CN114684262A - Vehicle steering and roll transmission mechanism and active roll vehicle using same - Google Patents

Abstract

The invention belongs to the technical field of vehicle chassis, discloses a vehicle steering and roll transmission mechanism and an active roll vehicle using the same, in particular to a vehicle body active roll control technology under the condition of vehicle steering, wherein the vehicle steering and roll transmission mechanism comprises: the vehicle body, the lower swing rods, the knuckle spindle and the upper swing rods are sequentially and rotatably connected and symmetrically arranged on the bracket to form a side-tipping moving chain, the bracket is respectively connected with the lower swing rods on two sides through two shock absorbers, and the steering moving chain is formed by a steering arm, a connecting rod, a knuckle and wheels; the vehicle steering is independent of the vehicle body side-tipping movement, the steering arm rotates relative to the vehicle body in the horizontal plane of the vehicle body, and the corresponding deflection angle of the outer wheels and the deflection angle of the inner wheels meet the Ackerman steering condition; in the cross plane of the vehicle body, the vehicle body rotates relative to the bracket, the vehicle body and the wheels roll in a linkage manner, and a roll motion transmission chain does not contain a shock absorber, so that the timing and accurate control of the roll angle of the vehicle are realized, and the running stability and the safety of the active roll vehicle are improved.

Description

Vehicle steering and roll transmission mechanism and active roll vehicle using same

Technical Field

The invention relates to a vehicle turning and roll transmission mechanism and an active roll vehicle using the same, belongs to the technical field of vehicle chassis, and particularly relates to a vehicle body active roll control technology under a vehicle turning condition.

Background

The active roll control system improves the running stability, smoothness, traffic speed and safety of the vehicle at the curve by controlling the degree of the vehicle inclining towards the inner side of the curve when the vehicle turns, and the vehicle active roll technology can enable the vehicle to automatically incline for a certain angle when the vehicle passes a curve or passes an inclined road surface to generate a balance moment to resist the centrifugal force or the side turning force applied to the vehicle so as to keep the stable running posture of the vehicle.

The vehicle active roll technology is generally implemented by two modes of vehicle body independent roll, vehicle body and wheel linkage roll, wherein the former vehicle body independent roll mode directly drives the vehicle body to rotate relative to the vehicle frame by an actuator, the vehicle frame is connected with wheels through a front axle, a rear axle or a suspension, the wheels do not roll in the vehicle body roll process, the vehicle body roll and the vehicle steering motion are independent, and the vehicle active roll technology is suitable for general car tires, but the vehicle body roll motion is difficult to control, so that the control stability, the smoothness and the safety reliability in the vehicle running process are poor; the latter vehicle body and wheel linkage roll mode, the roll mechanism is driven by the actuator to roll the vehicle through the suspension motion, the vehicle body roll, the vehicle steering and the wheel suspension motion are mutually influenced, the tire of the wheel needs to be an arc-shaped curve tire, but the vehicle running stability, smoothness and safety are good, and the vehicle is suitable for high-end vehicles; the application of the system is seen in documents of a vehicle turning and rolling linkage device and an active rolling vehicle CN109625086, a vehicle turning and rolling combined mechanism and an active rolling vehicle CN110509994 applying the mechanism and the like, wherein an actuator drives the rolling mechanism to move through a shock absorber to realize linkage rolling of a vehicle body and wheels, the shock absorber belongs to a nonlinear elastic element, so that the timing and accurate control of the vehicle roll angle is difficult to realize, a mechanical or electronic time delay device is needed to realize synchronous control of the vehicle body rolling and the vehicle turning movement, the research on the actuator directly drives the vehicle body to move to realize the vehicle rolling without the shock absorber, and the system has theoretical significance and practical value for the design and manufacture of the active rolling vehicle.

Disclosure of Invention

The invention aims to provide a vehicle turning and rolling transmission mechanism and an active rolling vehicle applying the same, which realize independent control of vehicle turning and vehicle body rolling, and meanwhile, an actuator directly drives a vehicle body without a shock absorber and is linked with a wheel to roll to realize timing and accurate control of a vehicle roll angle.

The technical scheme adopted for achieving the purpose of the invention is as follows:

the vehicle steering roll transmission mechanism comprises: the automobile body (11), the lower swing rod (12), the knuckle spindle (13) and the upper swing rod (14) are sequentially and rotatably connected in sequence, rotating axes at all the rotating connection points are parallel to each other and are perpendicular to the transverse plane of the automobile body, the connection point of the automobile body and the lower swing rod and the connection point of the automobile body and the upper swing rod pass through the middle vertical plane of the automobile body to form a closed type moving chain with the same relative moving plane, the knuckle (15) and the knuckle spindle (13) are rotatably connected around the axis of the knuckle spindle, the knuckle (15) is connected with a wheel (16) and controls the direction of the wheel, the wheel (16) rotates around the axis of the wheel relative to the knuckle (15), and the wheel and the knuckle (15) jointly swing around the axis of the knuckle spindle (13) to form a group of wheel positioning mechanisms; two groups of same wheel positioning mechanisms are symmetrically arranged in the left and right direction of a vertical plane in a vehicle body according to a given wheel track and share the same vehicle body, connecting points of a support (10) are distributed in an isosceles triangle shape, the vertex of the isosceles triangle on the support (10) is rotatably connected with the vehicle body (11) on the vertical plane of the vehicle body, the rotating axis passes through the connecting points of the vehicle body and a lower swing rod, one end of each of two shock absorbers (17) is rotatably connected with two end points of the isosceles triangle on the support (10), the other end of each of the two shock absorbers (17) is rotatably connected with a lower swing rod (12) in the left and right wheel positioning mechanisms respectively, the two connecting points are symmetrical about the middle line of the isosceles triangle of the support, the two shock absorbers are kept to work in a pressed state, and the rotating axes of the rotating connecting points of the two shock absorbers are vertical to the vertical plane of the vehicle body; the connecting points of the steering arms (18) are distributed in an isosceles triangle shape, the vertexes of the isosceles triangles on the steering arms (18) are rotatably connected with the vehicle body (11) on the horizontal plane of the vehicle body, the rotating axis is positioned in the vertical plane of the vehicle body, two ends of the bottom edge of the isosceles triangle on the steering arms (18) are respectively connected with a connecting rod (19) through ball hinges, the other ends of the two equilong connecting rods (19) are respectively connected with the ball hinges of the steering knuckles (15) in the left and right wheel positioning mechanisms, the two connecting points are symmetrical about the vertical plane in the vehicle body, an open type moving chain formed by the steering arms, the connecting rods and the steering knuckles is arranged in front of the vehicle, and the independent conditions of vehicle steering and vehicle body roll movement are met: when the bottom edge of the isosceles triangle on the steering arm is vertical to the vertical plane of the vehicle body, the left connecting rod and the upper swing rod are parallel to the projection of the vehicle body vertical plane and have the same projection length, and the right connecting rod and the upper swing rod are parallel to the projection of the vehicle body vertical plane and have the same projection length, so that the vehicle steering and rolling transmission mechanism is formed.

In the vehicle steering and rolling transmission mechanism: the vehicle body vertical plane, the vehicle body transverse plane and the vehicle body horizontal plane form a vehicle body rectangular coordinate plane, in the vehicle body transverse plane, the vehicle body rotates by an angle beta relative to the support, the vehicle body and the wheels roll in a linkage manner, a roll motion transmission chain does not comprise a shock absorber, and the timing and accurate control of the vehicle roll angle are realized; in the horizontal plane of the vehicle body, the steering arm rotates by an angle theta relative to the vehicle body, and the corresponding outer wheel deflection angle theta e and the inner wheel deflection angle theta i meet the Ackerman steering condition; in the process of vehicle roll movement, the projections of the connecting rod and the upper swing rod on the transverse plane of the vehicle body are parallel, the projection lengths are equal, the vehicle body roll and the vehicle steering movement are not affected mutually, when theta is 0, the vehicle runs in a straight line, and the middle line of an isosceles triangle of the steering arm is positioned in the vertical plane of the vehicle body; when theta is 0 and beta is 0, the vehicle turning and rolling transmission mechanism is symmetrical about a vertical plane in the vehicle body, the middle line of the isosceles triangle of the bracket is positioned in the vertical plane in the vehicle body, and the vehicle turning and rolling transmission mechanism realizes independent control of vehicle body rolling and vehicle turning movement through two-degree-of-freedom movement of vehicle turning and vehicle body rolling.

In the vehicle steering and side-tipping transmission mechanism, the ball hinges at the two ends of the connecting rod select rod end knuckle bearings or radial knuckle bearings, and the axis of the inner hole of the rod end knuckle bearings or radial knuckle bearings selected at the two ends of the same connecting rod are used in a vertically staggered mode, so that a larger vehicle body side-tipping angle and a larger vehicle steering angle can be obtained.

In the vehicle steering and side-tipping transmission mechanism, the main shafts of the left and right steering knuckles are inwards tipped and backwards tipped, and the left and right wheels are outwards tipped and toe-in, so that the wheels on two sides are positioned, the steering and the aligning of the vehicle are realized, and the linear running stability of the vehicle is kept.

The non-steering wheel roll mechanism is formed by reserving a roll part and removing a steering part in a vehicle steering roll transmission mechanism and fixedly connecting a steering knuckle with a steering knuckle main shaft, and comprises the following components: the steering mechanism comprises a vehicle body (11), a lower swing rod (12), a steering knuckle main shaft (13) and an upper swing rod (14), which are sequentially and rotatably connected, wherein rotating axes at rotating connection points are parallel to each other and are vertical to a vehicle body transverse plane, vehicle body and lower swing rod connection points and vehicle body and upper swing rod connection points all pass through a vehicle body middle vertical plane to form a closed type moving chain with the same relative moving plane, the steering knuckle (15) is fixedly connected with the steering knuckle main shaft (13), the steering knuckle (15) is connected with a wheel (16) and determines the direction of the wheel, and the wheel (16) rotates around the axis of the wheel relative to the steering knuckle (15) to form a group of non-steering wheel positioning mechanisms; two groups of same non-steering wheel positioning mechanisms are symmetrically arranged in the left and right direction of a vertical plane in a vehicle body according to a given wheel track and share the same vehicle body, connecting points of a support (10) are distributed in an isosceles triangle shape, the vertex of the isosceles triangle on the support (10) is rotationally connected with the vehicle body (11) on the vertical plane of the vehicle body, the rotating axis passes through the connecting points of the vehicle body and a lower swing rod, one end of each of two shock absorbers (17) is rotationally connected with two end points of the bottom edge of the isosceles triangle on the support (10), the other end of each of the two shock absorbers (17) is rotationally connected with the lower swing rod (12) in the left non-steering wheel positioning mechanism and the right non-steering wheel positioning mechanism respectively, the two connecting points are symmetric about the middle line of the isosceles triangle of the support, the two shock absorbers are kept to work in a pressed state, and the rotating axes of the rotating connecting points of the two shock absorbers are vertical plane of the vehicle body, so as to form a non-steering wheel tilting mechanism;

wherein: in the cross plane of the vehicle body, the vehicle body rotates by an angle beta relative to the bracket, the vehicle body and the wheels roll in a linkage manner, and a roll motion transmission chain does not contain a shock absorber, so that the timing and accurate control of the roll angle of the vehicle are realized; when β is 0, the non-steering wheel-roll mechanism is symmetrical about the vehicle mid-vertical plane, with the bracket isosceles triangle centerline lying in the vehicle mid-vertical plane.

The front-wheel steering active-roll four-wheel vehicle includes: a group of vehicle steering and rolling transmission mechanisms and a group of non-steering wheel rolling mechanisms are arranged on the same vehicle body in front and back according to a given wheel base, share the same vehicle body vertical plane, and are driven by two front wheels and two rear wheels; the vehicle steering and rolling transmission mechanism controls the vehicle body to roll, the double front wheels to roll in a linkage manner, the non-steering wheel rolling mechanism to roll in a self-adaptive manner, the double rear wheels to roll in a self-adaptive manner in a linkage manner, and all the wheels are arc-shaped curved tires with cross sections, so that a front-wheel steering active rolling four-wheel vehicle is formed; the automobile has the advantages of improving the running stability and high-speed bending performance of the automobile, along with large adhesive force and good ground adaptability.

The front wheel steering active side-tipping tricycle includes: the two front wheels are steered and driven by the rear wheel; the vehicle steering and side-tipping transmission mechanism controls the vehicle body to side tipping and the double front wheels to side tipping in a linkage manner, a single rear wheel and the vehicle body self-adaptively side tipping together, and all wheels adopt the tire with the arc-shaped section to form a front wheel steering and active side-tipping 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 non-steering wheel side-tipping mechanism is arranged at the rear, a front wheel is connected with a shock absorber by a steering arm according to a given wheel base on the same vehicle body, the front wheel shares the vertical plane in the same vehicle body, the double rear wheels are driven, and the front wheel steers; the non-steering wheel side-tipping mechanism controls the vehicle body to side and the double rear wheels to side in a linkage manner, a single front wheel and the vehicle body are self-adaptively side-tipping together, and all wheels adopt arc-shaped curved tires with cross sections to form a front wheel steering active side-tipping positive tricycle; the device has the characteristics of large bearing capacity, small turning radius and good ground adaptability.

The invention has the beneficial effects that the vehicle turning and rolling transmission mechanism and the active rolling vehicle applying the same realize independent control of vehicle turning and vehicle body rolling, meanwhile, the actuator directly drives the vehicle body without a shock absorber and is linked with the vehicle wheel to roll, and the timing and accurate control of the vehicle roll angle is realized, so that the running stability and the safety of the active rolling vehicle are improved.

Drawings

FIG. 1 is a schematic diagram of the roll of a vehicle steering roll actuator;

FIG. 2 is a schematic view of the steering of the vehicle roll actuator;

FIG. 3 is a schematic diagram of the steering and roll transmission mechanism of the vehicle;

FIG. 4 is a schematic view of a non-steerable wheel roll mechanism;

FIG. 5 is a side-rolling operating state diagram of the vehicle turning side-rolling transmission mechanism;

FIG. 6 is a schematic diagram of a front-wheel steering actively heeled four-wheel vehicle assembly;

FIG. 7 is a schematic diagram of the front wheel steering active side-tipping tricycle assembly;

FIG. 8 is a schematic diagram of the front wheel steering active side-tipping positive tricycle;

in the figure: 10-bracket, 11-car body, 12-lower swing rod, 13-knuckle spindle, 14-upper swing rod, 15-knuckle, 16-wheel, 17-shock absorber, 18-steering arm, 19-connecting rod.

Detailed Description

Embodiments of the invention are described below with reference to the accompanying drawings:

fig. 3 is a schematic view of a vehicle steering roll transmission mechanism, which includes: the steering knuckle mechanism comprises a vehicle body (11), a lower swing rod (12), a steering knuckle spindle (13) and an upper swing rod (14), which are sequentially and rotatably connected, wherein rotating axes at all rotating connection points P, B, C, D are parallel to each other and are perpendicular to the transverse plane of the vehicle body, a connection point P between the vehicle body and the lower swing rod and a connection point D between the vehicle body and the upper swing rod pass through the middle vertical plane of the vehicle body to form a parallelogram closed motion chain PBCD with the same relative motion plane, the steering knuckle (15) and the steering knuckle spindle (13) are rotatably connected around the axis BC, the steering knuckle (15) is connected with a wheel (16) and controls the direction of the wheel, the wheel (16) rotates around the axis BC relative to the steering knuckle (15), and the wheel and the steering knuckle (15) jointly swing around the axis BC of the steering knuckle spindle (13) to form a group of wheel positioning mechanisms; two groups of same wheel positioning mechanisms are symmetrically arranged left and right on the vertical plane of the vehicle body according to a given wheel track and share the same vehicle body, connecting points of a support (10) are distributed in an isosceles triangle shape, the vertex of the isosceles triangle on the support (10) is rotationally connected with the vehicle body (11) on the vertical plane of the vehicle body, the rotational axis passes through a connecting point P of the vehicle body and a lower swing rod, one end of each of two shock absorbers (17) is rotationally connected with two end points of the bottom edge of the isosceles triangle on the support (10), the other ends of the two shock absorbers (17) are rotationally connected with lower swing rods (12) in the left and right wheel positioning mechanisms respectively, the two connecting points E, F are symmetric about the middle line of the isosceles triangle of the support, the two shock absorbers are kept to work in a pressed state, and the rotational axes of the rotational connecting points of the two shock absorbers are vertical to the vertical plane of the vehicle body (as shown in figure 1); the connecting points of the steering arms (18) are distributed in an isosceles triangle shape, the vertex Q of the isosceles triangle on the steering arms (18) is rotatably connected with the vehicle body (11) on the horizontal plane of the vehicle body, the rotating axis is positioned in the vertical plane of the vehicle body, two end points S, T of the bottom edge of the isosceles triangle on the steering arms (18) are respectively connected with a connecting rod (19) through ball hinges, the other ends of the two equal-length connecting rods (19) are respectively connected with the ball hinges of steering knuckles (15) in left and right wheel positioning mechanisms, the two connecting points G, H are symmetrical about the vertical plane in the vehicle body, an open type moving chain consisting of the steering arms, the connecting rods and the steering knuckles is arranged in front of the vehicle (as shown in figure 2), and the independent conditions of vehicle steering and vehicle body roll movement are met: when the isosceles triangle base ST on the steering arm is vertical to the vertical plane of the vehicle body, the left connecting rod and the upper swing rod are parallel to the projection of the vehicle body vertical plane and have the same projection length, and the right connecting rod and the upper swing rod are parallel to the projection of the vehicle body vertical plane and have the same projection length, so that the vehicle steering and rolling transmission mechanism is formed.

Fig. 5 is a diagram showing a roll operating state of the vehicle roll transmission mechanism, in which: the vehicle body vertical plane, the vehicle body transverse plane and the vehicle body horizontal plane form a vehicle body rectangular coordinate plane, in the vehicle body transverse plane, the vehicle body rotates by an angle beta relative to the support, the vehicle body drags wheels through the upper swing rod, the steering knuckle main shaft and the steering knuckle, the vehicle body and the wheels tilt in a linkage manner, a tilting motion transmission chain does not comprise a shock absorber, and the timing and accurate control of the vehicle tilt angle are realized; in a horizontal plane of a vehicle body, a steering arm rotates by an angle theta relative to the vehicle body, the steering arm pulls a wheel through a connecting rod and a steering knuckle, and a corresponding outer wheel deflection angle theta e and an inner wheel deflection angle theta i meet the Ackerman steering condition (shown in figure 6); in the process of vehicle roll movement, the projections of the connecting rod and the upper swing rod on the transverse plane of the vehicle body are parallel, the projection lengths are equal, the vehicle body roll and the vehicle steering movement are not affected mutually, when theta is 0, the vehicle runs in a straight line, and the middle line of an isosceles triangle of the steering arm is positioned in the vertical plane of the vehicle body; when theta is 0 and beta is 0, the vehicle turning and rolling transmission mechanism is symmetrical about a vertical plane in the vehicle body, the middle line of the isosceles triangle of the bracket is positioned in the vertical plane in the vehicle body, and the vehicle turning and rolling transmission mechanism realizes independent control of vehicle body rolling and vehicle turning movement through two-degree-of-freedom movement of vehicle turning and vehicle body rolling.

In the turning principle diagram of the vehicle turning roll transmission mechanism shown in fig. 2, ball hinges at two ends of a connecting rod in the vehicle turning roll transmission mechanism are selected from rod end joint bearings GB/T9161 and 2001 or radial joint bearings GB/T9163 and 2001, and the rod end joint bearings or radial joint bearing inner hole axes selected at two ends of the same connecting rod are used in a vertically staggered mode so as to obtain a larger vehicle body side inclination angle and a larger vehicle turning angle.

The vehicle steering and roll transmission mechanism shown in fig. 3 is a schematic diagram, in the vehicle steering and roll transmission mechanism, the left and right steering knuckle spindles tilt and tilt backward, and the left and right wheels tilt and toe-in, so as to provide positioning of the wheels on both sides, realize steering and aligning of the vehicle, and maintain the straight-line driving stability of the vehicle.

Fig. 4 is a schematic view of a non-steered wheel roll mechanism, which is formed by retaining a roll part in a vehicle steering roll transmission mechanism, removing a steering part, and fixedly connecting a steering knuckle with a steering knuckle main shaft, and comprises: the steering knuckle structure comprises a vehicle body (11), a lower swing rod (12), a steering knuckle main shaft (13) and an upper swing rod (14) which are sequentially and rotatably connected, wherein rotating axes at rotating connection points P, B, C, D are parallel to each other and are perpendicular to the transverse plane of the vehicle body, a connection point P of the vehicle body and the lower swing rod and a connection point D of the vehicle body and the upper swing rod pass through the middle vertical plane of the vehicle body to form a parallelogram closed type moving chain PBCD with the same relative moving plane, the steering knuckle (15) is fixedly connected with the steering knuckle main shaft (13), the steering knuckle (15) is connected with a wheel (16) and determines the direction of the wheel, and the wheel (16) rotates around the axis relative to the steering knuckle (15) to form a group of non-steering wheel positioning mechanisms; two groups of same non-steering wheel positioning mechanisms are symmetrically arranged left and right on the vertical plane of the vehicle body according to a given wheel track and share the same vehicle body, connecting points of a support (10) are distributed in an isosceles triangle shape, the vertex of the isosceles triangle on the support (10) is rotationally connected with the vehicle body (11) on the vertical plane of the vehicle body, the rotational axis passes through the vehicle body and a lower swing rod connecting point P, one ends of two shock absorbers (17) are respectively rotationally connected with two end points of the bottom edge of the isosceles triangle on the support (10), the other ends of the two shock absorbers (17) are respectively rotationally connected with lower swing rods (12) in the left non-steering wheel positioning mechanism and the right non-steering wheel positioning mechanism, the two connecting points E, F are symmetrical about the central line of the isosceles triangle, the two shock absorbers are kept to work in a pressed state, and the rotational axes of the rotational connecting points of the two shock absorbers are vertical to the vertical plane of the vehicle body, so as to form a non-steering wheel tilting mechanism;

wherein: in the cross plane of the vehicle body, the vehicle body rotates by an angle beta relative to the support, the vehicle body drags wheels through an upper swing rod, a steering knuckle main shaft and a steering knuckle, the vehicle body and the wheels roll in a linkage manner, and a roll motion transmission chain does not contain a shock absorber, so that the timing and accurate control of a roll angle of the vehicle are realized; when β is 0, the non-steering wheel-roll mechanism is symmetrical about the vehicle mid-vertical plane, with the bracket isosceles triangle centerline lying in the vehicle mid-vertical plane.

Fig. 6 is a schematic diagram of a front-wheel steering active-roll four-wheel vehicle, including: a group of vehicle steering and side-tipping transmission mechanisms and a group of non-steering wheel side-tipping mechanisms are arranged in front and at the back of the same vehicle body according to a given wheelbase and share the same vehicle body vertical plane, the wheelbase of the front wheels is equal to that of the rear wheels, the double front wheels steer and the double rear wheels are driven by hub motors; the vehicle steering and side-tipping transmission mechanism controls the vehicle body to side tipping, the double front wheels to side in a linkage manner, the non-steering wheel side-tipping mechanism to side in a self-adaptive manner, the double rear wheels to side in a self-adaptive manner in a linkage manner, and all the wheels are motorcycle tires GB 518 and 2007 with arc-shaped sections, so that the front-wheel steering active side-tipping four-wheel vehicle is formed; the automobile has the advantages of improving the running stability and high-speed bending performance of the automobile, along with large adhesive force and good ground adaptability.

Fig. 7 is a schematic diagram of a front-wheel steering active-side-dump tricycle, including: the double-front-wheel steering and side-tipping transmission mechanism is arranged in front of a group of vehicle steering and side-tipping transmission mechanisms, a rear wheel is connected with the same vehicle body through a swing arm and a shock absorber according to a given wheel base, the rear wheel shares the same vehicle body vertical plane, the double front wheels steer, and the rear wheel is driven by a rear wheel hub motor; the vehicle steering and side-tipping transmission mechanism controls the vehicle body to side and the double front wheels to side in a linkage manner, a single rear wheel and the vehicle body self-adaptively side-tipping are carried out together, and all wheels are motorcycle tires GB 518 and 2007 with arc-shaped sections, so that a front-wheel steering and active side-tipping tricycle is formed; has the characteristics of small volume, mobility and flexibility.

Fig. 8 shows a schematic diagram of a front-wheel steering active-roll positive tricycle, which includes: the double-rear-wheel hub motor is driven by a double-rear-wheel hub motor, and the front wheels are steered; the non-steering wheel side-tipping mechanism controls the vehicle body to side and the double rear wheels to side in a linkage manner, a single front wheel and the vehicle body are self-adaptively side-tipping together, and all wheels are motorcycle tires GB 518-2007 with arc-shaped sections to form a front wheel steering active side-tipping positive tricycle; the device has the characteristics of large bearing capacity, small turning radius and good ground adaptability.

Through the embodiment, the vehicle steering and roll transmission mechanism and the active roll vehicle applying the same realize independent control of vehicle steering and vehicle body roll, and meanwhile, the actuator directly drives the vehicle body without a shock absorber and is linked with the vehicle wheel to roll, so that the timing and accurate control of the vehicle roll angle is realized; under the condition of omitting a mechanical or electronic time delay device, the synchronous control of the body rolling and the vehicle steering motion of the active rolling vehicle is realized, so that the running stability and the safety of the active rolling vehicle are improved.

Claims (7)

1. Vehicle steering roll drive, characterized by comprising: the vehicle body, the lower swing rod, the knuckle spindle and the upper swing rod are sequentially and rotatably connected in sequence, rotating axes at the rotating connection points are parallel to each other and are perpendicular to the transverse plane of the vehicle body, the connection point of the vehicle body and the lower swing rod and the connection point of the vehicle body and the upper swing rod pass through the middle vertical plane of the vehicle body to form a closed type moving chain with the same relative motion plane, the knuckle spindle is rotatably connected with the knuckle spindle around the axis of the knuckle spindle, the knuckle is connected with a wheel and controls the direction of the wheel, the wheel rotates around the axis of the wheel relative to the knuckle spindle, and the wheel and the knuckle swing around the axis of the knuckle spindle together to form a group of wheel positioning mechanisms; two groups of same wheel positioning mechanisms are symmetrically arranged in a left-right mode on the vertical plane of the vehicle body according to a given wheel track and share the same vehicle body, bracket connecting points are distributed in an isosceles triangle mode, the vertex of the isosceles triangle on the bracket is rotationally connected with the vehicle body on the vertical plane of the vehicle body, the rotating axis passes through the connecting points of the vehicle body and a lower swing rod, one ends of two shock absorbers are respectively rotationally connected with two end points of the bottom edge of the isosceles triangle on the bracket, the other ends of the two shock absorbers are respectively rotationally connected with the lower swing rod in the left-side wheel positioning mechanism and the right-side wheel positioning mechanism, the two connecting points are symmetrical relative to the central line of the isosceles triangle on the bracket, the two shock absorbers are kept to work in a pressed state, and the rotating axes of the rotating connecting points of the two shock absorbers are perpendicular to the vertical plane of the vehicle body; the connecting points of the steering arms are distributed in an isosceles triangle shape, the top point of the isosceles triangle on the steering arms is rotationally connected with the vehicle body on the horizontal plane of the vehicle body, the rotating axis is positioned in the vertical plane of the vehicle body, two end points of the bottom edge of the isosceles triangle on the steering arms are respectively connected with a connecting rod through ball hinges, the other ends of the two equal-length connecting rods are respectively connected with steering knuckle ball hinges in the left and right wheel positioning mechanisms, the two connecting points are symmetrical about the vertical plane of the vehicle body, and the independent conditions of vehicle steering and vehicle body roll motion are met: when the bottom edge of the isosceles triangle on the steering arm is perpendicular to the middle vertical plane of the vehicle body, the left connecting rod and the upper swing rod are parallel to the projection of the vehicle body on the transverse plane and have the same projection length, and the right connecting rod and the upper swing rod are parallel to the projection of the vehicle body on the transverse plane and have the same projection length, so that a vehicle steering and side-tipping transmission mechanism is formed;

wherein: in the cross plane of the vehicle body, the vehicle body rotates by an angle beta relative to the bracket, the vehicle body and the wheels roll in a linkage manner, and a roll motion transmission chain does not contain a shock absorber, so that the timing and accurate control of the roll angle of the vehicle are realized; in the horizontal plane of the vehicle body, the steering arm rotates by an angle theta relative to the vehicle body, and the corresponding outer wheel deflection angle and the inner wheel deflection angle meet the Ackerman steering condition, and the vehicle body heeling is independent of the vehicle steering motion; when θ is 0, the vehicle travels straight, and when θ is 0 and β is 0, the vehicle steering roll transmission mechanism is symmetrical about the vertical plane in the vehicle body.

2. The vehicle steering roll transmission mechanism according to claim 1, wherein the ball hinges at the two ends of the connecting rod are rod end spherical bearings or radial spherical bearings, and the rod end spherical bearings or radial spherical bearings selected at the two ends of the same connecting rod are used in a vertically staggered manner.

3. The vehicle roll transmission of claim 1 wherein the side-to-side wheel alignment is achieved by right and left side knuckle spindle camber and caster and right and left side wheel camber and toe.

4. A non-steered wheel roll mechanism formed by the vehicle steering roll transmission mechanism of claim 1 with a roll portion retained, a steering portion removed, and a knuckle fixedly connected to a knuckle spindle, comprising: the vehicle body, the lower swing rod, the knuckle spindle and the upper swing rod are sequentially and rotatably connected, rotating axes at the rotating connection points are parallel to each other and perpendicular to the vehicle body, the connection point of the vehicle body and the lower swing rod and the connection point of the vehicle body and the upper swing rod pass through the vertical plane of the vehicle body to form a closed type moving chain with the same relative movement plane, the knuckle is fixedly connected with the knuckle spindle, the knuckle is connected with a wheel and determines the direction of the wheel, and the wheel rotates around the axis of the knuckle spindle relative to the knuckle to form a group of non-steering wheel positioning mechanisms; two groups of same non-steering wheel positioning mechanisms are symmetrically arranged in a left-right mode on a vertical plane of a vehicle body according to a given wheel track and share the same vehicle body, connecting points of a support are distributed in an isosceles triangle mode, the vertex of the isosceles triangle on the support is rotatably connected with the vehicle body on the vertical plane of the vehicle body, the rotating axis passes through the connecting points of the vehicle body and a lower swing rod, one ends of two shock absorbers are respectively rotatably connected with two end points of the bottom edge of the isosceles triangle on the support, the other ends of the two shock absorbers are respectively rotatably connected with the lower swing rod in the left non-steering wheel positioning mechanism and the right non-steering wheel positioning mechanism, the two connecting points are symmetrical relative to the central line of the isosceles triangle on the support, the two shock absorbers are kept to work in a pressed state, the rotating axes of the rotating connecting points of the two shock absorbers are perpendicular to the vertical plane of the vehicle body, and a non-steering wheel tilting mechanism is formed;

wherein: in the cross plane of the vehicle body, the vehicle body rotates by an angle beta relative to the bracket, the vehicle body and the wheels roll in a linkage manner, and a roll motion transmission chain does not contain a shock absorber, so that the timing and accurate control of the roll angle of the vehicle are realized; when β is 0, the non-steering wheel-rolling mechanism is symmetrical with respect to the vertical plane in the vehicle body.

5. A front-wheel steering actively-rolling four-wheeled vehicle characterized by comprising a set of the vehicle-steering-rolling transmission mechanism of claim 1 and a set of the non-steering-wheel-rolling transmission mechanism of claim 4 arranged in tandem on the same vehicle body at a given wheel base, sharing the same vehicle body midperpendicular, double front-wheel steering, and double rear-wheel driving; the vehicle steering and rolling transmission mechanism controls the vehicle body to roll, the double front wheels to roll in a linkage manner, the non-steering wheel rolling mechanism to roll in a self-adaptive manner, the double rear wheels to roll in a self-adaptive manner in a linkage manner, and all the wheels are arc-shaped curved tires with cross sections, so that the front-wheel steering and active rolling four-wheel vehicle is formed.

6. A tricycle with front wheel steering and active side-tipping is characterized in that a group of the tricycle with front wheel steering and side-tipping transmission mechanisms according to claim 1 is arranged in front, a rear wheel is connected with the same tricycle body through a swing arm and a shock absorber according to a given wheel base, the middle vertical plane of the same tricycle body is shared, and the tricycle is driven by two front wheels and a rear wheel; the vehicle steering and side-tipping transmission mechanism controls the vehicle body to side tipping and the double front wheels to side tipping in a linkage manner, a single rear wheel and the vehicle body self-adaptively side tipping together, and all wheels adopt arc-shaped curved tires with cross sections to form the front wheel steering and active side-tipping tricycle.

7. A front wheel steering active roll positive tricycle is characterized in that a group of non-steering wheel roll mechanisms according to claim 4 is arranged at the rear, a front wheel is connected with a shock absorber through a steering arm according to a given wheel base on the same tricycle body, the same tricycle body shares a vertical plane, double rear wheels are driven, and the front wheel is steered; the non-steering wheel side-tipping mechanism controls the vehicle body to side and the double rear wheels to side in a linkage manner, a single front wheel and the vehicle body are self-adaptively tipped together, and all wheels adopt arc-shaped curved tires with sections to form the front wheel steering active side-tipping positive tricycle.

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