CN111845930B - Active side-tipping vehicle steering time-delay mechanism - Google Patents
Active side-tipping vehicle steering time-delay mechanism Download PDFInfo
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- CN111845930B CN111845930B CN202010585063.3A CN202010585063A CN111845930B CN 111845930 B CN111845930 B CN 111845930B CN 202010585063 A CN202010585063 A CN 202010585063A CN 111845930 B CN111845930 B CN 111845930B
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
- B62D9/02—Steering deflectable wheels not otherwise provided for combined with means for inwardly inclining vehicle body on bends
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Abstract
The invention relates to a steering delay mechanism of an active roll vehicle, belonging to the technical field of vehicle chassis, in particular to the steering control technical field of the active roll vehicle, which is applied to a roll control system of the active roll vehicle, and the steering delay mechanism of the active roll vehicle comprises: the device comprises a swing rod, a time delay device, a rotary table and a slide block, wherein the swing rod is rotationally connected with the rotary table at a point O; the swing rod inputs a steering angle theta, after time delay is set for time, the rotary table outputs the same steering angle theta, and the forward and reverse movement characteristics are the same; the delay transmission of the steering angle of the steering wheel is realized, and the steering control requirements of the active side-tipping vehicle with constant speed, duration and timing long delay are met.
Description
Technical Field
The invention relates to a steering delay mechanism of an active roll vehicle, belongs to the technical field of vehicle chassis, particularly relates to the steering control technical field of the active roll vehicle, and is applied to a roll control system of the active roll vehicle.
Background
The active roll vehicle improves the stability, the traffic speed and the safety of the vehicle when the vehicle turns on a curve by controlling the degree of the vehicle to incline towards the inner side of the curve, and a roll control system of the vehicle can enable the vehicle to automatically incline for a certain angle when the vehicle turns over the curve to generate a balance moment to resist the centrifugal force applied to the vehicle so as to keep the stable running posture of a mini-vehicle with a small wheel track or a vehicle with a high gravity center.
The invention discloses a vehicle steering active roll control method CN110341697, which aims to improve ride smoothness and riding comfort by sending a steering command when a vehicle runs and turns, executing a roll action firstly, executing a steering action after delaying a set time length, realizing that the vehicle rolls and the steering is delayed to enter the curve, eliminating the negative effect of the centrifugal force on the instant impact action of the human body when the vehicle enters the curve, returning to zero by vehicle roll resetting, and returning to the positive by steering delay to exit the curve, and improving ride smoothness and riding comfort of the vehicle on the basis of ensuring the running safety of the vehicle. The steering delay mechanism is a core component in the roll control system, and an electronic delay technology is adopted for the steer-by-wire system, so that the steering delay control is easy to realize, and the delay time is set and adjusted conveniently; the mechanical transmission steering system realizes the roll and delay steering of the vehicle by serially connecting a mechanical delay mechanism, so that a steering angle transmission mechanism which has the requirements of the vehicle steering, is constant in speed, continuous and long in delay at fixed time needs to be researched, and the steering control requirements of an active roll vehicle are met.
Disclosure of Invention
The invention aims to provide a steering delay mechanism of an active roll vehicle, which realizes delay transmission of a steering angle of a steering wheel and meets the steering control requirement of the active roll vehicle with constant speed, duration and timed long delay.
The technical scheme adopted for achieving the purpose of the invention is as follows:
the active roll vehicle steering delay mechanism comprises: the device comprises a swing rod 1, a time delayer 2, a rotary table 3 and a slide block 4, wherein the swing rod 1 is rotationally connected with the rotary table 3 at a point O, a piston rod of the time delayer 2 is fixed on the rotary table 3 through two ends to enable the point O to be positioned in a piston middle plane, the slide block 4 is rotationally connected with a cylinder barrel on a cylinder barrel middle plane of the time delayer 2, and the swing rod 1 is movably connected with the slide block 4; the swing rod 1 inputs a steering angle theta, after the time delay is set for a time length delta t, the rotary table 3 outputs the same steering angle theta, and the forward and reverse movement characteristics are the same;
wherein: the delayer 2 includes: the piston rod 20, the reset spring 21, the seal ring 22, the guide sleeve 23, the piston 24, the piston seal 25, the damping hole 26, the fluid 27, the cylinder 28 and the positioning sleeve 29, wherein the piston 24 is symmetrical by a middle plane vertical to the axis thereof, the cylinder 28 is symmetrical by a middle plane vertical to the axis thereof, the piston 24 is provided with the damping hole 26 and the damping hole is an axial through hole, the piston 24 and the piston rod 20 are fixedly connected coaxially in the middle of the piston rod 20, the piston 24 is arranged in the cylinder 28, the piston rod 20 and the cylinder 28 are coaxial, the seal ring 22 and the guide sleeve 23 are fixedly arranged at two ends of the cylinder 28 respectively and coaxially, the two guide sleeves 23 support and guide the movement of the piston rod 20, the two seal rings 22 seal the piston rod 20, the piston seal 25 is arranged on the piston 24 to realize the seal between the piston 24 and the cylinder 28, the two sets of the reset springs 21 are arranged on the piston rod 20 at two ends outside the cylinder 28, the two positioning sleeves 29 pre-compress the two sets of return springs 21 on the piston rod 20 respectively to make the piston middle surface coincide with the cylinder middle surface, the distance between the piston 24 and the guide sleeve 23 is a delay clearance s, the fluid 27 fills the inner cavity of the cylinder 28, and when the piston 24 moves relative to the cylinder 28 along with the piston rod 20, the fluid passes through the damping hole 26 on the piston 24 to generate damping.
During the working process of the steering delay mechanism of the active roll vehicle: the swing rod 1 rotates at any steering angle theta, the cylinder 28 is linked through the slide block 4 to move relative to the piston 24, the damping enables the swing rod 1 to rotate at an angular speed omega relative to the rotary table 3, the delay time delta t is s/(r omega), the rotary table 3 outputs the same steering angle theta after the delay time delta t, and then the two groups of reset springs 21 drive the piston 24 to return to the middle position of the cylinder 28 to wait for the swing rod 1 to receive a new steering angle; wherein: r is a delay radius, constant-speed motion of an input member and an output member is provided by piston damping, the piston 24 is driven to return to the center by the return spring 21 to realize continuous delay steering, and the delay time delta t is determined by the delay clearance s to meet the steering control requirement of the active heeling vehicle with constant speed, continuous and timed delay.
In the above-mentioned active roll vehicle steering delay mechanism, the piston 24 is uniformly distributed with 1-4 damping holes 26 on the same circumference of the piston, and the number and the aperture of the damping holes change the damping characteristic, thereby affecting the dynamic mechanical characteristic of the active roll vehicle steering delay mechanism.
In the above-mentioned active roll vehicle steering delay mechanism, the return spring 21 changes the spring stiffness or the pre-compression length, so as to satisfy the requirements of overcoming the steering resistance moment and the piston return, and to influence the dynamic response characteristic of the active roll vehicle steering delay mechanism.
In the above active roll vehicle steering delay mechanism, the structure of the delay unit is changed by changing the installation position of the return spring, and the delay unit includes: the piston rod 20, the return spring 21, the seal ring 22, the guide sleeve 23, the piston 24, the piston seal 25, the damping hole 26, the fluid 27, the cylinder 28 and the positioning sleeve 29, wherein the piston 24 is symmetrical by a middle plane vertical to the axis of the piston 24, the cylinder 28 is symmetrical by a middle plane vertical to the axis of the cylinder, the damping hole 26 and the damping hole are arranged on the piston 24 and are axial through holes, the piston 24 and the piston rod 20 are fixedly connected coaxially in the middle of the piston rod 20, the piston 24 is arranged in the cylinder 28, the piston rod 20 and the cylinder 28 are coaxial, the seal ring 22 and the guide sleeve 23 are fixedly arranged at two ends of the cylinder 28 respectively and coaxially, the two guide sleeves 23 support and guide the piston rod 20, the two seal rings 22 seal the piston rod 20, the piston seal 25 is arranged on the piston 24 to realize the seal between the piston 24 and the cylinder 28, the two sets of the return springs 21 are pre-compressed and then arranged between the piston 24 and the guide sleeve 23 in the cylinder 28, the middle surface of the piston is coincided with the middle surface of the cylinder barrel, the two positioning sleeves 29 are installed on the piston rod 20 outside the cylinder barrel 28, the distance between the cylinder barrel 28 and the positioning sleeves 29 is a delay gap s, the fluid 27 fills the inner cavity of the cylinder barrel 28, and when the piston 24 moves relative to the cylinder barrel 28 along with the piston rod 20, the fluid passes through the damping hole 26 on the piston 24 to generate damping; the position of the positioning sleeve 29 on the piston rod 20 is adjusted, so that the delay gap s can be changed, the delay time delta t is further changed, a time-adjustable delayer is formed, and the delay characteristic of the steering delay mechanism of the active-side-tipping vehicle is influenced.
Foretell initiative heeling vehicle turns to delay mechanism, the pendulum rod is changed for gear, slider is changed for the rack, includes: the gear 1 and the rotary table 3 are rotationally connected around a gear center O point, a piston rod of the delayer 2 is fixed on the rotary table 3 through two ends, the O point is positioned in a piston middle plane, a cylinder barrel of the delayer 2 is fixedly connected with the rack 4, and the gear 1 is in meshing transmission with the rack 4; the steering wheel driving gear 1 inputs a steering angle theta, after the time delay is set for a time delta t, the rotary disc 3 outputs the same steering angle theta and drives an input shaft of a vehicle steering gear to rotate by the same steering angle theta, and the forward and reverse motion characteristics are the same in the steering process, so that the gear type active side-tipping vehicle steering time delay mechanism is formed.
The above-mentioned initiative heeling vehicle turns to delay mechanism, omits slider 4, includes: the device comprises a swing rod 1, a time delayer 2 and a rotary disc 3, wherein the swing rod 1 is rotatably connected with the rotary disc 3 at a point O, one end of a piston rod of the time delayer 2 is rotatably connected with the rotary disc 3 to enable the point O to be positioned in a piston middle plane, and the other end of the swing rod 1 is rotatably connected with a cylinder barrel on a cylinder barrel middle plane of the time delayer 2; the steering wheel drives the swing rod 1 to input a steering angle theta, after the time delay is set for a time delta t, the rotary table 3 outputs the same steering angle theta and drives an input shaft of a vehicle steering device to rotate by the same steering angle theta, and the forward and reverse motion characteristics are the same in the steering process, so that the connecting rod type active side-tipping vehicle steering time delay mechanism is formed.
The above-mentioned initiative heeling vehicle turns to delay mechanism, omits slider 4, includes: the automobile retarder comprises a swing rod 1, a retarder 2 and a rocker 3, wherein one end of the swing rod 1 is rotatably connected with a cylinder barrel on a cylinder barrel median plane of the retarder 2, the other end of the swing rod 1 rotates around one point O on a vehicle frame, one end of the rocker 3 is rotatably connected with one end of a piston rod of the retarder 2 to enable the point O to be located in a piston median plane, the other end of the rocker 3 rotates around the other point P on the vehicle frame, the lengths of the swing rod 1 and the rocker 3 are equal, and the four rotating points form rectangular installation and the vehicle can run linearly under a natural state; the output shaft of the vehicle steering gear drives the swing rod 1 to input a steering angle theta, after the time delay is set for a time length delta t, the swing rod 3 outputs the same steering angle theta and drives the input shaft of the vehicle steering mechanism to rotate the steering angle theta, the forward and reverse motion characteristics are the same in the steering process, a swing rod type active side-tipping vehicle steering time delay mechanism is formed, and the swing rod type active side-tipping vehicle steering time delay mechanism is connected between the steering gear and the steering mechanism and applied to the steering time delay of an angular displacement output steering gear.
The above-mentioned initiative heeling vehicle turns to delay mechanism, omits slider 4, includes: the automobile steering device comprises a swing rod 1, a time delayer 2 and a rocker 3, wherein one end of the swing rod 1 is rotatably connected with a cylinder barrel of the time delayer 2, the swing rod 1 is fixedly connected with a linear displacement output shaft of a steering gear, one end of the rocker 3 is rotatably connected with one end of a piston rod of the time delayer 2, the other end of the rocker 3 rotates around a point P on an automobile frame, the rocker 3 is vertical to the axis of the piston rod of the time delayer 2 in a natural state, the displacement direction of the output shaft of the steering gear is parallel to the axis of the piston rod, and a vehicle runs linearly; an output shaft of a vehicle steering gear drives an input line of a swing rod 1 to move h, after time delay is set for a time length delta t, a rocker 3 outputs a steering angle theta and drives an input shaft of a vehicle steering mechanism to rotate, forward and reverse motion characteristics are the same in the steering process, a displacement type active side-tipping vehicle steering time delay mechanism is formed, and the displacement type active side-tipping vehicle steering time delay mechanism is connected between the steering gear and the steering mechanism and applied to steering time delay of a linear displacement output steering gear.
The steering delay mechanism has the advantages that the provided steering delay mechanism for the active roll vehicle realizes the delay transmission of the steering angle of the steering wheel and simultaneously meets the steering control requirements of the active roll vehicle with constant speed, duration and timed long delay; the vehicle can roll and turn in a delayed way, and the riding smoothness and riding comfort of the vehicle are improved on the basis of ensuring the driving safety of the vehicle.
Drawings
FIG. 1 is a diagrammatic view of an active roll vehicle steering delay mechanism;
FIG. 2 is a schematic diagram of a retarder assembly;
FIG. 3 is a schematic diagram of a time delay unit with adjustable duration;
FIG. 4 is a schematic view of a gear type active roll vehicle steering delay mechanism;
FIG. 5 is a schematic view of a linkage type active roll vehicle steering delay mechanism;
FIG. 6 is a schematic view of a rocker type active roll vehicle steering delay mechanism;
FIG. 7 is a schematic view of a displacement type active roll vehicle steering delay mechanism;
FIG. 8 is a schematic diagram of an application of an active roll vehicle steering delay mechanism;
in the figure: 1-swing rod, 2-time delay unit, 3-rotary table, 4-slide block, 20-piston rod, 21-reset spring, 22-sealing ring, 23-guide sleeve, 24-piston, 25-piston seal, 26-damping hole, 27-fluid, 28-cylinder, 29-limit sleeve.
Detailed Description
Embodiments of the present invention are described below with reference to the drawings.
Fig. 1 is a schematic view of an active roll vehicle steering delay mechanism, the active roll vehicle steering delay mechanism including: the device comprises a swing rod 1, a time delayer 2, a rotary table 3 and a slide block 4, wherein the swing rod 1 is rotationally connected with the rotary table 3 at a point O, a piston rod of the time delayer 2 is fixed on the rotary table 3 through two ends to enable the point O to be positioned in a piston middle plane, the slide block 4 is rotationally connected with a cylinder barrel on a cylinder barrel middle plane of the time delayer 2, and the swing rod 1 is movably connected with the slide block 4; the active roll vehicle steering delay mechanism is connected in series in a vehicle steering system and is connected between a steering wheel and a steering gear (as shown in fig. 8 (a)), the steering wheel drives a swing rod 1 to input a steering angle theta, after a delay time is set for a time delta t, a rotating disc 3 outputs the same steering angle theta and drives an input shaft of the vehicle steering gear to rotate the steering angle theta, and the forward and reverse motion characteristics in the steering process are the same. Fig. 8 is an application schematic diagram of a steering delay mechanism of an active roll vehicle, wherein: the steering system comprises a steering wheel A, an active roll vehicle steering delay mechanism B, a steering gear C and a steering mechanism D, wherein in the figure 8(a), the active roll vehicle steering delay mechanism B is connected in series in the vehicle steering system and is connected between the steering wheel A and the steering gear C, and in the figure 8(B), the active roll vehicle steering delay mechanism B is connected in series in the vehicle steering system and is connected between the steering gear C and the steering mechanism D.
The delay unit shown in fig. 2 is a schematic diagram, and the delay unit 2 includes: the piston rod 20, the reset spring 21, the seal ring 22, the guide sleeve 23, the piston 24, the piston seal 25, the damping hole 26, the fluid 27, the cylinder 28 and the positioning sleeve 29, wherein the piston 24 is symmetrical by a middle plane vertical to the axis thereof, the cylinder 28 is symmetrical by a middle plane vertical to the axis thereof, the piston 24 is provided with the damping hole 26 and the damping hole is an axial through hole, the piston 24 and the piston rod 20 are fixedly connected coaxially in the middle of the piston rod 20, the piston 24 is arranged in the cylinder 28, the piston rod 20 and the cylinder 28 are coaxial, the seal ring 22 and the guide sleeve 23 are fixedly arranged at two ends of the cylinder 28 respectively and coaxially, the two guide sleeves 23 support and guide the movement of the piston rod 20, the two seal rings 22 seal the piston rod 20, the piston seal 25 is arranged on the piston 24 to realize the seal between the piston 24 and the cylinder 28, the two sets of the reset springs 21 are arranged on the piston rod 20 at two ends outside the cylinder 28, the two positioning sleeves 29 pre-compress the two sets of return springs 21 on the piston rod 20 respectively to make the piston middle surface coincide with the cylinder middle surface, the distance between the piston 24 and the guide sleeve 23 is a delay clearance s, the fluid 27 fills the inner cavity of the cylinder 28, and when the piston 24 moves relative to the cylinder 28 along with the piston rod 20, the fluid passes through the damping hole 26 on the piston 24 to generate damping.
During the working process of the steering delay mechanism of the active roll vehicle: the swing rod 1 rotates at any steering angle theta, the cylinder 28 is linked through the slide block 4 to move relative to the piston 24, the swing rod 1 rotates at a uniform angular speed omega relative to the rotary table 3 through damping, the delay time delta t is s/(r omega), the rotary table 3 outputs the same steering angle theta after the delay time delta t, and then the two groups of reset springs 21 drive the piston 24 to return to the middle position of the cylinder 28 to wait for the swing rod 1 to receive a new steering angle; wherein: the distance between the rotation center O and the axis of the piston rod 20 is a delay radius r (shown in figure 1), the constant motion of an input member and an output member is provided by piston damping, the return spring 21 drives the piston 24 to return to the center to realize continuous delay steering, and the delay time delta t is determined by the delay gap s to meet the steering control requirement of the active-roll vehicle with constant speed, continuous speed and time delay.
In the active roll vehicle steering delay mechanism, 1-4 damping holes 26 are uniformly distributed on the same circumference of a piston 24, one damping hole is arranged in any direction of the circumference of the diameter d, or two damping holes are arranged in the direction of 180 degrees, or three damping holes are arranged in the direction of 120 degrees, or four damping holes are arranged in the direction of 90 degrees, the number and the aperture of the damping holes change the damping characteristic, and the dynamic mechanical characteristic of the active roll vehicle steering delay mechanism is influenced; the return spring 21 changes the spring stiffness or the pre-compression length, meets the conditions of overcoming the steering resistance moment and piston centering, and influences the dynamic response characteristic of the steering delay mechanism of the active side-tipping vehicle.
The time delay unit with adjustable duration shown in fig. 3 is composed of a schematic diagram, and the structure of the time delay unit is changed by changing the installation position of the return spring 21, so as to form the time delay unit with adjustable duration, which comprises: the piston rod 20, the return spring 21, the seal ring 22, the guide sleeve 23, the piston 24, the piston seal 25, the damping hole 26, the fluid 27, the cylinder 28 and the positioning sleeve 29, wherein the piston 24 is symmetrical by a middle plane vertical to the axis of the piston 24, the cylinder 28 is symmetrical by a middle plane vertical to the axis of the cylinder, the damping hole 26 and the damping hole are arranged on the piston 24 and are axial through holes, the piston 24 and the piston rod 20 are fixedly connected coaxially in the middle of the piston rod 20, the piston 24 is arranged in the cylinder 28, the piston rod 20 and the cylinder 28 are coaxial, the seal ring 22 and the guide sleeve 23 are fixedly arranged at two ends of the cylinder 28 respectively and coaxially, the two guide sleeves 23 support and guide the piston rod 20, the two seal rings 22 seal the piston rod 20, the piston seal 25 is arranged on the piston 24 to realize the seal between the piston 24 and the cylinder 28, the two sets of the return springs 21 are pre-compressed and then arranged between the piston 24 and the guide sleeve 23 in the cylinder 28, the middle surface of the piston is coincided with the middle surface of the cylinder barrel, the two positioning sleeves 29 are installed on the piston rod 20 outside the cylinder barrel 28, the distance between the cylinder barrel 28 and the positioning sleeves 29 is a delay gap s, the fluid 27 fills the inner cavity of the cylinder barrel 28, and when the piston 24 moves relative to the cylinder barrel 28 along with the piston rod 20, the fluid passes through the damping hole 26 on the piston 24 to generate damping; the position of the positioning sleeve 29 on the piston rod 20 is adjusted, so that the delay gap s can be changed, the delay time delta t is further changed, and the delay characteristic of the steering delay mechanism of the active roll vehicle is influenced.
Fig. 4 is a schematic view of a gear type active roll vehicle steering delay mechanism, in the active roll vehicle steering delay mechanism, a swing rod is replaced by a gear, a slide block is replaced by a rack, and the gear type active roll vehicle steering delay mechanism is formed and comprises: the gear 1 and the rotary table 3 are rotationally connected around a gear center O point, a piston rod of the delayer 2 is fixed on the rotary table 3 through two ends, the O point is positioned in a piston middle plane, a cylinder barrel of the delayer 2 is fixedly connected with the rack 4, and the gear 1 is in meshing transmission with the rack 4; the gear type active roll vehicle steering delay mechanism is connected in series in a vehicle steering system and is connected between a steering wheel and a steering gear (as shown in fig. 8 (a)), a steering wheel driving gear 1 inputs a steering angle theta, after a delay set time delta t, a rotating disc 3 outputs the same steering angle theta and an input shaft driving the vehicle steering gear to rotate the steering angle theta, and the forward and reverse motion characteristics are the same in the steering process.
Fig. 5 is a schematic view of a link-type active-roll vehicle steering delay mechanism, in which a slider 4 is omitted to form the link-type active-roll vehicle steering delay mechanism, including: the device comprises a swing rod 1, a time delayer 2 and a rotary disc 3, wherein the swing rod 1 is rotatably connected with the rotary disc 3 at a point O, one end of a piston rod of the time delayer 2 is rotatably connected with the rotary disc 3 to enable the point O to be positioned in a piston middle plane, and the other end of the swing rod 1 is rotatably connected with a cylinder barrel on a cylinder barrel middle plane of the time delayer 2; the connecting rod type active roll vehicle steering delay mechanism is connected in series in a vehicle steering system and is connected between a steering wheel and a steering gear (as shown in fig. 8 (a)), the steering wheel drives a swing rod 1 to input a steering angle theta, after a delay set time delta t, a rotating disc 3 outputs the same steering angle theta and drives an input shaft of the vehicle steering gear to rotate the steering angle theta, and the forward and reverse motion characteristics are the same in the steering process.
Fig. 6 is a schematic view of a rocker-type active roll vehicle steering delay mechanism, in which a slider 4 is omitted to form the rocker-type active roll vehicle steering delay mechanism, including: the automobile retarder comprises a swing rod 1, a retarder 2 and a rocker 3, wherein one end of the swing rod 1 is rotatably connected with a cylinder barrel on a cylinder barrel median plane of the retarder 2, the other end of the swing rod 1 rotates around one point O on a vehicle frame, one end of the rocker 3 is rotatably connected with one end of a piston rod of the retarder 2 to enable the point O to be located in a piston median plane, the other end of the rocker 3 rotates around the other point P on the vehicle frame, the lengths of the swing rod 1 and the rocker 3 are equal, and the four rotating points form rectangular installation and the vehicle can run linearly under a natural state; the rocker type active roll vehicle steering delay mechanism is connected in series in a vehicle steering system and is connected between a steering device and a steering mechanism (as shown in fig. 8 (b)), an output shaft of the vehicle steering device drives a rocker 1 to input a steering angle theta, after a delay set time delta t, a rocker 3 outputs the same steering angle theta and drives an input shaft of the vehicle steering mechanism to rotate the steering angle theta, the forward and reverse motion characteristics are the same in the steering process, and the rocker type active roll vehicle steering delay mechanism is applied to steering delay of an angular displacement output steering device.
Fig. 7 is a schematic view of a displacement type active roll vehicle steering delay mechanism, in which a slider 4 is omitted to form the displacement type active roll vehicle steering delay mechanism, and the displacement type active roll vehicle steering delay mechanism includes: the automobile steering device comprises a swing rod 1, a time delayer 2 and a rocker 3, wherein one end of the swing rod 1 is rotatably connected with a cylinder barrel of the time delayer 2, the swing rod 1 is fixedly connected with a linear displacement output shaft of a steering gear, one end of the rocker 3 is rotatably connected with one end of a piston rod of the time delayer 2, the other end of the rocker 3 rotates around a point P on an automobile frame, the rocker 3 is vertical to the axis of the piston rod of the time delayer 2 in a natural state, the displacement direction of the output shaft of the steering gear is parallel to the axis of the piston rod, and a vehicle runs linearly; the displacement type active roll vehicle steering delay mechanism is connected in series in a vehicle steering system and is connected between a steering gear and a steering mechanism (as shown in fig. 8 (b)), an output shaft of the vehicle steering gear drives an input wire of a swing rod 1 to displace h, after the delay is set for a time delta t, a swing rod 3 outputs a steering angle theta and drives an input shaft of the vehicle steering mechanism to rotate the steering angle theta, the forward and reverse motion characteristics are the same in the steering process, and the displacement type active roll vehicle steering delay mechanism is applied to steering delay of a linear displacement output steering gear.
Through the embodiment, the steering delay mechanism of the active roll vehicle provided by the invention realizes the delay transmission of the steering angle of the steering wheel, and simultaneously meets the steering control requirements of the active roll vehicle with constant speed, duration and long timing delay; the vehicle can roll and turn in a delayed way, and the driving smoothness and riding comfort of the vehicle are improved on the basis of ensuring the driving safety of the vehicle; the vehicle body active side-tipping device is applied to vehicle steering, so that the vehicle body actively tilts a certain angle to resist centrifugal force or side-tipping force when the vehicle turns over a curve or runs on an inclined road surface, and the stable running posture of the vehicle is kept.
Claims (8)
1. Active vehicle that heels turns to delay mechanism, its characterized in that includes: the device comprises a swing rod, a time delay device, a rotary table and a slide block, wherein the swing rod is rotationally connected with the rotary table at a point O; the swing rod inputs a steering angle theta, after time delay is set for time, the rotary table outputs the same steering angle theta, and the forward and reverse movement characteristics are the same;
wherein: the time delay device comprises: the piston rod, the reset spring, the sealing ring, the guide sleeve, the piston seal, the damping hole, the fluid, the cylinder barrel and the positioning sleeve, wherein the piston is symmetrical by a middle plane vertical to the axis of the piston, the cylinder barrel is symmetrical by a middle plane vertical to the axis of the cylinder barrel, the damping hole and the damping hole are arranged on the piston and are axial through holes, the piston is fixedly connected with the piston rod in the middle of the piston rod in a coaxial line, the piston rod is arranged in the cylinder barrel and is coaxial with the cylinder barrel, the two ends of the cylinder barrel are respectively and coaxially and fixedly provided with the sealing ring and the guide sleeve, the piston rod is supported and movably guided by the two guide sleeves, the two sealing rings seal the piston rod, the piston rod is hermetically arranged on the piston to realize the seal between the piston and the cylinder barrel, the two sets of reset springs are arranged on the piston rods at the two ends outside the cylinder barrel, the two positioning sleeves are respectively pre-compressed on the piston rod to ensure that the middle plane of the piston is coincident with the middle plane of the cylinder barrel, the distance between the piston and the guide sleeve is a delay gap, the inner cavity of the cylinder barrel is filled with fluid, and when the piston moves relative to the cylinder barrel along with the piston rod, the fluid passes through the damping hole on the piston to generate damping.
2. The active roll vehicle steering delay mechanism of claim 1 wherein the delay comprises: the piston is symmetrical by a middle plane vertical to the axis of the piston, the cylinder is symmetrical by a middle plane vertical to the axis of the cylinder, the piston is provided with a damping hole and the damping hole is an axial through hole, the piston and the piston rod are fixedly connected in the middle of the piston rod in a coaxial line, the piston is arranged in the cylinder, the piston rod and the cylinder are coaxial, two ends of the cylinder are respectively provided with the sealing ring and the guide sleeve in a coaxial line, the two guide sleeves support and guide the piston rod in a moving way, the two sealing rings seal the piston rod, the piston seal is arranged on the piston to realize the seal between the piston and the cylinder, two groups of reset springs are arranged between the piston and the guide sleeve in the cylinder after being precompressed to ensure that the middle plane of the piston is coincident with the middle plane of the cylinder, and the two positioning sleeves are arranged on the piston rod outside the cylinder, the distance between the end part of the cylinder barrel and the positioning sleeve close to the end part is a delay gap, the inner cavity of the cylinder barrel is filled with fluid, and when the piston moves relative to the cylinder barrel along with the piston rod, the fluid passes through the damping hole on the piston to generate damping; the position of the positioning sleeve on the piston rod is adjusted, so that the delay gap can be changed, and the delay time is further changed.
3. The active roll vehicle steering delay mechanism of claim 1 wherein the piston has 1-4 damping holes uniformly distributed on the same circumference of the piston, the number and diameter of the damping holes varying the damping characteristics.
4. The active roll vehicle steering delay mechanism of claim 1 wherein the return spring, varying the spring rate or pre-compression length, satisfies the overcoming of the resistive steering torque, piston backlash.
5. The active roll vehicle steering delay mechanism of claim 1, comprising: the gear and the turntable are in rotating connection around a gear center O point, a piston rod of the delayer is fixed on the turntable through two ends to enable the O point to be located in a piston middle surface, a cylinder barrel of the delayer is fixedly connected with the rack, and the gear and the rack are in meshing transmission; the gear inputs a steering angle theta, after the time delay is set, the turntable outputs the same steering angle theta, and the forward and reverse movement characteristics are the same.
6. The active roll vehicle steering delay mechanism of claim 1, comprising: the device comprises a swing rod, a time delay unit and a rotary table, wherein the swing rod is rotationally connected with the rotary table at a point O, one end of a piston rod of the time delay unit is rotationally connected with the rotary table to enable the point O to be positioned in a piston middle plane, and the other end of the swing rod is rotationally connected with a cylinder barrel on a cylinder barrel middle plane of the time delay unit; the swing rod inputs a steering angle theta, after the time delay is set, the rotary table outputs the same steering angle theta, and the forward and reverse movement characteristics are the same.
7. The active roll vehicle steering delay mechanism of claim 1, comprising: the automobile retarder comprises a swing rod, a delayer and a rocker, wherein one end of the swing rod is rotatably connected with a cylinder barrel on a cylinder barrel median plane of the delayer, the other end of the swing rod rotates around one point O on a frame, one end of the rocker is rotatably connected with one end of a piston rod of the delayer to enable the point O to be located in a piston median plane, the other end of the rocker rotates around the other point on the frame, the lengths of the swing rod and the rocker are equal, and four rotating points form rectangular installation and the automobile runs linearly under a natural state when the piston median plane and the cylinder barrel median plane coincide; the swing rod inputs a steering angle theta, after the time delay is set, the same steering angle theta is output by the rocker, and the forward and reverse motion characteristics are the same.
8. The active roll vehicle steering delay mechanism of claim 1, comprising: the vehicle steering device comprises a swing rod, a delayer and a rocker, wherein one end of the swing rod is rotationally connected with a cylinder barrel of the delayer, the swing rod is fixedly connected with a linear displacement output shaft of a steering gear, one end of the rocker is rotationally connected with one end of a piston rod of the delayer, the other end of the rocker rotates around one point on a vehicle frame, the rocker is perpendicular to the axis of the piston rod of the delayer in a natural state when the middle surface of a piston and the middle surface of the cylinder barrel are coincident, the displacement direction of the output shaft of the steering gear is parallel to the axis of the piston rod, and a vehicle runs linearly; the line displacement h is input into the swing rod, after the time delay is set, the swing rod outputs a steering angle theta, and the forward and reverse motion characteristics are the same.
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| CN202010585063.3A CN111845930B (en) | 2020-06-15 | 2020-06-15 | Active side-tipping vehicle steering time-delay mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN112172921B (en) * | 2020-08-31 | 2022-03-15 | 河南坐骑科技有限公司 | Vehicle side-tipping driving mechanism and active side-tipping vehicle using same |
| CN112172919B (en) * | 2020-08-31 | 2022-03-15 | 河南坐骑科技有限公司 | Vehicle roll driving device and active roll vehicle |
| CN112896146B (en) * | 2021-04-08 | 2022-08-30 | 河南坐骑科技有限公司 | Single-wheel steering delay transmission device and method for active side-tipping vehicle |
| CN113212549B (en) * | 2021-04-21 | 2023-04-25 | 河南坐骑科技有限公司 | Active side-tipping vehicle double-wheel steering time-delay transmission device and method |
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