CN110936785A - Vehicle body tilting mechanism and active tilting vehicle applying same - Google Patents

Vehicle body tilting mechanism and active tilting vehicle applying same Download PDF

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Publication number
CN110936785A
CN110936785A CN201911224237.7A CN201911224237A CN110936785A CN 110936785 A CN110936785 A CN 110936785A CN 201911224237 A CN201911224237 A CN 201911224237A CN 110936785 A CN110936785 A CN 110936785A
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steering
vehicle
wheel
vehicle body
roll
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CN201911224237.7A
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CN110936785B (en
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王亚
魏文军
李海涛
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Individual
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/02—Interconnection 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
    • B60G21/04—Interconnection 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
    • B60G21/05—Interconnection 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K25/00—Axle suspensions
    • B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/02—Tricycles
    • B62K5/06—Frames for tricycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/08—Cycles 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 mechanism and an active roll vehicle using the same, belonging to the technical field of vehicle chassis, in particular to the technical field of vehicle body roll driving and control, wherein the vehicle body roll mechanism is composed of a roll mechanism and a steering mechanism, the vehicle body roll mechanism moves relative to a suspension by taking an actuating angle α and a steering angle theta as control parameters, and the vehicle body roll and the vehicle steering move in two degrees of freedom, so that the wheels do not roll in the vehicle body roll process, the vehicle body roll mechanism is suitable for general car tires, three working conditions of steering roll, independent roll or independent steering can be realized in the vehicle running process, the vehicle body active roll mechanism is applied to the vehicle steering, so that the vehicle automatically tilts at a certain angle to resist centrifugal force or roll force when passing through a tilted road surface, and a stable running posture is kept.

Description

Vehicle body tilting mechanism and active tilting vehicle applying same
Technical Field
The invention relates to a vehicle body roll 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 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 relative motion of a vehicle body to a suspension, and 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, so as to 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 mechanism consists of a side-tipping mechanism and a steering mechanism;
the roll mechanism described above includes: the steering device comprises a vehicle body (1), a right swing rod (2), a left swing rod (3), a right steering knuckle spindle (4), a left steering knuckle spindle (5), a right steering knuckle (6), a left steering knuckle (7), a right wheel (8), a left wheel (9), a right shock absorber (10), a left shock absorber (11) and a balancing rod (12), wherein the vehicle body (1) is respectively in rotating connection with one ends of the right swing rod (2) and the left swing rod (3), a connection point B is positioned in a middle vertical plane of the vehicle body, the other end C of the right swing rod (2) is vertically and fixedly connected with the right steering knuckle spindle (4), the right steering knuckle (6) is in rotating connection with the right steering knuckle spindle (4) around an axis CM thereof, and the right steering knuckle (6) is connected with the right wheel (8) and controls the; the other end D of the left swing rod (3) is vertically and fixedly connected with a left steering knuckle spindle (5), a left steering knuckle (7) is rotationally connected with the left steering knuckle spindle (5) around the axis DN thereof, and the left steering knuckle (7) is connected with a left wheel (9) and controls the direction thereof; the middle point of a balance rod (12) is rotationally connected with a vehicle body (1), a connection point A is positioned in a vertical plane of the vehicle body, two ends of the balance rod (12) are respectively rotationally connected with one end F of a right shock absorber (10) and one end H of the left shock absorber (11), the other end of the right shock absorber (10) is rotationally connected with a point E of a right swing rod (2), the other end of the left shock absorber (11) is rotationally connected with a point G of a left swing rod (3), the relative rotation axes at the connection point A, B, E, F, G, H are parallel and perpendicular to a vehicle transverse plane, the right shock absorber (10) and the left shock absorber (11) are equal in length and same in performance, AB ═ EF ═ BG ═ AF ═ AH, the right swing rod (2) and the left swing rod (3) are equal in length, and a right knuckle spindle (4) and a left knuckle spindle (5) are equal in length to form a roll mechanism;
the included angle between the balance rod (12) and the vehicle body (1) 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, the roll mechanism is bilaterally symmetrical about the central vertical plane of the vehicle, when α is 0, β is 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 the 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 (6) in the roll mechanism, a left steering knuckle spindle (5) and a left steering knuckle (7) in the roll mechanism, a steering swing arm (13), a right steering arm (14), a left steering arm (15), a right connecting rod (16) and a left connecting rod (17), an axis intersection point M of the right steering knuckle spindle (4) and the right steering knuckle (6), and the right steering arm (14) and the right steering knuckle (6) form a whole
Figure BSA0000196459720000021
The angle is fixedly connected and rotates around the axis CM jointly, the intersection point N of the axes of the left steering knuckle spindle (5) and the left steering knuckle (7) is formed, and the left steering arm (15) and the left steering knuckle (7) are the same
Figure BSA0000196459720000022
The angle is fixedly connected and rotates around the axis DN together; one end of a steering swing arm (13) is rotatably connected with a vehicle body (1), the rotating axis is positioned in the vertical plane of the vehicle body and is parallel to the vertical plane of the vehicle, a connecting point O, OB is vertical to the vertical plane of the vehicle, one end of a right connecting rod (16) is hinged with an S-point ball at the tail end of a right steering arm (14), the other end of the right connecting rod is hinged with a P-point ball of the steering swing arm (13), one end of a left connecting rod (17) is hinged with a T-point ball at the tail end of a left steering arm (15), the other end of the left connecting rod is hinged with a Q-point ball of the steering swing arm (13), and connecting points O, P, Q on the;
wherein: the included angle between the steering swing arm (13) and the vehicle body (1) 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 (14) and the vehicle transverse plane is equal to the included angle between the left steering arm (15) and the vehicle transverse plane, and the included angles are all the same
Figure BSA0000196459720000023
The 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 mechanism is formed by a roll mechanism and a steering mechanism, the motion of the roll mechanism and the motion of the steering mechanism are mutually independent because wheels do not roll in the vehicle body roll process, the independent control of the vehicle body roll and the vehicle steering is realized by taking an actuating angle α and a steering angle theta as control parameters, and the steering correction and the straight-line driving stability of the left and the right wheels are realized by the inward inclination and the backward inclination of main shafts of the 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 mechanism, the other end C of the right swing rod (2) is vertically and fixedly connected with the right knuckle spindle (4), the right knuckle spindle (4) is vertically and fixedly connected with the right swing rod (2) in a downward offset, upward offset or middle-arranged mode, the other end D of the left swing rod (3) is vertically and fixedly connected with the left knuckle spindle (5), correspondingly, the left knuckle spindle (5) is vertically and fixedly connected with the left swing rod (3) in a downward offset, upward offset or middle-arranged mode, the same roll function β is satisfied, f (α), wheels do not roll in the vehicle body roll process, the vehicle ground clearance is high and the passing performance is good when the left and right swing rods are vertically and fixedly connected with the left and right swing rods in a downward offset mode, and the vehicle ground clearance is small, the gravity center is low and the driving stability is good when the left and right knuckle spindles are vertically and fixedly connected with the left and right swing rods in an upward offset mode.
In the above-described roll mechanism, when the connection points F, A, H on the stabilizer bar (12) are collinear, the corresponding connection points E, B, G are theoretically collinear; the balance bar (12) upper attachment point F, A, H is located at radius R0Is located at the radius R theoretically, the corresponding connection point E, B, G is located at the radius R0And on the other circumference, the same rolling function β f (α) is satisfied, and the wheel does not roll during the vehicle body rolling process, if the conditions of AB (EF) GH and BE (BG) AF (AH) are satisfied.
In the above-described roll 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 vehicle body roll 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 (6) is connected with the right knuckle spindle (4) around the axis CM in a rotating way and is changed into a vertical fixed connection, and the left knuckle (7) is connected with the left knuckle spindle (5) around the axis DN in a rotating way and is changed into a vertical fixed connection, and the device comprises: the automobile body (1), a right swing rod (2), a left swing rod (3), a right knuckle spindle (4), a left knuckle spindle (5), a right knuckle (6), a left knuckle (7), a right wheel (8), a left wheel (9), a right shock absorber (10), a left shock absorber (11) and a balance rod (12), wherein the automobile body (1) is respectively in rotating connection with one end of the right swing rod (2) and one end of the left swing rod (3), a connection point B is positioned in the middle vertical plane of the automobile body, the other end C of the right swing rod (2) is vertically fixedly connected with the right knuckle spindle (4), the right knuckle (6) is connected with the right wheel (8), and the rotating axis of the right wheel is positioned in the transverse plane of the automobile; the other end D of the left swing rod (3) is vertically and fixedly connected with a left steering knuckle main shaft (5), a left steering knuckle (7) is vertically and fixedly connected with the left steering knuckle main shaft (5), the left steering knuckle (7) is connected with a left wheel (9), and the rotating axis of the left wheel is positioned in the transverse plane of the vehicle; the middle point of a balance rod (12) is rotationally connected with a vehicle body (1), a connection point A is positioned in a vertical plane of the vehicle body, two ends of the balance rod (12) are respectively rotationally connected with one end F of a right shock absorber (10) and one end H of the left shock absorber (11), the other end of the right shock absorber (10) is rotationally connected with a point E of a right swing rod (2), the other end of the left shock absorber (11) is rotationally connected with a point G of a left swing rod (3), the relative rotation axes at the connection point A, B, E, F, G, H are parallel and perpendicular to a vehicle transverse plane, the right shock absorber (10) and the left shock absorber (11) are equal in length and same in performance, AB ═ EF ═ BG ═ AF ═ AH, the right swing rod (2) and the left swing rod (3) are equal in length, and a right knuckle spindle (4) and a left knuckle spindle (5) are equal in length, so that a non-steering wheel vehicle body roll mechanism is formed;
the included angle between a balancing rod (12) and a vehicle body (1) is an actuating angle α, the included angle between a vertical plane in the vehicle body and a longitudinal vertical plane in the center of the vehicle is a vehicle body side inclination angle β, the roll attitude of the vehicle body (1) is controlled by an actuating angle β 0, when α is 0, β is 0, the vehicle body does not roll, a non-steering wheel vehicle body side inclination mechanism is bilaterally symmetrical about the longitudinal vertical plane in the center of the vehicle, when α is 0, β is 0 and 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 the non-steering wheel vehicle body side inclination mechanism is f (α), and the vehicle wheel does not roll in the roll process.
In the non-steering wheel vehicle body roll mechanism, the other end C of the right swing rod (2) is vertically and fixedly connected with the right steering knuckle main shaft (4), the right steering knuckle main shaft (4) is vertically and fixedly connected with the right swing rod (2) in a downward offset, upward offset or middle-arranged mode, the other end D of the left swing rod (3) is vertically and fixedly connected with the left steering knuckle main shaft (5), correspondingly, the left steering knuckle main shaft (5) is vertically and fixedly connected with the left swing rod (3) in a downward offset, upward offset or middle-arranged mode, the same roll function β is f (α), and the vehicle body does not roll in the roll process.
The front wheel steering active roll four-wheel vehicle comprises a set of vehicle body roll mechanisms and a set of non-steering wheels, wherein the vehicle body roll mechanisms are arranged in front and at the back of the same vehicle body according to a given wheel base L and share the central vertical plane of the same vehicle, the double front wheels steer and the double rear wheels drive, the vehicle body roll mechanisms control the roll of the vehicle body, an actuating angle α in the non-steering wheels and the vehicle body roll mechanisms adaptively change, and the non-steering wheels and the vehicle body roll mechanisms adaptively roll to form the front wheel steering active roll four-wheel vehicle.
The front wheel steering active side-tipping tricycle includes: the tricycle is characterized in that a group of tricycle body tilting mechanisms are arranged in front, single wheels are arranged on the same tricycle body in the rear mode according to a given axle distance 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 tilting mechanisms control the tricycle body to tilt, and the single rear wheels and the tricycle body tilt together to form a front wheel steering active tilting tricycle; 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 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 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 turning roll, independent roll, or 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, if 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 method comprises the steps of solving a roll angle β, (g × R), obtaining an actuating angle α by a roll function β ═ f (α), generating an actuating angle α by an actuator to drive a non-steering wheel body roll mechanism, realizing body roll and resisting turning centrifugal force so as to keep the stability of the vehicle in curve running, dynamically reading a ground transverse slope angle p by an inclination angle sensor when the vehicle runs on a transverse slope ground, obtaining a body side angle β ═ p, obtaining an actuating angle α by a roll function β ═ f (α), generating an actuating angle α by an actuator to drive a non-steering wheel body roll mechanism, realizing body roll and resisting terrain change to cause vehicle roll force, and keeping the stable running posture of the vehicle.
The invention has the beneficial effects that the provided vehicle body roll mechanism and the active roll vehicle applying the mechanism realize the independent control of the vehicle steering and the vehicle body roll motion through the relative motion of the vehicle body to the suspension, and the wheels do not roll in the vehicle body roll process, thereby being suitable for the general 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 mechanism of the vehicle body;
FIG. 4 is a schematic diagram of the overhead vehicle body roll mechanism assembly;
FIG. 5 is a schematic diagram of a mid-mount body roll mechanism assembly;
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 body roll mechanism;
FIG. 9 is a schematic view of the operation of the body roll mechanism in turning;
FIG. 10 is a schematic diagram of a roll-over mechanism for a body roll traveling along a cross-slope;
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-a vehicle body, 2-a right swing rod, 3-a left swing rod, 4-a right knuckle spindle, 5-a left knuckle spindle, 6-a right knuckle, 7-a left knuckle, 8-a right wheel, 9-a left wheel, 10-a right shock absorber, 11-a left shock absorber, 12-a balance rod, 13-a steering swing arm, 14-a right steering arm, 15-a left steering arm, 16-a right connecting rod and 17-a left connecting rod.
Detailed Description
Embodiments of the invention are described below with reference to the accompanying drawings:
the vehicle body roll 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: the steering device comprises a vehicle body (1), a right swing rod (2), a left swing rod (3), a right steering knuckle spindle (4), a left steering knuckle spindle (5), a right steering knuckle (6), a left steering knuckle (7), a right wheel (8), a left wheel (9), a right shock absorber (10), a left shock absorber (11) and a balancing rod (12), wherein the vehicle body (1) is respectively in rotating connection with one ends of the right swing rod (2) and the left swing rod (3), a connection point B is positioned in a middle vertical plane of the vehicle body, the other end C of the right swing rod (2) is vertically and fixedly connected with the right steering knuckle spindle (4), the right steering knuckle (6) is in rotating connection with the right steering knuckle spindle (4) around an axis CM thereof, and the right steering knuckle (6) is connected with the right wheel (8) and controls the; the other end D of the left swing rod (3) is vertically and fixedly connected with a left steering knuckle spindle (5), a left steering knuckle (7) is rotationally connected with the left steering knuckle spindle (5) around the axis DN thereof, and the left steering knuckle (7) is connected with a left wheel (9) and controls the direction thereof; the middle point of a balancing rod (12) is rotationally connected with a vehicle body (1), a connecting point A is positioned in the vertical plane of the vehicle body, two ends of the balancing rod (12) are respectively rotationally connected with one end F of a right shock absorber (10) and one end H of the left shock absorber (11), the other end of the right shock absorber (10) is rotationally connected with a point E of a right swing rod (2), the other end of the left shock absorber (11) is rotationally connected with a point G of a left swing rod (3), the relative rotating axes at the connecting point A, B, E, F, G, H are parallel and vertical to the vehicle transverse plane, the right shock absorber (10) and the left shock absorber (11) have the same length and the same performance, AB (EF) -GH and BE-BG-AF, the right swing rod (2) and the left swing rod (3) have the same length, BC (BD), the right knuckle spindle (4) and the left knuckle spindle (5) have the same length, and the right knuckle (6) and the left knuckle (7) have the same length, the right wheel (8) and the left wheel (9) have the same radius and form a roll mechanism;
the vehicle body roll mechanism is characterized in that an included angle between a balance rod (12) and a vehicle body (1) is an actuating angle α, an included angle between a vertical plane and a vehicle center vertical plane is a vehicle body roll angle β, a 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, the roll mechanism is bilaterally symmetrical about the vehicle center vertical plane, when β 3 is 0, β 4 is 0 and the vehicle body rolls (as shown in figure 8), a roll function β is f (α) of a relation between a vehicle body roll angle β 6 and an actuating angle β 5 of the roll mechanism is obtained, wheels do not roll and the wheel track of the vehicle does not change in the roll process, when a roll function β is α is 0, β is more than 0, the vehicle body left roll function β is less than 0, and the vehicle body right roll function β is less than 0 when α is less than 0.
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 (6) in the roll mechanism, a left steering knuckle spindle (5) and a left steering knuckle (7) in the roll mechanism, a steering swing arm (13), a right steering arm (14), a left steering arm (15), a right connecting rod (16) and a left connecting rod (17), an axis intersection point M of the right steering knuckle spindle (4) and the right steering knuckle (6), and the right steering arm (14) and the right steering knuckle (6) form a whole
Figure BSA0000196459720000061
The angle is fixedly connected and rotates around the axis CM together,
Figure BSA0000196459720000062
the axis intersection point N of the left steering knuckle spindle (5) and the left steering knuckle (7), and the left steering arm (15) and the left steering knuckle (7) are the same
Figure BSA0000196459720000063
The angle is fixedly connected and rotates around the axis DN together; one end of the steering swing arm (13) is rotationally connected with the vehicle body (1), the rotating axis is positioned in the vehicle body vertical plane and is parallel to the vehicle transverse plane, and the connecting point O,OB is vertical to the vehicle transverse plane, one end of a right connecting rod (16) is hinged with an S-point ball at the tail end of a right steering arm (14), the other end of the right connecting rod is hinged with a P-point ball of a steering swing arm (13), one end of a left connecting rod (17) is hinged with a T-point ball at the tail end of a left steering arm (15), the other end of the left connecting rod is hinged with a Q-point ball of the steering swing arm (13), and connecting points O, P, Q on the steering swing arms are positioned on the same straight line to form a steering mechanism;
wherein: the included angle between the steering swing arm (13) and the vehicle body (1) 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 (14) and the vehicle transverse plane is equal to the included angle between the left steering arm (15) and the vehicle transverse plane, and the included angles are all the same
Figure BSA0000196459720000064
The 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 is steered to run (as shown in figure 9); because OP < OQ on the steering swing arm, MS < NT is taken in order to keep the symmetry of left and right steering.
The vehicle body roll mechanism shown in fig. 3 is a schematic diagram, the vehicle body roll mechanism is formed by a roll mechanism and a steering mechanism, the vehicle body roll mechanism and the steering mechanism move independently because wheels do not roll in the vehicle body roll process, the vehicle body roll mechanism and the steering mechanism are controlled independently by taking an actuating angle α and a steering angle theta as control parameters, and the vehicle body roll mechanism and the vehicle steering mechanism realize the steering return of the left and right wheels and the straight-line driving stability by the inward inclination and the backward inclination of main shafts of the left and right steering knuckles and the outward inclination and the toe-in of the left and right wheels.
The vehicle body roll mechanism is combined with a schematic diagram of the vehicle body roll mechanism shown in the figures 3, 4 and 5, wherein the other end C of a right swing rod (2) is vertically and fixedly connected with a right steering knuckle spindle (4), the right steering knuckle spindle (4) is vertically and fixedly connected with the right swing rod (2) in a mode of lower offset, upper offset or middle arrangement, the other end D of a left swing rod (3) is vertically and fixedly connected with the left steering knuckle spindle (5), correspondingly, the left steering knuckle spindle (5) is vertically and fixedly connected with the left swing rod (3) in a mode of lower offset, upper offset or middle arrangement, the same roll function β f (α) is met, the wheels do not roll in the vehicle body roll process, when the left steering knuckle spindle and the right steering knuckle spindle are vertically and fixedly connected in a mode of lower offset, the vehicle ground clearance is high, the vehicle passing performance is good (shown in figure 3), when the left steering knuckle spindle, the right steering knuckle spindle are vertically and the left swing rod and the right swing rod are vertically and fixedly connected in a mode of upper offset, the vehicle clearance is small, the gravity center is low, the driving stability is good (shown in figure 4), when the left steering knuckle spindle, the vehicle body roll mechanism is vertically and the vehicle.
Fig. 3 and 4 are schematic diagrams of the roll mechanism, in which, when the connecting points F, A, H on the stabilizer bar (12) are collinear, the corresponding connecting points E, B, G are theoretically collinear (as shown in fig. 3); the balance bar (12) upper attachment point F, A, H is located at radius R0Is located at the radius R theoretically, the corresponding connection point E, B, G is located at the radius R0And (c) on the other circumference (as shown in fig. 4), satisfying the conditions of AB (EF) GH and BE (BG) AF (AH), the same roll function β (f (α) is satisfied, and the wheels do not roll during the rolling of the vehicle body.
The body roll mechanism shown in fig. 3, 4 and 5 is composed of a schematic diagram, wherein in the body roll mechanism, a ball hinge is selected from a rod end joint bearing GB/T9161 and 2001, or a radial joint bearing GB/T9163 and 2001, an actuating 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 balance rod in the body roll mechanism to rotate relative to a body at a point A, the position of the roll mechanism is determined by the actuating angle α, a 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, a gear-rack steering gear or a worm crank pin steering gear or a circulating ball steering gear, a steering gear output shaft drives a steering swing arm in the body roll mechanism to rotate relative to the body, the position of the steering mechanism is determined by the steering angle theta, and the steering angle theta corresponds to an outer wheel thetaeInner 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 (6) is connected with the right knuckle spindle (4) around the axis CM in a rotating way and is changed into a vertical fixed connection, and the left knuckle (7) is connected with the left knuckle spindle (5) around the axis DN in a rotating way and is changed into a vertical fixed connection, and the device comprises: the automobile body (1), a right swing rod (2), a left swing rod (3), a right knuckle spindle (4), a left knuckle spindle (5), a right knuckle (6), a left knuckle (7), a right wheel (8), a left wheel (9), a right shock absorber (10), a left shock absorber (11) and a balance rod (12), wherein the automobile body (1) is respectively in rotating connection with one end of the right swing rod (2) and one end of the left swing rod (3), a connection point B is positioned in the middle vertical plane of the automobile body, the other end C of the right swing rod (2) is vertically fixedly connected with the right knuckle spindle (4), the right knuckle (6) is connected with the right wheel (8), and the rotating axis of the right wheel is positioned in the transverse plane of the automobile; the other end D of the left swing rod (3) is vertically and fixedly connected with a left steering knuckle main shaft (5), a left steering knuckle (7) is vertically and fixedly connected with the left steering knuckle main shaft (5), the left steering knuckle (7) is connected with a left wheel (9), and the rotating axis of the left wheel is positioned in the transverse plane of the vehicle; the middle point of a balancing rod (12) is rotationally connected with a vehicle body (1), a connecting point A is positioned in the vertical plane of the vehicle body, two ends of the balancing rod (12) are respectively rotationally connected with one end F of a right shock absorber (10) and one end H of the left shock absorber (11), the other end of the right shock absorber (10) is rotationally connected with a point E of a right swing rod (2), the other end of the left shock absorber (11) is rotationally connected with a point G of a left swing rod (3), the relative rotating axes at the connecting point A, B, E, F, G, H are parallel and vertical to the vehicle transverse plane, the right shock absorber (10) and the left shock absorber (11) have the same length and the same performance, AB (EF) -GH and BE-BG-AF, the right swing rod (2) and the left swing rod (3) have the same length, BC (BD), the right knuckle spindle (4) and the left knuckle spindle (5) have the same length, and the right knuckle (6) and the left knuckle (7) have the same length, the right wheel (8) and the left wheel (9) have the same radius and form a non-steering wheel vehicle body roll mechanism (shown in figure 7);
the included angle between a balance rod (12) and a vehicle body (1) 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 (1) is controlled by the actuating angle β 0, when β 2 is 0, β 1 is 0, the vehicle body does not roll, a non-steering wheel vehicle body roll mechanism is symmetrical left and right about the central vertical plane of the vehicle, when β 3 is 0, β 4 is 0 and the vehicle body rolls, a roll function β is f (α) of the relationship between the vehicle body roll angle β 6 and the actuating angle β 5 of the non-steering wheel vehicle body roll mechanism is obtained, when wheels do not roll and the vehicle wheel pitch does not change, when a roll function β is α > 0, β is greater than 0, when the vehicle body left and α is less than 0, β is less than 0, and the vehicle body right roll.
The non-steering wheel vehicle body roll mechanism shown in fig. 6 and 7 is combined, in the non-steering wheel vehicle body roll mechanism, the other end C of a right swing rod (2) is vertically and fixedly connected with a right steering knuckle spindle (4), the right steering knuckle spindle (4) is vertically and fixedly connected with the right swing rod (2) in a mode of lower bias, upper bias or middle position, the other end D of a left swing rod (3) is vertically and fixedly connected with a left steering knuckle spindle (5), correspondingly, the left steering knuckle spindle (5) is vertically and fixedly connected with the left swing rod (3) in a mode of lower bias, upper bias or middle position, the same roll function β ═ f (α) is met, the vehicle does not roll in the vehicle body roll process, when the left steering knuckle spindle and the right steering knuckle spindle are vertically and fixedly connected in a mode of lower bias, the vehicle has high ground clearance and good passing performance, when the left steering knuckle spindle and the right swing rod are vertically and fixedly connected in a mode of upper bias, the vehicle ground clearance is small, the gravity center is low, the vehicle running stability is good, when the left steering knuckle spindle and right swing rod are vertically and the vehicle chassis has high coincidence and safety bearing.
The front wheel steering active roll four-wheel vehicle shown in fig. 11 is a schematic diagram, and comprises a group of vehicle body roll mechanisms and a group of non-steering wheel vehicle body roll mechanisms which are arranged in front and at the back of the same vehicle body according to a given axle distance L and share the central vertical plane of the same vehicle body, rod members with the same name in the front mechanism and the back mechanism are equal in length, shape and geometric dimension, the wheel track of the front wheel is equal to that of the back wheel, the double front wheels steer and the double back wheel hydraulic motor drive, all four wheels adopt universal car tires GB 9743 and 2007, the vehicle body roll mechanisms control vehicle body roll, an actuating angle α in the non-steering wheel vehicle body roll mechanisms is changed in a self-adaptive mode, the non-steering wheel vehicle body roll mechanisms roll in a self-adaptive mode to form the front wheel steering active roll four-wheel vehicle, and the small-wheel vehicle running stability and high-speed over-bending performance are improved, and the four-wheel vehicle has the.
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 tilting 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 body, double front wheels are used for steering, a single rear wheel is connected to the body through a swing arm and a shock absorber, a rear wheel hub motor is used for driving, the double front wheels adopt a universal car tire GB 9743 plus 2007, the rear wheel adopts a motorcycle tire GB518-2007 with an arc-shaped section, the body tilting mechanisms control the body tilting, and the single rear wheel and the body tilt together to form a front wheel steering active tilting tricycle; 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 body according to a given axle distance L and shares the central vertical plane of the same body, 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 body to side, and the single front wheel and the 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 body, 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 to tip 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 mechanism shown in fig. 8, 9, and 10 and the active roll vehicle using the body roll mechanism shown in fig. 11 and 12, the left and right knuckle spindle distances K, the vehicle running speed v, and the gravity acceleration g are set, the body roll 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, and independent turning can be realized during the running of the vehicle:
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 (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, if 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 combination with the non-steered wheel body-rolling mechanism shown in fig. 6 and 7 and the active-rolling tricycle using the non-steered wheel body-rolling mechanism shown in fig. 13 and 14, the vehicle running speed v and the gravitational acceleration g are set so that the turning angle θ and the turning radius are given by the single-wheel steering when the vehicle runs on a curveR is L/tan theta, and satisfies the force balance condition of turning, mg × tan β is mv2R, from tan β ═ v2The method comprises the steps of solving a roll angle β, (g × R), obtaining an actuating angle α by a roll function β ═ f (α), generating an actuating angle α by an actuator to drive a non-steering wheel body roll mechanism, realizing body roll and resisting turning centrifugal force so as to keep the stability of the vehicle in curve running, dynamically reading a ground transverse slope angle p by an inclination angle sensor when the vehicle runs on a transverse slope ground, obtaining a body side angle β ═ p, obtaining an actuating angle α by a roll function β ═ f (α), generating an actuating angle α by an actuator to drive a non-steering wheel body roll mechanism, realizing body roll and resisting terrain change to cause vehicle roll force, and keeping the stable running posture of the vehicle.
Through the embodiment, the vehicle body roll mechanism and the active roll vehicle applying the same, provided by the invention, realize independent control of vehicle steering and vehicle body roll motion, wheels do not roll and the wheel track of the vehicle is not changed in the vehicle body roll process, and three working conditions of steering roll, independent roll or independent steering can be realized in the vehicle running process; the non-steering wheel vehicle body roll mechanism is applied to the active roll of the vehicle body when the vehicle turns, so that the vehicle can automatically incline at a certain angle to resist the centrifugal force or the side-turning force when the vehicle passes a bend or runs on an inclined road surface, and a stable running posture is kept.

Claims (11)

1. The car body tilting mechanism consists of a tilting mechanism and a steering mechanism, and is characterized in that:
the roll mechanism includes: the vehicle body is respectively connected with one ends of the right swing rod and the left swing rod in a rotating way, a connecting point B is positioned in a vertical plane of the vehicle body, the other end C of the right swing rod is vertically and fixedly connected with the main shaft of the right steering knuckle, the right steering knuckle is connected with the main shaft of the right steering knuckle in a rotating way around the axis CM of the right steering knuckle, and the right steering knuckle is connected with the right wheel and controls the direction of the right wheel; the other end D of the left oscillating bar is vertically and fixedly connected with a left steering knuckle main shaft, the left steering knuckle is rotationally connected with the left steering knuckle main shaft around the axis DN of the left steering knuckle main shaft, and the left steering knuckle is connected with a left wheel and controls the direction of the left wheel; the middle point of the balancing rod is rotationally connected with the vehicle body, the connecting point A is positioned in the vertical plane of the vehicle body, two ends of the balancing rod are rotationally connected with one end F of the right shock absorber and one end H of the left shock absorber respectively, the other end of the right shock absorber is rotationally connected with a point E of the right swing rod, the other end of the left shock absorber is rotationally connected with a point G of the left swing rod, the relative rotating axes at the connecting point A, B, E, F, G, H are parallel and perpendicular to the transverse plane of the vehicle, the right shock absorber and the left shock absorber are equal in length and same in performance, AB (EF) -GH (BG) -AF (AH), the right swing rod and the left swing rod are equal in length, and the right knuckle spindle and the left knuckle spindle are equal in length;
the included angle between a balance rod and a vehicle body is an actuating angle α, the included angle between a vertical plane in the vehicle body and a longitudinal vertical plane in the center of the vehicle is a vehicle body side inclination angle β, the vehicle body side inclination posture is controlled by an actuating angle β 0, when α is equal to 0, β is equal to 0, the vehicle body does not incline, the side inclination mechanism is bilaterally symmetrical relative to the longitudinal vertical plane in the center of the vehicle, when α is equal to 0, β is equal to 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 the side inclination mechanism is equal to 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 whole
Figure FSA0000196459710000011
Angle-fixed connection, rotation around axis CM, left steering knuckle main shaft and left steering knuckle axis intersection point N, left steering arm and left steering knuckle being identical
Figure FSA0000196459710000012
The angle is fixedly connected and rotates around the axis DN together; one end of the steering swing arm is rotatably connected with the vehicle body, the rotating axis is positioned in the vertical plane of the vehicle body and is parallel to the transverse plane of the vehicle, the connecting point O, OB is vertical to the transverse plane of the vehicle, and one end of the right connecting rod is in ball hinge connection with the tail end of the right steering armThe other end of the left connecting rod is connected with a P-point ball hinge of the steering swing arm, one end of the left connecting rod is connected with a ball hinge at the tail end of the left steering arm, the other end of the left connecting rod is connected with a Q-point ball hinge of the steering swing arm, and the upper connecting points O, P, Q of the steering swing arms are positioned on the same straight line;
wherein: the included angle between the steering swing arm and the vehicle body 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 all
Figure FSA0000196459710000013
The 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 vehicle body roll mechanism according to claim 1, wherein the other end C of the right swing link is vertically and fixedly connected with a right knuckle spindle, the right knuckle spindle is vertically and fixedly connected with the right swing link in a downward offset, upward offset or middle-positioned mode, the other end D of the left swing link is vertically and fixedly connected with a left knuckle spindle, correspondingly, the left knuckle spindle is vertically and fixedly connected with the left swing link in a downward offset, upward offset or middle-positioned mode, the same roll function β f (α) is satisfied, and the vehicle wheel does not roll in the vehicle body roll process.
3. The roll mechanism of claim 1 wherein when said stabilizer bar upper connection points F, A, H are collinear, the corresponding connection points E, B, G are theoretically collinear; the balance bar upper attachment point F, A, H is located at radius R0Is located at the radius R theoretically, the corresponding connection point E, B, G is located at the radius R0And on the other circumference, the same rolling function β f (α) is satisfied, and the wheel does not roll during the vehicle body rolling process, if the conditions of AB (EF) GH and BE (BG) AF (AH) are satisfied.
4. The roll 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 body roll 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 knuckle and a right knuckle spindle are vertically and fixedly connected together instead of being rotationally connected around an axis CM thereof, and a left knuckle spindle are vertically and fixedly connected together instead of being rotationally connected around an axis DN thereof, and the non-steering wheel vehicle body roll mechanism is characterized by comprising: the vehicle body is respectively connected with one ends of the right swing rod and the left swing rod in a rotating manner, a connecting point B is positioned in a vehicle body vertical plane, the other end C of the right swing rod is vertically and fixedly connected with the right knuckle spindle, the right knuckle is vertically and fixedly connected with the right knuckle spindle, and the rotating axis of the right knuckle, which is connected with the right wheel and the right wheel, is positioned in a vehicle transverse plane; the other end D of the left oscillating bar is vertically and fixedly connected with a left steering knuckle main shaft, a left steering knuckle is vertically and fixedly connected with the left steering knuckle main shaft, the left steering knuckle is connected with a left wheel, and the rotating axis of the left wheel is positioned in the transverse plane of the vehicle; the middle point of the balancing rod is rotationally connected with the vehicle body, the connecting point A is positioned in the vertical plane of the vehicle body, two ends of the balancing rod are rotationally connected with one end F of the right shock absorber and one end H of the left shock absorber respectively, the other end of the right shock absorber is rotationally connected with a point E of the right swing rod, the other end of the left shock absorber is rotationally connected with a point G of the left swing rod, the relative rotating axes at the connecting point A, B, E, F, G, H are parallel and perpendicular to the transverse plane of the vehicle, the right shock absorber and the left shock absorber are equal in length and same in performance, AB (EF) -GH (BG) -AF (AH), the right swing rod and the left swing rod are equal in length, and the right knuckle spindle and the left knuckle spindle are equal in length;
the included angle between a balancing rod and a vehicle body 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 an actuating angle β 0, when α is equal to 0, the vehicle body does not incline, a non-steering wheel vehicle body side inclination mechanism is bilaterally symmetrical relative to the central vertical plane of the vehicle, when α is equal to 0, β is equal to 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 the non-steering wheel vehicle body side inclination mechanism is obtained, f (α), and the vehicle wheels do not incline in the vehicle body side inclination process.
7. The non-steering wheel vehicle body roll mechanism according to claim 6, wherein the other end C of the right swing link is vertically and fixedly connected with the right knuckle spindle, the right knuckle spindle is vertically and fixedly connected with the right swing link in a downward offset, upward offset or middle way, the other end D of the left swing link is vertically and fixedly connected with the left knuckle spindle, correspondingly, the left knuckle spindle is vertically and fixedly connected with the left swing link in a downward offset, upward offset or middle way, the same roll function β f (α) is satisfied, and the vehicle wheel does not roll during the vehicle body roll process.
8. A front-wheel steering actively-rolling four-wheel vehicle, characterized in that a set of the vehicle-body rolling mechanism of claim 1 and a set of the non-steering wheel vehicle-body rolling mechanism of claim 6 are arranged in front and back of the same vehicle body according to a given wheel base and share the same vehicle central vertical plane, the double front-wheel steering and the double rear-wheel driving are adopted, the vehicle-body rolling mechanism controls the vehicle-body rolling, the actuating angle α in the non-steering wheel vehicle-body rolling mechanism is changed in an adaptive mode, and the non-steering wheel vehicle-body rolling mechanism is rolled in an adaptive mode, so that the four-wheel vehicle with the characteristics of front-wheel steering, rear-wheel driving and active.
9. A tricycle with front wheel steering and active side-tipping is characterized in that a group of tricycle body side-tipping mechanisms according to claim 1 is arranged in front, a single wheel is arranged behind the same tricycle body according to a given wheel base and shares the same central longitudinal plane of the tricycle, the tricycle body side-tipping mechanisms are driven by double front wheels and the tricycle body side-tipping mechanisms control the vehicle body side-tipping, and the single rear wheel rolls with the tricycle body, so that the tricycle with the front wheel steering, the rear wheel driving and the three-wheel tipping features 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.
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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
CN111547149A (en) * 2020-06-12 2020-08-18 骨智医疗科技(天津) 有限公司 RRSRR suspension structure for mobile robot
CN111547150A (en) * 2020-06-12 2020-08-18 骨智医疗科技(天津) 有限公司 A PPUUR suspension structure for mobile robot
CN111688812A (en) * 2020-06-11 2020-09-22 河南坐骑科技有限公司 Vehicle body side-tipping driving mechanism and design method
CN111688428A (en) * 2020-06-11 2020-09-22 河南坐骑科技有限公司 Vehicle side-tipping driving mechanism and design method
CN112172921A (en) * 2020-08-31 2021-01-05 河南坐骑科技有限公司 Vehicle side-tipping driving mechanism and active side-tipping vehicle using same
CN112172919A (en) * 2020-08-31 2021-01-05 河南坐骑科技有限公司 Vehicle roll driving device and active roll vehicle

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CN112172919B (en) * 2020-08-31 2022-03-15 河南坐骑科技有限公司 Vehicle roll driving device and active roll vehicle

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