CN110936784A - Vehicle body roll control mechanism and active roll vehicle using same - Google Patents

Vehicle body roll control mechanism and active roll vehicle using same Download PDF

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Publication number
CN110936784A
CN110936784A CN201911224236.2A CN201911224236A CN110936784A CN 110936784 A CN110936784 A CN 110936784A CN 201911224236 A CN201911224236 A CN 201911224236A CN 110936784 A CN110936784 A CN 110936784A
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China
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vehicle
steering
roll
wheel
point
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CN201911224236.2A
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CN110936784B (en
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王亚
魏文军
李海涛
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王亚
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/02Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
    • B60G21/04Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
    • B60G21/05Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K25/00Axle suspensions
    • B62K25/04Axle suspensions for mounting axles resiliently on cycle frame or fork
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/02Tricycles
    • B62K5/06Frames for tricycles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/08Cycles with handlebars, equipped with three or more main road wheels with steering devices acting on two or more wheels

Abstract

The invention relates to a vehicle body roll control mechanism and an active roll vehicle using the same, belonging to the technical field of vehicle chassis, in particular to the vehicle body roll driving and control technology field, wherein the vehicle body roll control mechanism is composed of a roll mechanism and a steering mechanism, the vehicle body roll control mechanism realizes the non-roll of wheels in the vehicle body roll process by the rotation of the vehicle body relative to the vehicle frame and the motion of the vehicle body roll and the vehicle steering with two degrees of freedom by taking an actuating angle α and a steering angle theta as control parameters, so as to adapt to the general car tire, realize three working conditions of the steering roll, the independent roll or the independent steering in the vehicle running process, and be applied to the vehicle body active roll in the vehicle steering process, so that the vehicle can automatically tilt a certain angle to resist the centrifugal force or the roll force when passing a roll or when passing an.

Description

Vehicle body roll control mechanism and active roll vehicle using same
Technical Field
The invention relates to a vehicle body roll control mechanism and an active roll vehicle using the same, belongs to the technical field of vehicle chassis, and particularly relates to the technical field of vehicle body roll driving and control.
Background
The active roll control system improves the operation stability, smoothness, traffic speed and safety of the vehicle during turning by controlling the degree of the vehicle inclining to the inner side of the turning during turning, and the vehicle active roll technology can enable the vehicle to automatically incline for a certain angle during passing a bend or driving on an inclined road surface to generate a balance moment to resist the centrifugal force or the side overturning force applied to the vehicle so as to keep the stable driving posture of the vehicle with a small wheel base.
The active roll technology of the vehicle is generally implemented by two modes of independent roll of a vehicle body and linkage roll of the vehicle body and wheels, wherein: the vehicle body and the wheels are in linkage roll mode, the roll of the vehicle body and the steering motion of the vehicle are mutually influenced, the control stability, the smoothness and the safety of the vehicle during turning are better, two-wheel independent steering or four-wheel independent steering is required to be adopted, or a vehicle steering roll linkage device formed by the linkage of a roll mechanism and a steering mechanism is adopted, but the structure is complex, the manufacturing cost is high, and the vehicle steering roll linkage device is suitable for high-end vehicles; the vehicle body independent side-tipping mode is adopted, the vehicle body moves relative to the vehicle frame, the vehicle body side-tipping and the vehicle steering movement are independently carried out without mutual interference, wheels do not side-tipping in the vehicle body side-tipping process, any steering mechanism and general car tires can be adopted, usually, the actuator directly drives the vehicle body to rotate relative to the vehicle frame to realize the vehicle body side-tipping, and the control stability, the smoothness and the safety reliability are poor when the vehicle turns; the method has the advantages that the side-tipping driving mode of the vehicle body is explored, the side-tipping transmission and control method of the vehicle body is researched, and the theoretical significance and the practical value are achieved for reducing the manufacturing cost of the active side-tipping vehicle and improving the performance of the vehicle body independent side-tipping vehicle.
Disclosure of Invention
The invention aims to provide a vehicle body roll control mechanism and an active roll vehicle applying the same, which realize that wheels do not roll and are suitable for general car tires in the process of vehicle body roll through the rotation of a vehicle body relative to a vehicle frame, are applied to the vehicle body actively inclining for a certain angle to resist centrifugal force or roll force when the vehicle passes a bend or runs on an inclined road surface, and keep the stable running posture of the vehicle.
The technical scheme adopted for achieving the aim of the invention comprises the following steps: the vehicle body side-tipping control mechanism consists of a side-tipping mechanism and a steering mechanism;
the roll mechanism described above includes: a vehicle body (1), a right lower pull rod (2), a left lower pull rod (3), a right steering knuckle spindle (4), a left steering knuckle spindle (5), a right upper pull rod (6), a left upper pull rod (7), a right steering knuckle (8), a left steering knuckle (9), a right wheel (10), a left wheel (11), a right shock absorber (12), a left shock absorber (13), a balance rod (14), a vehicle frame (15) and a restraint rod (16), sequentially and rotatably connecting the frame (15), the right lower pull rod (2), the right knuckle spindle (4) and the right upper pull rod (6), wherein each relative rotation axis at a connecting point B, C, D, A is parallel to and perpendicular to the vehicle transverse plane to form a quadrilateral ABCD of the same relative movement plane, the right knuckle (8) and the right knuckle spindle (4) are rotatably connected around the axis CD of the right knuckle spindle, and the right knuckle (8) is connected with a right wheel (10) and controls the direction of the right wheel; sequentially and rotatably connecting a frame (15), a left lower pull rod (3), a left steering knuckle spindle (5) and a left upper pull rod (7), wherein each relative rotation axis at a connecting point B, E, F, A is parallel to and perpendicular to the transverse plane of the vehicle to form a quadrilateral ABEF of the same relative movement plane, a left steering knuckle (9) is rotatably connected with the left steering knuckle spindle (5) around the axis EF of the left steering knuckle spindle, the left steering knuckle (9) is connected with a left wheel (11) and controls the direction of the left wheel, and AB is positioned in the central longitudinal vertical plane of the vehicle; the vehicle body (1) is rotatably connected with the vehicle frame (15), a connecting point W is positioned in a vehicle body vertical plane, the W is positioned on an AB line of the vehicle frame, the middle point of a balance rod (14) is rotatably connected with the vehicle body (1), a connecting point U is positioned in the vehicle body vertical plane, two ends of the balance rod (14) are respectively rotatably connected with one end H of a right shock absorber (12) and one end J of a left shock absorber (13), the other end of the right shock absorber (12) is rotatably connected with a G point of a right upper pull rod (6), the other end of the left shock absorber (13) is rotatably connected with an I point of a left upper pull rod (7), relative rotating axes at the connecting point W, U, G, H, I, J are parallel and perpendicular to a vehicle vertical plane, the lengths and the performances of the right shock absorber (12) and the left shock absorber (13) are equal, WU (GH) and W (UH) are equal to UJ, one end of a restraint rod (16) is rotatably connected with an X point of the vehicle frame (15), The other end of the balance rod is rotationally connected with a Z point of a balance rod (14), WU is equal to XZ, WX is equal to UZ, the lengths of a right lower pull rod (2) and a left lower pull rod (3) are equal, the lengths of a right knuckle spindle (4) and a left knuckle spindle (5) are equal, and the lengths of a right upper pull rod (6) and a left upper pull rod (7) are equal, so that a side-tipping mechanism is formed;
the included angle between a vehicle body (1) and a vehicle frame (15) is an actuating angle α, the included angle between a vertical plane in the vehicle body and a central vertical plane of the vehicle is a vehicle body side inclination angle β, the roll attitude of the vehicle body (1) is controlled by the actuating angle β 0, when α is 0, β is 0, the vehicle body does not roll, when α is 0, β is not equal to 0, the vehicle body rolls, a roll function β of the relationship between the vehicle body side inclination angle β and the actuating angle α of a roll mechanism is f (α), and wheels do not roll in the roll process of the vehicle body.
The steering mechanism described above includes: a right steering knuckle spindle (4) and a right steering knuckle (8) in the roll mechanism, a left steering knuckle spindle (5) and a left steering knuckle (9), a steering swing arm (17), a right steering arm (18), a left steering arm (19), a right connecting rod (20) and a left connecting rod (21) in the roll mechanism, an axis intersection point M of the right steering knuckle spindle (4) and the right steering knuckle (8), and the right steering arm (18) and the right steering knuckle (8) form a wholeThe angle is fixedly connected and rotates around a CD (compact disc) together, the axis intersection point N of the left steering knuckle spindle (5) and the left steering knuckle (9) is formed, and the left steering arm (19) and the left steering knuckle (9) are the sameThe angle is fixedly connected and rotates around an axis EF together; one end of a steering swing arm (17) is rotationally connected with an O point of a frame (15), the rotation axis is positioned in the central vertical plane of the vehicle and is parallel to the transverse plane of the vehicle, one end of a right connecting rod (20) is connected with an S point ball hinge at the tail end of the right steering arm (18), the other end of the right connecting rod is connected with a P point ball hinge of the steering swing arm (17), one end of a left connecting rod (21) is connected with a T point ball hinge at the tail end of a left steering arm (19), the other end of the left connecting rod is connected with a Q point ball hinge of the steering swing arm (17), OP (OQ) is obtained, the right steering arm (18) is equal to the left steering arm (19), the right connecting rod (20) is equal to the left connecting rod (;
wherein: the included angle between the steering swing arm (17) and the frame (15) is a steering angle theta, the directions of the left wheel and the right wheel are controlled by the steering angle theta, when the steering angle theta is 0, the included angle between the right steering arm (18) and the vehicle transverse plane is equal to the included angle between the left steering arm (19) and the vehicle transverse plane, and the included angles are allThe vehicle runs straight; when the steering angle theta is not equal to 0, the deflection angle theta of the outer wheeleAnd inner wheel deflection angle thetaiThe Ackerman steering condition is met, and the vehicle can steer to run.
The vehicle body roll control mechanism is formed by a roll mechanism and a steering mechanism, a frame does not roll and wheels do not roll in the roll process of the vehicle body, the roll mechanism and the steering mechanism move independently, the independent control of the roll of the vehicle body and the steering of the vehicle is realized by taking an actuating angle α and a steering angle theta as control parameters, and the steering return of the left and the right wheels and the straight driving stability are realized by the inward inclination and the backward inclination of main shafts of left and the right steering knuckles and the outward inclination and the toe-in of the left and the right wheels.
In the vehicle body roll control mechanism, a vehicle body roll center W is located on an AB line of a vehicle frame, the height of the vehicle body roll center W from the ground is determined by the relative position of W and AB, when H is WB and H is 0, W, B is overlapped, when H is AB, W, A is overlapped, when H is less than 0, W is located outside AB and on the side of B point, when H is more than AB, W is located outside AB and on the side of A point, two ends of a balance rod (14) are respectively rotationally connected with one end H of a right shock absorber (12) and one end J of a left shock absorber (13), when H is larger, the other end of the right shock absorber (12) is rotationally connected with a G point of a right upper pull rod (6), the other end of the left shock absorber (13) is rotationally connected with an I point of a left upper pull rod (7), the vehicle body roll control mechanism is called an upper pull rod linkage type vehicle body roll control mechanism, when H is smaller, the other end of the right shock absorber (12) is rotationally connected with a G point of a right lower pull rod (2), the other end of the left shock absorber (13) is rotationally connected with a left pull rod (3), the vehicle body roll control mechanism is called a UHf, and the vehicle body roll control mechanism meets the same rolling control condition that a vehicle body roll control function of a U roll control mechanism W63f and a vehicle body roll control mechanism is not satisfied, and a vehicle body roll control function (.
In the above-described roll control mechanism for a vehicle body, when the connection points H, U, J on the stabilizer bar (14) are collinear, the corresponding connection points G, W, I are theoretically collinear; the balance bar (14) upper attachment point H, U, J is located at radius R0Is located at the radius R theoretically, the corresponding connection point G, W, I is located at the radius R0And on the other circle, the same rolling function β ═ f (α) is satisfied, and the wheel does not roll during the rolling of the vehicle body, if the conditions of WU ═ GH ═ IJ and WG ═ WI ═ UH ═ UJ are satisfied.
In the roll control mechanism, the actuation angle α is generated by an actuator, the actuator is an electromagnetic actuator, an electromechanical actuator, or an electrohydraulic actuator, the roll mechanism position is determined by the actuation angle α, and the roll angle β is obtained by the roll function β being equal to f (α).
In the above-mentioned vehicle body roll control mechanism, the steering angle θ is generated by a steering gear, and the steering gear is a rack and pinion steering gear, a worm crank pin type steering gear, or a recirculating ball type steering gear; determining the position of the steering mechanism according to the steering angle thetaeInner wheel deflection angle thetaiAnd the Ackerman steering condition is met, and the turning radius R of the vehicle is obtained.
A non-steering wheel vehicle body roll mechanism is composed of a roll mechanism: the right knuckle (8) is connected with the right knuckle spindle (4) around its axis CD rotation and is changed into perpendicular permanent connection, and the left knuckle (9) is connected with the left knuckle spindle (5) around its axis EF rotation and is changed into perpendicular permanent connection and forms, include: a vehicle body (1), a right lower pull rod (2), a left lower pull rod (3), a right steering knuckle spindle (4), a left steering knuckle spindle (5), a right upper pull rod (6), a left upper pull rod (7), a right steering knuckle (8), a left steering knuckle (9), a right wheel (10), a left wheel (11), a right shock absorber (12), a left shock absorber (13), a balance rod (14), a vehicle frame (15) and a restraint rod (16), sequentially and rotatably connecting the frame (15), the right lower pull rod (2), the right knuckle spindle (4) and the right upper pull rod (6), wherein the relative rotation axes at the connecting point B, C, D, A are parallel and vertical to the vehicle transverse plane to form a quadrilateral ABCD with the same relative movement plane, the right knuckle (8) is vertically and fixedly connected with the right knuckle spindle (4), the right knuckle (8) is connected with the right wheel (10), and the rotation axes of the right wheel are positioned in the vehicle transverse plane; sequentially and rotatably connecting a frame (15), a left lower pull rod (3), a left steering knuckle spindle (5) and a left upper pull rod (7), wherein each relative rotation axis at a connecting point B, E, F, A is parallel to and perpendicular to the vehicle transverse plane to form a quadrilateral ABEF with the same relative movement plane, a left steering knuckle (9) is vertically and fixedly connected with the left steering knuckle spindle (5), the left steering knuckle (9) is connected with a left wheel (11), the rotation axis of the left wheel is positioned in the vehicle transverse plane, and AB is positioned in the vehicle central longitudinal plane; the vehicle body (1) is rotatably connected with the vehicle frame (15), a connecting point W is positioned in a vehicle body vertical plane, the W is positioned on an AB line of the vehicle frame, the middle point of a balance rod (14) is rotatably connected with the vehicle body (1), a connecting point U is positioned in the vehicle body vertical plane, two ends of the balance rod (14) are respectively rotatably connected with one end H of a right shock absorber (12) and one end J of a left shock absorber (13), the other end of the right shock absorber (12) is rotatably connected with a G point of a right upper pull rod (6), the other end of the left shock absorber (13) is rotatably connected with an I point of a left upper pull rod (7), relative rotating axes at the connecting point W, U, G, H, I, J are parallel and perpendicular to a vehicle vertical plane, the lengths and the performances of the right shock absorber (12) and the left shock absorber (13) are equal, WU (GH) and W (UH) are equal to UJ, one end of a restraint rod (16) is rotatably connected with an X point of the vehicle frame (15), The other end of the steering mechanism is rotationally connected with a Z point of a balance rod (14), WU is XZ, WX is UZ, the length of a right lower pull rod (2) is equal to that of a left lower pull rod (3), the length of a right knuckle spindle (4) is equal to that of a left knuckle spindle (5), the length of a right upper pull rod (6) is equal to that of a left upper pull rod (7), and a non-steering wheel vehicle body side-tipping mechanism is formed;
the included angle between a vehicle body (1) and a vehicle frame (15) is an actuating angle α, the included angle between a vertical plane in the vehicle body and a central vertical plane of the vehicle is a vehicle body side inclination angle β, the vehicle body (1) rolling posture is controlled by the actuating angle β 0, when α is 0, β is 0, the vehicle body does not roll, when α is 0, β is 0, the vehicle body rolls, a rolling function β of the relationship between the vehicle body side inclination angle β and the actuating angle α of the non-steering wheel vehicle body rolling mechanism is f (α), and wheels do not roll in the vehicle body rolling process.
In the non-steering wheel vehicle body rolling mechanism, a vehicle body rolling center W is located on an AB line of a vehicle frame, the height of the vehicle body rolling center W from the ground is determined by the relative position of W and AB, when H is WB and H is 0, W, B is overlapped, when H is AB, W, A is overlapped, when H is less than 0, W is located outside AB and on the side of B point, when H is more than AB, W is located outside AB and on the side of A point, two ends of a balance rod (14) are respectively and rotatably connected with one end H of a right shock absorber (12) and one end J of a left shock absorber (13), when H is larger, the other end of the right shock absorber (12) is and rotatably connected with a G point of a right upper pull rod (6), the other end of the left shock absorber (13) is and rotatably connected with an I point of a left upper pull rod (7), when H is smaller, the other end of the right shock absorber (12) and the G point of a right pull rod (2) are rotatably connected with an I point of a left pull rod (3), and when H is smaller, the other end of the left shock absorber (13) and the vehicle body rolling center W and the height of W is equal to the same vehicle body rolling center W and the same vehicle body rolling center W is equal to the same as W, W is equal to the UHI.
The front-wheel steering active-heeling four-wheel vehicle comprises a set of vehicle body heeling control mechanisms and a set of non-steering wheels, wherein the vehicle body heeling mechanisms are arranged in front and back on the same vehicle body according to a given wheelbase L, share the same vehicle frame and have the same vehicle central vertical plane, the double front wheels steer and the double rear wheels drive, the vehicle body heeling control mechanisms control the vehicle body heeling, an actuating angle α in the non-steering wheel vehicle body heeling mechanisms is changed in a self-adaptive mode, the non-steering wheels vehicle body heeling mechanisms are heeled in a self-adaptive mode, and the front-wheel steering active-heeling four-wheel vehicle is formed.
The front wheel steering active side-tipping tricycle includes: the tricycle is characterized in that a group of tricycle body roll control mechanisms are arranged in front, single wheels are arranged on the same tricycle body in the rear mode according to a given wheel base L, the single wheels share the same central vertical plane of the tricycle, double front wheels are used for steering, rear wheels are used for driving, the tricycle body roll control mechanisms are used for controlling the tricycle body to roll, and the single rear wheels and the tricycle body roll together to form a tricycle with the front wheels steered and actively rolled; has the characteristics of small volume, mobility and flexibility.
The positive tricycle that leans is initiatively leaned on to front wheel steering includes: the tricycle is characterized in that a group of non-steering wheel body side-tipping mechanisms are arranged at the rear part, single wheels are arranged at the front part on the same tricycle body according to a given axle distance L and share the central vertical plane of the same tricycle, the double rear wheels are driven, the front wheels steer, the non-steering wheel body side-tipping mechanisms control the tipping of the tricycle body, and the single front wheels and the tricycle body side-tipping together to form a front wheel steering active side-tipping tricycle; the device has the characteristics of large bearing capacity, small turning radius and good ground adaptability.
The rear wheel steering active side-tipping tricycle includes: the tricycle is characterized in that a group of non-steering wheel body side-tipping mechanisms are arranged in front, single wheels are arranged on the same tricycle body in the rear direction according to a given axle distance L and share the central vertical plane of the same tricycle, double front wheels are driven, rear wheels are steered, the non-steering wheel body side-tipping mechanisms control the tipping of the tricycle body, and the single rear wheels and the tricycle body are tipped together to form a rear wheel steering active side-tipping tricycle; has the characteristics of large climbing capacity, small volume, mobility and flexibility.
In the active roll vehicle using the body roll control mechanism, the distance K between the main shafts of the left and right knuckles, the vehicle running speed v, and the gravity acceleration g are set, the body roll control mechanism is a two-degree-of-freedom motion system, and the body roll and the vehicle steering can be performed independently or simultaneously, so that three operation modes of the turning roll, the independent roll or the independent steering can be realized in the vehicle running process:
①, when the vehicle turns at high speed, the steering angle theta is given, and the steering gear is driven by the steering gear to obtain the deflection angle theta of the outer wheelseInner wheel deflection angle thetaiAnd the Ackerman steering condition is met: cot (theta)e)-cot(θi) K/L, and a turning radius R Lcot (θ)i) + K/2, force balance in cornering mg × tan β ═ mv2R, from tan β ═ v2Solving a vehicle body roll angle β, obtaining an actuating angle α from a roll function β ═ f (α), and generating the actuating angle α by an actuator to drive a roll mechanism so as to roll the vehicle body and resist the turning centrifugal force to keep the stability of the vehicle running at high speed;
②, when the vehicle runs on a transverse slope ground, dynamically reading a ground transverse slope angle p by an inclination angle sensor, taking a vehicle side inclination angle β as-p, obtaining an actuating angle α by a roll function β as f (α), and generating an actuating angle α by an actuator to drive a roll mechanism so as to realize vehicle body roll and resist the side turning force of the vehicle caused by terrain change, thereby keeping the stable running posture of the vehicle;
③, when the vehicle runs at low speed, α is 0, β is 0, theta can be arbitrarily taken within a certain range, and the steering gear is driven by the steering gear to obtain the corresponding outer wheel deflection angle thetaeInner wheel deflection angle thetaiThe Ackerman steering condition is met, low-speed running and steering without heeling are realized, and the running smoothness of the vehicle is kept.
In the active-roll tricycle using the non-steering wheel vehicle-body-roll mechanism, the vehicle running speed v and the gravity acceleration g are set, when the vehicle runs on a curve, the steering angle theta is given by single-wheel steering, the turning radius R is L/tan theta, and the force balance condition during turning is met, namely mg multiplied by tan β is mv2R, from tan β ═ v2The roll angle β is solved, the actuating angle α is obtained from the roll function β ═ f (α), the actuating angle α is generated by the actuator, the non-steering wheel vehicle body roll mechanism is driven, and the vehicle body roll is realized and the turning off resistance is realizedWhen the vehicle runs on a transverse slope ground, a ground transverse slope angle p is dynamically read by an inclination angle sensor, a vehicle body side inclination angle β is taken as-p, an actuating angle α is obtained by a roll function β as f (α), and the actuating angle α is generated by an actuator to drive a non-steering wheel vehicle body roll mechanism, so that vehicle body roll is realized, and the vehicle rollover force caused by resisting terrain change is resisted, so that the stable running posture of the vehicle is maintained.
The invention has the beneficial effects that the provided vehicle body roll control mechanism and the active roll vehicle applying the mechanism realize the independent control of the vehicle steering and the vehicle body roll motion by the rotation of the vehicle body relative to the vehicle frame, and the wheels do not roll in the vehicle body roll process, thereby being suitable for the universal car tire; the vehicle body active side-tipping device is applied to vehicle steering, so that the vehicle can automatically tip at a certain angle to resist centrifugal force or side-tipping force when passing a bend or a slope road surface, and a stable driving posture is kept.
Drawings
FIG. 1 is a diagrammatic view of a roll mechanism;
FIG. 2 is a schematic view of a steering mechanism;
FIG. 3 is a schematic diagram of the roll control mechanism of the vehicle body;
FIG. 4 is a schematic diagram of a lower link linkage type vehicle body side-tipping control mechanism;
FIG. 5 is a schematic diagram of the upper pull rod linkage type vehicle body side-tipping control mechanism;
FIG. 6 is a schematic view of a non-steerable wheel vehicle body roll mechanism;
FIG. 7 is a three-dimensional schematic diagram of a non-steerable wheel body roll mechanism;
FIG. 8 is a schematic diagram of the roll operation of the roll control mechanism;
FIG. 9 is a schematic view of the steering operation of the roll control mechanism;
FIG. 10 is a schematic diagram of a roll-over-hill running of the roll control mechanism of the vehicle body;
FIG. 11 is a schematic diagram of a front wheel steering actively heeled four-wheel vehicle assembly;
FIG. 12 is a schematic diagram of the front wheel steering active side-tipping tricycle assembly;
FIG. 13 is a schematic diagram of a front wheel steering actively heeling positive tricycle;
FIG. 14 is a schematic diagram of the rear wheel steering active side-tipping tricycle;
in the figure: 1-vehicle body, 2-right lower pull rod, 3-left lower pull rod, 4-right knuckle spindle, 5-left knuckle spindle, 6-right upper pull rod, 7-left upper pull rod, 8-right knuckle, 9-left knuckle, 10-right wheel, 11-left wheel, 12-right shock absorber, 13-left shock absorber, 14-balancing rod, 15-vehicle frame, 16-restraining rod, 17-steering swing arm, 18-right steering arm, 19-left steering arm, 20-right connecting rod and 21-left connecting rod.
Detailed Description
Embodiments of the invention are described below with reference to the accompanying drawings:
the vehicle body roll control mechanism consists of a roll mechanism and a steering mechanism (shown in figure 3);
fig. 1 shows a diagrammatic view of a roll mechanism comprising: a vehicle body (1), a right lower pull rod (2), a left lower pull rod (3), a right steering knuckle spindle (4), a left steering knuckle spindle (5), a right upper pull rod (6), a left upper pull rod (7), a right steering knuckle (8), a left steering knuckle (9), a right wheel (10), a left wheel (11), a right shock absorber (12), a left shock absorber (13), a balance rod (14), a vehicle frame (15) and a restraint rod (16), sequentially and rotatably connecting the frame (15), the right lower pull rod (2), the right knuckle spindle (4) and the right upper pull rod (6), wherein each relative rotation axis at a connecting point B, C, D, A is parallel to and perpendicular to the vehicle transverse plane to form a quadrilateral ABCD of the same relative movement plane, the right knuckle (8) and the right knuckle spindle (4) are rotatably connected around the axis CD of the right knuckle spindle, and the right knuckle (8) is connected with a right wheel (10) and controls the direction of the right wheel; sequentially and rotatably connecting a frame (15), a left lower pull rod (3), a left steering knuckle spindle (5) and a left upper pull rod (7), wherein each relative rotation axis at a connecting point B, E, F, A is parallel to and perpendicular to the transverse plane of the vehicle to form a quadrilateral ABEF of the same relative movement plane, a left steering knuckle (9) is rotatably connected with the left steering knuckle spindle (5) around the axis EF of the left steering knuckle spindle, the left steering knuckle (9) is connected with a left wheel (11) and controls the direction of the left wheel, and AB is positioned in the central longitudinal vertical plane of the vehicle; the vehicle body (1) is rotatably connected with the vehicle frame (15), a connecting point W is positioned in a vehicle body vertical plane, the W is positioned on an AB line of the vehicle frame, the middle point of a balance rod (14) is rotatably connected with the vehicle body (1), a connecting point U is positioned in the vehicle body vertical plane, two ends of the balance rod (14) are respectively rotatably connected with one end H of a right shock absorber (12) and one end J of a left shock absorber (13), the other end of the right shock absorber (12) is rotatably connected with a G point of a right upper pull rod (6), the other end of the left shock absorber (13) is rotatably connected with an I point of a left upper pull rod (7), relative rotating axes at the connecting point W, U, G, H, I, J are parallel and perpendicular to a vehicle vertical plane, the lengths and the performances of the right shock absorber (12) and the left shock absorber (13) are equal, WU (GH) and W (UH) are equal to UJ, one end of a restraint rod (16) is rotatably connected with an X point of the vehicle frame (15), The other end of the balance rod is rotationally connected with a Z point of a balance rod (14), WU is XZ, WX is UZ, the right lower pull rod (2) is equal to the left lower pull rod (3) in length, BC is BE, the right knuckle spindle (4) is equal to the left knuckle spindle (5) in length, CD is EF, the right upper pull rod (6) is equal to the left upper pull rod (7) in length, AD is AF, the right knuckle (8) is equal to the left knuckle (9) in length, the right wheel (10) is equal to the left wheel (11) in radius, and a roll mechanism is formed;
the included angle between a vehicle body (1) and a vehicle frame (15) is an actuating angle α, the included angle between a vertical plane in the vehicle body and a central vertical plane of the vehicle is a vehicle body side inclination angle β, the roll attitude of the vehicle body (1) is controlled by the actuating angle β 0, when β 2 is 0, β 1 is 0 and the vehicle body does not roll, when β 3 is not equal to 0, β 4 is not equal to 0 and the vehicle body rolls (as shown in fig. 8), a roll function β which is used for obtaining the relation between the vehicle body side inclination angle β 6 and the actuating angle β 5 of a roll mechanism is f (α), when the vehicle body rolls, the wheel distance of the vehicle is not changed, when the roll function β is α is more than 0, β is more than 0, the vehicle body rolls left, and when α is more than 0, β is less than 0 and the vehicle body right is.
The steering mechanism shown in fig. 2 is a schematic view, the steering mechanism comprising: a right steering knuckle spindle (4) and a right steering knuckle (8) in the roll mechanism, a left steering knuckle spindle (5) and a left steering knuckle (9), a steering swing arm (17), a right steering arm (18), a left steering arm (19), a right connecting rod (20) and a left connecting rod (21) in the roll mechanism, an axis intersection point M of the right steering knuckle spindle (4) and the right steering knuckle (8), and the right steering arm (18) and the right steering knuckle (8) form a wholeAngle-fixed, co-rotating about axis CD, left knuckleThe main shaft (5) and the left steering knuckle (9) form an axis intersection point N, and the left steering arm (19) and the left steering knuckle (9) are identicalThe angle is fixedly connected and rotates around an axis EF together; one end of a steering swing arm (17) is rotatably connected with a point O of a frame (15), the rotating axis is positioned in the central vertical plane of the vehicle and is parallel to the transverse plane of the vehicle, one end of a right connecting rod (20) is connected with a point S ball hinge at the tail end of the right steering arm (18), the other end of the right connecting rod is connected with a point P ball hinge of the steering swing arm (17), one end of a left connecting rod (21) is connected with a point T ball hinge at the tail end of a left steering arm (19), the other end of the left connecting rod is connected with a point Q ball hinge of the steering swing arm (17), OP is OQ, the right steering arm (18) is equal to the left steering arm (19), MS is NT, the right connecting rod (20) is equal to the left connecting rod (21), and SP is TQ, so that a steering;
wherein: the included angle between the steering swing arm (17) and the frame (15) is a steering angle theta, the directions of the left wheel and the right wheel are controlled by the steering angle theta, when the steering angle theta is 0, the included angle between the right steering arm (18) and the vehicle transverse plane is equal to the included angle between the left steering arm (19) and the vehicle transverse plane, and the included angles are allThe vehicle runs straight; when the steering angle theta is not equal to 0, the deflection angle theta of the outer wheeleAnd inner wheel deflection angle thetaiThe ackermann steering condition is satisfied and the vehicle is steered to run (as shown in fig. 9).
The vehicle body roll control mechanism shown in fig. 3 is a schematic diagram, the vehicle body roll control mechanism is formed by a roll mechanism and a steering mechanism, the vehicle frame does not roll and the wheels do not roll in the vehicle body roll process, the roll mechanism and the steering mechanism move independently, the vehicle body roll and the vehicle steering are independently controlled by taking an actuating angle α and a steering angle theta as control parameters, and the left and right steering knuckle main shafts are leaned inwards and backwards, and the left and right wheels are leaned outwards and toe-in, so that the left and right wheels are steered to return to the positive direction and the straight line driving stability are realized.
The vehicle body roll control mechanism shown in the combined figures 3, 4 and 5 forms a schematic diagram, wherein in the vehicle body roll control mechanism, a vehicle body roll center W is positioned on an AB line of a vehicle frame, the height of the vehicle body roll center W from the ground is determined by the relative position of W and AB, when H is equal to WB, H is equal to 0, W, B is overlapped, when H is equal to AB, W, A is overlapped, when H is equal to 0, W is positioned outside AB and on the side of B point, when H is greater than AB, W is positioned outside AB and on the side of A point (shown in figure 3), two ends of a balance rod (14) are respectively and rotatably connected with one end H of a right shock absorber (12) and one end J of a left shock absorber (13), when H is larger and H is equal to 2/3 AB, the other end of the right shock absorber (12) is rotatably connected with a G point of a right upper pull rod (6), the other end of the left shock absorber (13) is rotatably connected with an I point of a left upper pull rod (7), the vehicle body roll control mechanism is called as an upper pull rod roll control mechanism (shown in figure 5), when H is smaller, H is connected with a vehicle body roll control mechanism, when H is equal to a lower pull rod (54), and the other end of a lower pull rod (13) is connected with a lower pull rod (W) and a lower pull rod (36f, and a pull rod (362, and a pull rod (W) and a pull rod (W is not less than a pull rod (13) and meets the same pull rod (W) and a pull rod (W & equal to meet the same pull control function shown in a pull control.
Fig. 3 and 5 are schematic diagrams of a roll control mechanism in which, when the connection points H, U, J on the stabilizer bar (14) are collinear, the corresponding connection points G, W, I are theoretically collinear (as shown in fig. 3); the balance bar (14) upper attachment point H, U, J is located at radius R0Is located at the radius R theoretically, the corresponding connection point G, W, I is located at the radius R0On the other circumference (as shown in fig. 5), the same roll function β f (α) is satisfied and the wheel does not roll during the rolling of the vehicle body if the conditions of WU-GH-IJ and WG-WI-UH-UJ are satisfied.
Fig. 4 and 5 are schematic diagrams showing a roll control mechanism of a vehicle body, in which when a connection point Z of a restraining bar (16) is collinear with UH or UJ, another connection point X is theoretically collinear with WG or WI (as shown in fig. 4); the connecting point Z of the restraint bar (16) is located at the radius R with the U, H or U, J1Another connection point X corresponding to W, G or W, I is theoretically located at a radius R0On the other circumference (as shown in fig. 5), and satisfies WU-XZ and WX-UZ conditions, the same roll function β -f (α) is satisfied, and the wheel does not roll during the roll of the vehicle body.
The vehicle body roll control mechanism shown in fig. 3, 4 and 5 constitutes the principleIn the figure, in the vehicle body roll control mechanism, a ball hinge is selected from rod end joint bearings GB/T9161-2001 or is selected from radial joint bearings GB/T9163-2001, an actuation angle α is generated by an actuator, the actuator is selected from an electromagnetic actuator, an electromechanical actuator or an electrohydraulic actuator, an actuator output shaft drives a vehicle body in the vehicle body roll control mechanism to rotate relative to the vehicle frame at a point W, the position of the roll mechanism is determined by an actuation angle α, a vehicle body roll angle β is obtained by changing a roll function β to f (α), a steering angle theta is generated by a steering gear, the steering gear is selected from a rack and pinion steering gear, a worm crank pin steering gear or a circulating ball type steering gear, a steering gear output shaft drives a steering swing arm in the vehicle body roll control mechanism to rotate relative to the vehicle frame, the position of the steering mechanism is determined by the steering angle theta, and the steering angle corresponds to an outereInner wheel deflection angle thetaiAnd the Ackerman steering condition is met, and the turning radius R of the vehicle is obtained.
The non-steered wheel roll mechanism shown in fig. 6 is a schematic view of a non-steered wheel roll mechanism, and the roll mechanism is composed of: the right knuckle (8) is connected with the right knuckle spindle (4) around its axis CD rotation and is changed into perpendicular permanent connection, and the left knuckle (9) is connected with the left knuckle spindle (5) around its axis EF rotation and is changed into perpendicular permanent connection and forms, include: a vehicle body (1), a right lower pull rod (2), a left lower pull rod (3), a right steering knuckle spindle (4), a left steering knuckle spindle (5), a right upper pull rod (6), a left upper pull rod (7), a right steering knuckle (8), a left steering knuckle (9), a right wheel (10), a left wheel (11), a right shock absorber (12), a left shock absorber (13), a balance rod (14), a vehicle frame (15) and a restraint rod (16), sequentially and rotatably connecting the frame (15), the right lower pull rod (2), the right knuckle spindle (4) and the right upper pull rod (6), wherein the relative rotation axes at the connecting point B, C, D, A are parallel and vertical to the vehicle transverse plane to form a quadrilateral ABCD with the same relative movement plane, the right knuckle (8) is vertically and fixedly connected with the right knuckle spindle (4), the right knuckle (8) is connected with the right wheel (10), and the rotation axes of the right wheel are positioned in the vehicle transverse plane; sequentially and rotatably connecting a frame (15), a left lower pull rod (3), a left steering knuckle spindle (5) and a left upper pull rod (7), wherein each relative rotation axis at a connecting point B, E, F, A is parallel to and perpendicular to the vehicle transverse plane to form a quadrilateral ABEF with the same relative movement plane, a left steering knuckle (9) is vertically and fixedly connected with the left steering knuckle spindle (5), the left steering knuckle (9) is connected with a left wheel (11), the rotation axis of the left wheel is positioned in the vehicle transverse plane, and AB is positioned in the vehicle central longitudinal plane; the vehicle body (1) is rotatably connected with the vehicle frame (15), a connecting point W is positioned in a vehicle body vertical plane, the W is positioned on an AB line of the vehicle frame, the middle point of a balance rod (14) is rotatably connected with the vehicle body (1), a connecting point U is positioned in the vehicle body vertical plane, two ends of the balance rod (14) are respectively rotatably connected with one end H of a right shock absorber (12) and one end J of a left shock absorber (13), the other end of the right shock absorber (12) is rotatably connected with a G point of a right upper pull rod (6), the other end of the left shock absorber (13) is rotatably connected with an I point of a left upper pull rod (7), relative rotating axes at the connecting point W, U, G, H, I, J are parallel and perpendicular to a vehicle vertical plane, the lengths and the performances of the right shock absorber (12) and the left shock absorber (13) are equal, WU (GH) and W (UH) are equal to UJ, one end of a restraint rod (16) is rotatably connected with an X point of the vehicle frame (15), The other end of the balance rod is rotationally connected with a Z point of a balance rod (14), WU is XZ, WX is UZ, the right lower pull rod (2) is equal to the left lower pull rod (3) in length, BC is BE, the right knuckle spindle (4) is equal to the left knuckle spindle (5) in length, CD is EF, the right upper pull rod (6) is equal to the left upper pull rod (7) in length, AD is AF, the right knuckle (8) is equal to the left knuckle (9) in length, the right wheel (10) is equal to the left wheel (11) in radius, and a non-steering wheel vehicle body roll mechanism is formed (shown in figure 7);
the included angle between a vehicle body (1) and a vehicle frame (15) is an actuating angle α, the included angle between a vertical plane of the vehicle body and a central vertical plane of the vehicle is a vehicle body side inclination angle β, the roll attitude of the vehicle body (1) is controlled by the actuating angle β 0, when β 2 is 0, β 1 is 0, the vehicle body does not roll, when β 3 is 0, β 4 is 0 and the vehicle body rolls, a roll function β of the relationship between the vehicle body side inclination angle β 6 and the actuating angle β 5 of a non-steering wheel vehicle body roll mechanism is f (α), when the vehicle body rolls, wheels do not roll, the vehicle wheel pitch does not change, when a roll function β is α is 0, β is greater than 0, the vehicle body rolls left, when α is less than 0, β is less than 0, and the vehicle body right.
The non-steering wheel vehicle body rolling mechanism shown in fig. 6 and 7 is characterized in that a vehicle body rolling center W is located on an AB line of a vehicle frame, the height of the vehicle body rolling center W from the ground is determined by the relative position of W and AB, when H is WB, H is 0, W, B is overlapped, when H is AB, W, A is overlapped, when H is less than 0, W is located on the side of B point outside, when H is more than AB, W is located on the side of AB point, A point side, two ends of a balance rod (14) are respectively rotatably connected with one end H of a right shock absorber (12) and one end J of a left shock absorber (13), when H is larger, the other end of the right shock absorber (12) is rotatably connected with a G point of a right upper pull rod (6), the other end of the left shock absorber (13) is rotatably connected with an I point of a left upper pull rod (7), when H is smaller, the other end of the right shock absorber (12) is rotatably connected with a G point of a right lower pull rod (2), the other end of the left shock absorber (13) is rotatably connected with an I point of a left pull rod (7), and when H is smaller, the vehicle body rolling center W is equal to W633, and the vehicle wheel rolling center W is equal to the same as a W3, and the condition that W3, W is not satisfied in a vehicle wheel rolling process.
The front-wheel steering active-heeling four-wheel vehicle shown in the figure 11 is a schematic diagram, and comprises a group of vehicle body heeling control mechanisms and a group of non-steering wheel vehicle body heeling mechanisms which are arranged in front and at back of the same vehicle body according to a given axle distance L, share the same vehicle frame and have the same vehicle central longitudinal vertical plane, rod members with the same name in the front mechanism and the rear mechanism are equal in length, the shapes and the geometric dimensions are the same, the wheel distance of the front wheel is equal to that of the rear wheel, the double front wheels steer, the double rear wheels are driven by a hydraulic motor, the four wheels are all driven by a universal car tire GB 9743 and 2007, the vehicle body heeling control mechanisms control the vehicle body heeling, an actuating angle α in the non-steering wheel vehicle body heeling mechanisms is changed in a self-adaptive mode, the non-steering wheel vehicle body heeling mechanisms are tilted in a self-adaptive mode, the front-wheel steering active heeling four-wheel vehicle is formed, the running stability.
Fig. 12 is a schematic diagram of a front-wheel steering active-side-dump tricycle, including: the tricycle is characterized in that a group of body side-tipping control mechanisms are arranged in front, single wheels are arranged behind the same body according to a given axle distance L and share the central vertical plane of the same vehicle, double front wheels are steered, a single rear wheel is connected to the body through a swing arm and a shock absorber, a rear wheel hub motor is driven, the double front wheels adopt a universal car tire GB 9743-; has the characteristics of small volume, mobility and flexibility.
Fig. 13 is a schematic diagram of a front-wheel steering active-roll positive tricycle, including: the tricycle is characterized in that a group of non-steering wheel body side-tipping mechanisms are arranged at the rear part, a single wheel is arranged at the front part on the same vehicle body according to a given axle distance L and shares the central vertical plane of the same vehicle, a double-rear-wheel hub motor drives the front wheel to steer, the double rear wheel adopts a universal car tire GB 9743 and 2007, the front wheel adopts a motorcycle tire GB518 and 2007 with an arc-shaped section, the non-steering wheel body side-tipping mechanisms control the vehicle body to side, and the single front wheel and the vehicle body side-tipping together form a front wheel steering active side-tipping tricycle; the device has the characteristics of large bearing capacity, small turning radius and good ground adaptability.
Fig. 14 is a schematic diagram showing a rear-wheel steering active-side-dump tricycle, including: the tricycle is characterized in that a group of non-steering wheel body side-tipping mechanisms are arranged in front, a single wheel is arranged behind the same body according to a given axle distance L and shares the central vertical plane of the same vehicle, a double-front-wheel hub motor drives the rear wheel to steer, the double front wheels adopt universal car tires GB 9743 and 2007, the rear wheel adopts a motorcycle tire GB518 and 2007 with an arc-shaped section, the non-steering wheel body side-tipping mechanisms control the body to tip, the single rear wheel and the body side-tipping together, and the rear wheel steering active side-tipping tricycle is formed; has the characteristics of large climbing capacity, small volume, mobility and flexibility.
With reference to the schematic diagrams of the operation of the body roll control mechanism shown in fig. 8, 9 and 10 and the active roll vehicle using the body roll control mechanism shown in fig. 11 and 12, the left and right knuckle spindle distances K, the vehicle running speed v and the gravitational acceleration g are set, the body roll control mechanism is a two-degree-of-freedom motion system, and the body roll and the vehicle turning can be performed independently or simultaneously, so that three operation modes of turning roll, independent roll or independent turning can be realized during the vehicle running process:
①, when the vehicle turns at high speed, the steering angle theta is givenThe steering mechanism is driven by the steering gear to obtain the deflection angle theta of the outer wheeleInner wheel deflection angle thetaiAnd the Ackerman steering condition is met: cot (theta)e)-cot(θi) K/L, and a turning radius R Lcot (θ)i) + K/2, force balance in cornering mg × tan β ═ mv2R, from tan β ═ v2Solving a vehicle body roll angle β, obtaining an actuating angle α from a roll function β ═ f (α), and generating the actuating angle α by an actuator to drive a roll mechanism so as to roll the vehicle body and resist the turning centrifugal force to keep the stability of the vehicle running at high speed;
②, when the vehicle runs on a transverse slope ground, dynamically reading a ground transverse slope angle p (as shown in fig. 10) by an inclination angle sensor, taking a vehicle side inclination angle β as-p, obtaining an actuating angle α by a roll function β as f (α), and generating an actuating angle α by an actuator to drive a roll mechanism so as to realize vehicle body roll and resist the vehicle side-turning force caused by terrain change to keep the stable running posture of the vehicle;
③, when the vehicle runs at low speed, α is 0, β is 0, theta can be arbitrarily taken within a certain range, and the steering gear is driven by the steering gear to obtain the corresponding outer wheel deflection angle thetaeInner wheel deflection angle thetaiThe Ackerman steering condition is met, low-speed running and steering without heeling are realized, and the running smoothness of the vehicle is kept.
Combining the non-steered wheel vehicle body roll mechanism shown in fig. 6 and 7 and the active roll tricycle applying the non-steered wheel vehicle body roll mechanism shown in fig. 13 and 14, the vehicle running speed v and the gravity acceleration g are set, when the vehicle runs on a curve, the steering angle theta is given by single wheel steering, the turning radius R is L/tan theta, and the force balance condition during turning is satisfied, wherein mg × tan β is mv2R, from tan β ═ v2The method comprises the steps of (g x R) solving a roll angle β, obtaining an actuating angle α from a roll function β -f (α), driving a non-steering wheel vehicle body roll mechanism by the actuating angle α generated by an actuator to roll a vehicle body and resist the centrifugal force of turning to keep the stability of the vehicle in curve running, dynamically reading a ground transverse slope angle p by a tilt angle sensor when the vehicle runs on a transverse slope ground, obtaining a vehicle body roll angle β -p, and obtaining an actuating angle from a roll function β -f (α)α, an actuator generates an actuating angle α to drive a non-steering wheel vehicle body rolling mechanism, so as to roll the vehicle body and resist the side rolling force of the vehicle caused by terrain change, thereby keeping the stable driving posture of the vehicle.
Through the embodiment, the vehicle body roll control mechanism and the active roll vehicle applying the same realize independent control of vehicle steering and vehicle body roll motion, wheels do not roll and the wheel track of the vehicle does not change in the vehicle body roll process, three working conditions of steering roll, independent roll or independent steering can be realized in the vehicle running process, and further the non-steering wheel vehicle body roll mechanism and the active roll vehicle applying the same are provided; the vehicle body active side-tipping device is applied to vehicle steering, so that the vehicle can automatically tip at a certain angle to resist centrifugal force or side-tipping force when passing a bend or a slope road surface, and a stable driving posture is kept.

Claims (11)

1. The car body roll control mechanism is composed of a roll mechanism and a steering mechanism, and is characterized in that:
the roll mechanism includes: the vehicle comprises a vehicle body, a right lower pull rod, a left lower pull rod, a right knuckle spindle, a left knuckle spindle, a right upper pull rod, a left upper pull rod, a right knuckle, a left knuckle, a right wheel, a left wheel, a right shock absorber, a left shock absorber, a balancing rod, a vehicle frame and a restraint rod, wherein the vehicle frame, the right lower pull rod, the right knuckle spindle and the right upper pull rod are sequentially and rotatably connected, relative rotation axes at a connection point B, C, D, A are parallel and vertical to the vehicle transverse plane to form a quadrilateral ABCD of the same relative movement plane, the right knuckle and the right knuckle spindle are rotatably connected around the axis CD of the right knuckle spindle, and the right knuckle is connected with the right wheel and controls the direction of the right wheel; sequentially and rotatably connecting the frame, the left lower pull rod, the left knuckle spindle and the left upper pull rod in sequence, wherein each relative rotating axis at a connecting point B, E, F, A is parallel to and perpendicular to the transverse plane of the vehicle to form a quadrilateral ABEF of the same relative motion plane, the left knuckle is rotatably connected with the left knuckle spindle around the axis EF of the left knuckle spindle, the left knuckle is connected with a left wheel and controls the direction of the left wheel, and AB is positioned in the central longitudinal vertical plane of the vehicle; the vehicle body is rotationally connected with the vehicle frame, a connecting point W is positioned in the midperpendicular of the vehicle body, meanwhile W is positioned on an AB line of the vehicle frame, the midpoint of a balancing rod is rotationally connected with the vehicle body, a connecting point U is positioned in the midperpendicular of the vehicle body, two ends of the balancing rod are respectively rotationally connected with one end H of a right shock absorber and one end J of a left shock absorber, the other end of the right shock absorber is rotationally connected with a G point of a right upper pull rod, the other end of the left shock absorber is rotationally connected with an I point of the left upper pull rod, relative rotating axes at the connecting point W, U, G, H, I, J are parallel and vertical to the transverse plane of the vehicle, the right shock absorber and the left shock absorber have the same length and the same performance, WU is equal to GH IJ and WG is equal to UH, one end of a restraint bar is rotationally connected with an X point of the vehicle frame, the other end of the balancing rod is rotationally connected with a Z point of the balancing rod, WU is equal to XZ, and WX is equal to UZ, the right lower pull bar is equal, the length of the right upper pull rod is equal to that of the left upper pull rod;
the included angle between a vehicle body and a vehicle frame is an actuating angle α, the included angle between a vertical plane in the vehicle body and a central vertical plane of the vehicle is a vehicle body side inclination angle β, the vehicle body side inclination posture is controlled by the actuating angle β 0, when α is 0, β is 0, the vehicle body does not incline, when α is 0, β is 0, the vehicle body inclines, a side inclination function β of the relationship between the vehicle body side inclination angle β and the actuating angle α of a side inclination mechanism is f (α), and wheels do not incline in the vehicle body side inclination process;
the steering mechanism comprises: a right steering knuckle spindle and a right steering knuckle in the roll mechanism, a left steering knuckle spindle and a left steering knuckle in the roll mechanism, a steering swing arm, a right steering arm, a left steering arm, a right connecting rod and a left connecting rod, an axis intersection point M of the right steering knuckle spindle and the right steering knuckle, and a right steering arm and the right steering knuckle form a wholeAngle-fixed connection, rotation around axis CD, left steering knuckle spindle and left steering knuckle spindle intersection point N, left steering arm and left steering knuckle being identicalThe angle is fixedly connected and rotates around an axis EF together; one end of the steering swing arm is rotationally connected with the O point of the frame, the rotational axis is positioned in the central vertical plane of the vehicle and is parallel to the transverse plane of the vehicle, and one end of the right connecting rod is rotationally connected with the rightThe tail end of the steering arm is connected with a ball hinge, the other end of the steering arm is connected with a P-point ball hinge of the steering swing arm, one end of the left connecting rod is connected with the tail end of the left steering arm through the ball hinge, the other end of the left connecting rod is connected with a Q-point ball hinge of the steering swing arm, OP (OQ) is obtained, the length of the right steering arm is equal to that of the left steering arm, and the length of the right connecting rod is equal to that;
wherein: the included angle between the steering swing arm and the frame is a steering angle theta, the directions of the left wheel and the right wheel are controlled by the steering angle theta, and when the steering angle theta is 0, the included angle between the right steering arm and the vehicle vertical plane is equal to the included angle between the left steering arm and the vehicle vertical plane, and the included angles are allThe vehicle runs straight; when the steering angle theta is not equal to 0, the deflection angle theta of the outer wheeleAnd inner wheel deflection angle thetaiThe Ackerman steering condition is met, and the vehicle can steer to run.
2. The roll control mechanism according to claim 1, characterized in that the roll center W is located on the line AB of the frame and at a height from the ground depending on the relative position of W and AB, when H is WB, H is 0, W, B, H is AB, W, A, when H is 0, W is located outside AB, on the side of point B, when H is greater than AB, W is located outside AB, on the side of point a, both ends of the balancing rod are rotatably connected to the right shock absorber end H and the left shock absorber end J, when H is greater, the right shock absorber end is rotatably connected to the G point of the right upper link, the left shock absorber end is rotatably connected to the I point of the left upper link, when H is smaller, the right shock absorber end is rotatably connected to the G point of the right lower link, the left shock absorber end is rotatably connected to the I point of the left lower link, when WU is GH, IJ and WG is equal to uhj, and when H is smaller, the roll center W is equal to uhj, the same roll function is satisfied, and when H is 3683, the roll control mechanism does not satisfy the same roll function.
3. The roll control mechanism of claim 1 wherein when said spreader bar upper connection points H, U, J are collinear, the corresponding connection points G, W, I are theoretically collinear; the balance bar upper attachment point H, U, J is located at radius R0At the corresponding connection point G, W,I is located theoretically at radius R0And on the other circle, the same rolling function β ═ f (α) is satisfied, and the wheel does not roll during the rolling of the vehicle body, if the conditions of WU ═ GH ═ IJ and WG ═ WI ═ UH ═ UJ are satisfied.
4. The roll control mechanism of claim 1 wherein the actuation angle α is generated by an actuator that is selected from the group consisting of an electromagnetic actuator, an electromechanical actuator, and an electrohydraulic actuator.
5. The roll control mechanism according to claim 1 wherein the steering angle θ is produced by a steering gear selected from a rack and pinion steering gear, a worm crank pin steering gear, or a recirculating ball steering gear.
6. A non-steering wheel vehicle body roll mechanism, formed by the following steps that in the roll mechanism of claim 1, a right steering knuckle and a right steering knuckle spindle are vertically and fixedly connected together instead of being rotationally connected around an axis CD, and a left steering knuckle spindle are vertically and fixedly connected together instead of being rotationally connected around an axis EF, and the non-steering wheel vehicle body roll mechanism is characterized by comprising: the vehicle comprises a vehicle body, a right lower pull rod, a left lower pull rod, a right knuckle spindle, a left knuckle spindle, a right upper pull rod, a left upper pull rod, a right knuckle, a left knuckle, a right wheel, a left wheel, a right shock absorber, a left shock absorber, a balancing rod, a vehicle frame and a restraint rod, wherein the vehicle frame, the right lower pull rod, the right knuckle spindle and the right upper pull rod are sequentially and rotatably connected, relative rotation axes at a connection point B, C, D, A are parallel and perpendicular to a vehicle transverse plane to form a quadrilateral ABCD of the same relative movement plane, the right knuckle is vertically and fixedly connected with the right knuckle spindle, and the rotation axes of the right knuckle, the right wheel and the right wheel are positioned in a vehicle transverse plane; sequentially and rotatably connecting the frame, the left lower pull rod, the left steering knuckle main shaft and the left upper pull rod in sequence, wherein each relative rotating axis at a connecting point B, E, F, A is parallel and vertical to the transverse plane of the vehicle to form a quadrilateral ABEF of the same relative motion plane, the left steering knuckle is vertically and fixedly connected with the left steering knuckle main shaft, the rotating axes of the left steering knuckle, the left wheel and the left wheel are connected and positioned in the transverse plane of the vehicle, and the AB is positioned in the central longitudinal vertical plane of the vehicle; the vehicle body is rotationally connected with the vehicle frame, a connecting point W is positioned in the midperpendicular of the vehicle body, meanwhile W is positioned on an AB line of the vehicle frame, the midpoint of a balancing rod is rotationally connected with the vehicle body, a connecting point U is positioned in the midperpendicular of the vehicle body, two ends of the balancing rod are respectively rotationally connected with one end H of a right shock absorber and one end J of a left shock absorber, the other end of the right shock absorber is rotationally connected with a G point of a right upper pull rod, the other end of the left shock absorber is rotationally connected with an I point of the left upper pull rod, relative rotating axes at the connecting point W, U, G, H, I, J are parallel and vertical to the transverse plane of the vehicle, the right shock absorber and the left shock absorber have the same length and the same performance, WU is equal to GH IJ and WG is equal to UH, one end of a restraint bar is rotationally connected with an X point of the vehicle frame, the other end of the balancing rod is rotationally connected with a Z point of the balancing rod, WU is equal to XZ, and WX is equal to UZ, the right lower pull bar is equal, the length of the right upper pull rod is equal to that of the left upper pull rod;
the included angle between a vehicle body and a vehicle frame is an actuating angle α, the included angle between a vertical plane in the vehicle body and a central vertical plane of the vehicle is a vehicle body roll angle β, the roll attitude of the vehicle body is controlled by the actuating angle β 0, when α is 0, β is 0, the vehicle body does not roll, when α is 0, β is 0, the vehicle body rolls, a roll function β of the relationship between the vehicle body roll angle β and the actuating angle α of the non-steering wheel vehicle body roll mechanism is f (α), and wheels do not roll in the roll process of the vehicle body.
7. The non-steerable wheel roll mechanism of claim 6, wherein the roll center W is located on the AB line of the frame and the height from the ground is determined by the relative position of W and AB, H is WB, H is 0, W, B, H is AB, W, A, H is 0, W is located outside AB and on the B point side, H is AB, W is located outside AB and on the A point side, the balance rod has two ends rotatably connected to the right shock absorber end H and the left shock absorber end J, respectively, when H is larger, the right shock absorber end rotatably connected to the G point of the upper right link, the left shock absorber end rotatably connected to the I point of the upper left link, when H is smaller, the right shock absorber end rotatably connected to the G point of the lower right link, the left shock absorber end rotatably connected to the I point of the lower left link, W is GH IJ, and WG is UHJ, the same roll function is satisfied, and the wheel height is 3683 and the same roll process is not satisfied.
8. A front-wheel steering actively-rolling four-wheel vehicle is characterized in that a group of vehicle-body rolling control mechanisms as claimed in claim 1 and a group of non-steering-wheel vehicle-body rolling mechanisms as claimed in claim 6 are arranged in front and back of the same vehicle body according to a given axle distance, share the same frame and have the same vehicle central vertical plane, double front-wheel steering and double rear-wheel driving are adopted, the vehicle-body rolling control mechanisms control vehicle-body rolling, an actuating angle α in the non-steering-wheel vehicle-body rolling mechanisms is changed in an adaptive mode, and the non-steering-wheel vehicle-body rolling mechanisms roll in an adaptive mode, so that the four-wheel vehicle with front-wheel steering, rear-wheel driving and active rolling characteristics.
9. A tricycle with front wheel steering and active roll-over is characterized in that a group of tricycle body roll control mechanisms according to claim 1 are arranged in front of the tricycle, a single wheel is arranged behind the same tricycle body according to a given wheel base and shares the same central vertical plane of the tricycle, the tricycle body roll control mechanisms are driven by double front wheels and a rear wheel, the tricycle body roll control mechanisms control the roll of the tricycle body, and the single rear wheel rolls with the tricycle body, so that the tricycle with the characteristics of front wheel steering, rear wheel driving and roll-over is formed.
10. A front wheel steering active roll positive tricycle, characterized in that, a set of non-steering wheel vehicle body roll mechanism of claim 6 is arranged at the rear, a single wheel is arranged at the front according to a given wheel base on the same vehicle body and shares the same vehicle central vertical plane, the double rear wheel drive and the front wheel steering, the non-steering wheel vehicle body roll mechanism controls the vehicle body roll, the single front wheel rolls with the vehicle body, and the active roll vehicle with the characteristics of front wheel steering, rear wheel drive and positive tricycle is formed.
11. A tricycle with rear wheel steering and active roll-over, characterized in that, a set of non-steered wheel body roll mechanisms according to claim 6 is arranged in front, a single wheel is arranged at the back of the same tricycle body according to a given wheel base and shares the same central vertical plane of the tricycle, the tricycle is driven by double front wheels, the rear wheel is steered, the non-steered wheel body roll mechanism controls the roll of the tricycle body, the single rear wheel rolls with the tricycle body, and the active roll-over tricycle with the characteristics of front wheel driving, rear wheel steering and reverse tricycle is formed.
CN201911224236.2A 2019-12-04 2019-12-04 Vehicle body roll control mechanism and active roll vehicle using same Active CN110936784B (en)

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

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CN110509994A (en) * 2019-09-10 2019-11-29 王亚 Vehicular turn rolls the active roll vehicle of combined mechanism and the application mechanism
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