheels 40 are respectively mounted on the two steering seats 33, the one or two front wheels 30 are rotatably disposed at the front end of the frame 50, and the vehicle is a tricycle or a rear-drive quadricycle.

The steering mechanism 7 further includes a bogie 74 rotatably sleeved on the steering arm 72, and the bogie 74 is fixedly connected with the frame 50. In this embodiment, the cylinders of the two balancing assemblies 5 may be fixed to the bogie 74.

The embodiment of the invention also provides a control method of the suspension assembly, and the control method of the suspension assembly can be executed by the suspension assembly provided by the embodiment of the invention. Specifically, as shown in fig. 8, fig. 8 is a flowchart of a control method of a suspension assembly according to an embodiment of the present invention. The control method of the suspension assembly of the present embodiment includes:

in step 110, the control means 9 receives a trigger signal.

Illustratively, when the tilt angle of the vehicle is manually controlled, the trigger signal is a lock signal or an unlock signal that is triggered by the user through the lock switch 20. When the inclination angle of the vehicle is automatically controlled, the trigger signal is vehicle state information.

Step 120, the control mechanism 9 controls the tilt angle of the vehicle by controlling the switch assembly 6.

Wherein, the inclination angle is the included angle between the main support 1 and the road surface, and the control mechanism 9 controls the switch assembly 6 to close or open the through hole 51 to control the inclination angle of the vehicle after receiving the trigger signal.

Optionally, the method for controlling the suspension assembly further includes: the control means 9 detects the vehicle state by the detection means 8. Wherein the vehicle state includes at least a tilt angle of the vehicle. At this time, the control mechanism 9 controls the tilt angle of the vehicle by controlling the switch assembly 6 according to the vehicle state.

In this step, the tilt angle may be detected by the gyroscope 81. When it is determined that the inclination angle is smaller than the preset angle, the control switch assembly 6 blocks the through hole 51 to fix the main stand 1 of the vehicle.

The control method of the suspension assembly provided by the embodiment of the present invention and the suspension assembly provided by the embodiment of the present invention belong to a general inventive concept, the control method of the suspension assembly can be executed by the suspension assembly, and has the same functions and advantages, and the content not described in detail in the embodiment refers to the embodiment of the suspension assembly.

Optionally, detecting the vehicle state includes: detecting a tilt angle and a traveling speed of the vehicle;

the method of controlling a suspension assembly further comprises: judging whether the running speed of the vehicle is less than a preset speed or not according to the running speed of the vehicle; wherein the preset speed can be 2 km/h;

if the running speed of the vehicle is judged to be smaller than the preset speed, judging whether the inclination angle is smaller than a preset angle or not according to the vehicle state; if it is determined that the traveling speed of the vehicle is greater than or equal to the preset speed, the switch assembly 6 is controlled to open the through hole 51.

Optionally, detecting a vehicle state, further comprising: before detecting the inclination angle and the traveling speed of the vehicle, it is detected whether the vehicle is in a traveling state.

If the vehicle is judged to be running, judging whether the running speed of the vehicle is less than the preset speed or not; if it is determined that the vehicle is not running, the switch assembly 6 is controlled to block the through hole 51.

Optionally, before the control switch assembly 6 opens the through hole 51, and before the control switch assembly 6 blocks the through hole 51, the method further includes:

it is detected whether the balance member 5 is locked.

Based on the above technical solution, in another embodiment of the present invention, as shown in fig. 9, fig. 9 is a flowchart of another control method for a suspension assembly according to an embodiment of the present invention. The control method of the suspension assembly specifically comprises the following steps:

and step 210, detecting whether each module of the vehicle has faults or not when the vehicle is started.

If any module of the vehicle is detected to be faulty, step 270 is executed; if the modules of the vehicle are detected to be normal, step 220 is executed.

Step 220, detecting whether the vehicle is in a running state.

If the vehicle is detected to be running, step 230 is executed; if a vehicle stop is detected, step 250 is performed.

And step 230, judging whether the running speed of the vehicle is less than the preset speed.

If the running speed of the vehicle is determined to be less than the preset speed, executing step 240; if it is determined that the traveling speed of the vehicle is greater than or equal to the preset speed, step 290 is performed.

And step 240, judging whether the inclination angle is smaller than a preset angle.

If the tilt angle is smaller than the preset angle, go to step 250; if the tilt angle is greater than or equal to the predetermined angle, step 280 is executed.

And step 250, detecting whether the through hole 51 is blocked.

Step 260, controlling the switch assembly 6 to block the through hole 51.

Step 270, failure warning.

Step 280, unbalanced warning.

Step 290, detecting whether the through hole 51 is blocked.

And step 300, controlling the switch assembly 6 to open the through hole 51.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A suspension assembly, comprising:

a main support (1);

a linkage (2) pivoted to the main support (1);

a suspension unit (3) swingably provided to the main stand (1);

one ends of the two vibration damping assemblies (4) are respectively connected to the left side and the right side of the suspension assembly (3), and the other ends of the two vibration damping assemblies (4) are respectively connected to two ends of the linkage (2);

the balance assembly (5) is fixed at one end, the other end of the balance assembly (5) is connected to the linkage piece (2), and the balance assembly can stretch along the axial direction of the balance assembly so as to adjust the balance of the main support (1) through the linkage piece (2);

the balance assembly is characterized by further comprising a detection mechanism (8) and a control mechanism (9) electrically connected with the detection mechanism (8), wherein the detection mechanism (8) is used for detecting a vehicle state, the vehicle state comprises a tilt angle of a vehicle, and the control mechanism (9) controls the balance assembly (5) to move along the axial direction of the balance assembly according to the detected tilt angle;

the vehicle state further includes a running speed of the vehicle, and the control mechanism (9) controls the two balancing assemblies (5) to move in the axial directions thereof according to the detected inclination angle and the running speed of the vehicle;

the balance assembly (5) has a locking state and an active state, when the balance assembly (5) is in the locking state, the length of the balance assembly (5) is locked, when the balance assembly (5) is in the active state, the balance assembly (5) can be stretched and retracted along the axial direction of the balance assembly, and the control mechanism (9) controls the two balance assemblies (5) to be switched between the locking state and the active state according to the detected inclination angle;

the suspension assembly further comprises a switch assembly (6), the switch assembly (6) being electrically connected to the control mechanism (9), the switch assembly (6) being adapted to control the counterbalance assembly (5) to switch between the latched state and the active state;

the balance assembly (5) comprises a cylinder body, a piston and a piston rod, wherein a cavity is formed in the cylinder body, the piston is located in the cavity in a sliding mode, the piston rod is connected with the piston, the piston rod penetrates through the cylinder body in a sliding mode, the cavity is divided into a rod cavity and a rodless cavity by the piston, damping media capable of flowing are arranged in the rod cavity and the rodless cavity, and when the balance assembly (5) is controlled by the switch assembly (6) to be in the active state, the damping media can flow into the rod cavity and flow out of the rodless cavity, or the damping media can flow out of the rod cavity and flow into the rodless cavity.

2. The suspension assembly according to claim 1, wherein the number of the balancing components (5) is two, two balancing components (5) are respectively arranged at the left side and the right side of the main bracket (1), one end of each balancing component (5) is fixed, and the other end of each balancing component is respectively connected with two ends of the linkage part (2).

3. Suspension assembly according to claim 2, characterized in that both said balancing members (5) are located above said link member (2) or below said link member (2).

4. Suspension assembly according to claim 3, characterized in that the two balancing members (5) are arranged in parallel in the left-right direction.

5. Suspension assembly according to claim 3, wherein the two balancing members (5) are staggered in the left-right direction.

6. Suspension assembly according to claim 2, wherein the two balancing members (5) are located on the upper and lower sides of the linkage member (2).

7. Suspension assembly according to claim 2, characterized in that the balancing member (5) is a hydraulic or pneumatic cylinder.

8. The suspension assembly according to claim 1, wherein the switch assembly (6) comprises an electric push rod disposed in the cavity, a through hole (51) is disposed on the piston, the through hole (51) communicates the rod chamber and the rodless chamber, the electric push rod can close or open the through hole (51), when the electric push rod opens the through hole (51), the damping medium in the rod chamber can flow into the rodless chamber through the through hole (51), or the damping medium in the rodless chamber can flow into the rod chamber through the through hole (51).

9. The suspension assembly according to claim 1 wherein the rod chamber and the rodless chamber have a first orifice and a second orifice respectively, and when the balance member (5) is in the active state, the damping medium in the rod chamber flows out through the first orifice and the damping medium flows into the rodless chamber through the second orifice; alternatively, the first and second electrodes may be,

10. The suspension assembly according to claim 1, wherein the suspension assembly (3) comprises two upper suspension arms (31), two lower suspension arms (32) and two steering seats (33), the two upper suspension arms (31) are oppositely arranged at the left and right sides of the main bracket (1), the two lower suspension arms (32) are oppositely arranged at the left and right sides of the main bracket (1), the first ends of the two upper suspension arms (31) are respectively pivoted with the top end of the main bracket (1), the second ends of the two upper suspension arms (31) are respectively pivoted with the top ends of the two steering seats (33), the first ends of the two lower suspension arms (32) are respectively pivoted with the bottom end of the main bracket (1), the second ends of the two lower suspension arms (32) are respectively pivoted with the bottom ends of the two steering seats (33), and the steering seats (33) are used for supporting wheels, the bottom ends of the two vibration reduction assemblies (4) are respectively pivoted with the two lower cantilevers (32).

11. The suspension assembly according to claim 10, wherein the steering base (33) comprises a housing (332) and a pivot (331), the pivot (331) is rotatably disposed through the housing (332), the housing (332) is used for connecting the wheel, and the second end of the upper suspension arm (31) and the second end of the lower suspension arm (32) are respectively pivoted with the upper end and the lower end of the corresponding pivot (331).

12. The suspension assembly of claim 11, further comprising a steering mechanism (7), the steering mechanism (7) being configured to drive the housing (332) in rotation.

13. Suspension assembly according to claim 12, wherein said steering mechanism (7) comprises a steering handle (71), a steering arm (72) fixed to said handle (71), and two steering rods (73) both pivoted to said steering arm (72), said steering arm (72) being rotatably mounted through said main bracket (1), said two steering rods (73) being connected to said two housings (332), respectively.

14. Suspension assembly according to claim 13, wherein the steering mechanism (7) further comprises a steering gear connected to the steering arm (72) and adapted to control the steering arm (72) in rotation.

15. A method of controlling a suspension assembly as claimed in any one of claims 1 to 14, comprising:

acquiring the running speed of a vehicle;

and if the inclination angle of the vehicle is greater than or equal to the preset angle, sending out an unbalanced warning.

16. A control method for a suspension assembly according to claim 15, characterized in that the balancing member (5) is controlled to be in a locked state if the tilting angle of the vehicle is smaller than a predetermined angle.

17. A control method for a suspension assembly according to claim 15, characterized in that the balancing member (5) is controlled to be active if the vehicle is travelling at a speed greater than a predetermined speed.

18. A vehicle comprising a suspension assembly as claimed in any one of claims 1 to 14.

19. The vehicle according to claim 18, characterized in that the suspension assembly (3) comprises two upper suspension arms (31), two lower suspension arms (32) and two steering seats (33), the vehicle further comprises a frame (50), two front wheels (30) and one rear wheel (40), the front end of the frame (50) is connected with the main support (1), the two front wheels (30) are respectively mounted on the two steering seats (33), and the rear wheel (40) is rotatably arranged at the rear end of the frame (50).

20. The vehicle of claim 18, characterized in that the suspension assembly further comprises a steering mechanism (7), the steering mechanism (7) further comprises a bogie (74) rotatably sleeved on the steering arm (72), and the bogie (74) is fixedly connected with the vehicle frame (50).