CN114802575A - All-wheel drive active side-tipping positive tricycle - Google Patents

All-wheel drive active side-tipping positive tricycle Download PDF

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Publication number
CN114802575A
CN114802575A CN202210454676.2A CN202210454676A CN114802575A CN 114802575 A CN114802575 A CN 114802575A CN 202210454676 A CN202210454676 A CN 202210454676A CN 114802575 A CN114802575 A CN 114802575A
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vehicle body
front wheel
steering
wheel
vehicle
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CN202210454676.2A
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Inventor
王亚
杨鹏艺
魏文军
李海涛
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Beijing Mount Technology Co ltd
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Beijing Mount Technology Co ltd
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Priority to CN202210454676.2A priority Critical patent/CN114802575A/en
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    • 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
    • B62K25/12—Axle suspensions for mounting axles resiliently on cycle frame or fork with rocking arm pivoted on each fork leg
    • B62K25/22—Axle suspensions for mounting axles resiliently on cycle frame or fork with rocking arm pivoted on each fork leg with more than one arm on each fork leg
    • B62K25/24—Axle suspensions for mounting axles resiliently on cycle frame or fork with rocking arm pivoted on each fork leg with more than one arm on each fork leg for front wheel
    • 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
    • B62K21/00—Steering devices
    • 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
    • B62K25/12—Axle suspensions for mounting axles resiliently on cycle frame or fork with rocking arm pivoted on each fork leg
    • B62K25/22—Axle suspensions for mounting axles resiliently on cycle frame or fork with rocking arm pivoted on each fork leg with more than one arm on each fork leg
    • B62K25/26—Axle suspensions for mounting axles resiliently on cycle frame or fork with rocking arm pivoted on each fork leg with more than one arm on each fork leg for rear wheel
    • 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
    • B62K5/027—Motorcycles with three wheels
    • 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
    • B62K2204/00—Adaptations for driving cycles by electric motor

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Cycles, And Cycles In General (AREA)

Abstract

The invention relates to an all-wheel-drive active-heeling-positive three-wheeled vehicle, which belongs to the technical field of vehicle chassis, in particular to a vehicle steering heeling and control technology, wherein the all-wheel-drive active-heeling-positive three-wheeled vehicle consists of a front wheel steering copying mechanism and a rear wheel steering control mechanism, a front wheel rotates relative to a steering knuckle around the axis of the front wheel to adapt to the running speed of the vehicle, the front wheel and the steering knuckle revolve around the steering axis together to realize the steering of the front wheel, the front wheel and the steering knuckle move together in the vertical plane of a vehicle body to realize the ground copying of the front wheel, the ground copying motion of the front wheel is independent of the steering motion, the front wheel steering copying mechanism realizes the steering of the front wheel and the ground copying, the front wheel self-adapts to heeling, the rear wheel steering control mechanism controls the vehicle body to heeling, and the front wheel and double rear wheels drive the vehicle together to run to form the all-wheel-drive active-heeling-positive three-wheeled vehicle; the front wheels are used for real-time profiling the ground, the ground adhesion of the front wheels is increased, and all-wheel drive is adopted, so that the power performance of the vehicle is improved.

Description

All-wheel drive active side-tipping positive tricycle
Technical Field
The invention relates to an all-wheel-drive active-heeling-right three-wheeled vehicle, belongs to the technical field of vehicle chassis, and particularly relates to the technical field of vehicle steering heeling and control.
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, namely, an independent roll mode of a vehicle body and a linkage roll mode of the vehicle body, wherein the independent roll mode of the vehicle body directly drives the vehicle body to rotate relative to a vehicle frame through an actuator, wheels do not roll in the roll process of the vehicle body, and the vehicle is suitable for general car tires, but the roll motion control of the vehicle body is complex, so that the control stability, the smoothness and the safety reliability in the running process of the vehicle 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 active side-tipping tricycle adopts a vehicle body and wheel linkage side-tipping mode, the vehicle side-tipping is controlled by the double rear wheels, the single front wheel is arranged in the middle, and the self-adaption side-tipping is realized.
Disclosure of Invention
The invention aims to provide an all-wheel-drive active-heeling positive three-wheeled vehicle, which adopts a vehicle body and double rear wheels linkage mode to control the vehicle to heel, and a single front wheel turns and self-adaptively heels so as to reduce heeling control power consumption; the front wheels are used for real-time profiling the ground, the ground adhesion of the front wheels is increased, and the power performance of the vehicle is improved by adopting all-wheel drive.
The technical scheme adopted for achieving the purpose of the invention comprises the following steps: the all-wheel drive active side-tipping positive three-wheeled vehicle consists of a front wheel steering copying mechanism and a rear wheel side-tipping control mechanism;
the front wheel steering copying mechanism comprises: one end of a lower rocker (13) is rotationally connected with a vehicle body (10), the other end of the lower rocker is connected with a steering knuckle (12) through a ball hinge, one end of an upper rocker (14) is rotationally connected with the vehicle body (10), the other end of the upper rocker is connected with the steering knuckle (12) through a ball hinge, the rotational axes of two rotational connection points on the vehicle body (10) are perpendicular to the midperpendicular plane of the vehicle body, the connecting line L of the centers of the two ball hinges on the steering knuckle (12) is positioned in the midperpendicular plane of the vehicle body, the lower rocker (13) and the upper rocker (14) are parallel and equal in projection in the midperpendicular plane of the vehicle body, a parallelogram closed type kinematic chain MNQP is formed in the midperpendicular plane of the vehicle body, an angle delta is formed between L in the midperpendicular plane of the vehicle body and the midperpendicular plane of the vehicle body, one end of a single front shock absorber (15) is rotationally connected with the vehicle body (10), the other end of the lower rocker (13), the rotational axes of the two rotational connection points are perpendicular to the midperpendicular plane of the vehicle body, a front wheel (11) is rotationally connected with the lower end of the steering knuckle (12), The rotation axis is vertically staggered with the L, the distance c between the two vertically staggered axes is that the middle plane of the front wheel vertical to the axis of the front wheel (11) passes through the L, the front shock absorber (15) works in a pressed state, the MNQP (parallelogram closed motion chain) changes to realize the ground profile motion of the front wheel, and the front wheel (11) and the steering knuckle (12) rotate together around the L to realize the steering motion of the front wheel; the connecting points of the positioning rods (16) are distributed in a triangular shape, the positioning rods (16) are rotationally connected with the vehicle body (10), the rotation axis is parallel to L, one end S of a time delay device (17) is connected with a ball hinge of the positioning rods (16), the other end T of the time delay device is connected with a point ball hinge on a steering knuckle (12), a steering device (19) is fixed on the vehicle body (10), one end of a connecting rod (18) is connected with an output shaft ball hinge of the steering device (19), and the other end of the connecting rod is connected with a point ball hinge on the positioning rods (16); the constraint conditions are set as follows: when a front wheel neutral plane vertical to the axis of the front wheel (11) is coincident with a vehicle body vertical plane and a steering angle theta is 0, the projection of a connecting line of spherical centers S, T of spherical hinges at two ends of the delayer (17) on the vehicle body vertical plane is parallel to and equal to the projection MN of the lower rocker (13) on the vehicle body vertical plane, so that the ground profiling motion and the steering motion around L of the front wheel (11) in the vehicle body vertical plane are independent to form a front wheel steering profiling mechanism;
wherein: when the radius of the front wheel is r, the drag distance b is (r-c/sin delta) tan delta, the front wheel rotates relative to the steering knuckle around the axis of the front wheel so as to adapt to the running speed v of the vehicle, the front wheel and the steering knuckle revolve around L together to realize the steering of the front wheel, and the front wheel and the steering knuckle move in the vertical plane in the vehicle body together to realize the ground profile modeling of the front wheel; steering control angle input by steering gear input shaft
Figure BSA0000272245140000021
The positioning rod obtains a steering driving angle through speed reduction of the steering gear and transmission of a connecting rod
Figure BSA0000272245140000023
After the time delay device delays the time by delta t, the steering angle is obtained through the transmission of the steering knuckle and the front wheel
Figure BSA0000272245140000022
Realizing the steering of the vehicle; in the running process of the vehicle, the constraint condition ensures that the real-time profiling motion and the steering motion of the front wheel pair are not interfered with each other, the independent suspension is connected with the front wheel, the front wheel profiles the ground in real time, and the ground adhesion force of the front wheel is increased, so that the front wheel driving is implemented under the conditions that the single front wheel steers and heels.
The rear wheel roll control mechanism includes: one end A of a lower swing rod (21) is rotatably connected with a vehicle body (10), the other end E of the lower swing rod is connected with a rear wheel (24), the rear wheel (24) rotates relative to the lower swing rod (21) at a connection point E, one end D of an upper swing rod (23) is rotatably connected with the rear part of the vehicle body (10), one end C of a rear shock absorber (22) is rotatably connected with the upper swing rod (23), the other end B of the rear shock absorber is rotatably connected with the lower swing rod (21), and the rotating axes of the rotating connection points are perpendicular to the vertical plane of the vehicle body to form a group of rear wheel positioning mechanisms; two groups of rear wheel positioning mechanisms with the same geometric parameters and performance parameters are symmetrically arranged in the left and right direction of the vertical plane of the vehicle body according to a given rear wheel track d and share the same vehicle body (10), the center point O of a balance rod (26) in the horizontal plane of the vehicle body is rotationally connected with the vehicle body (10), the rotation axis is perpendicular to the horizontal plane of the vehicle body and is positioned in the vertical plane of the vehicle body, two ends of the balance rod (26) are respectively connected with a pull rod (25) through ball hinges, the other ends of the two equal-length pull rods (25) are respectively connected with the ball hinges of an upper swing rod (23) in the left rear wheel positioning mechanism and the right rear wheel positioning mechanism, and two connecting points F, G are symmetrical about the vertical plane of the vehicle body to form a rear wheel roll control mechanism;
wherein: when the roll actuating angle alpha is 0, the rear wheel roll control mechanism is symmetrical about the middle vertical plane of the vehicle body, the two rear wheels share the same axis, the vehicle body roll angle beta is 0, and the vehicle runs vertically; when the roll actuating angle alpha is not equal to 0, the two rear wheel axles are parallel, move oppositely relative to the vehicle body and move for a distance h along the vertical direction of the vehicle body, the vehicle body roll angle beta and the tan beta are h/d, a roll function beta of the relation between the vehicle body roll angle beta and the roll actuating angle alpha is obtained as f (alpha), the vehicle rolls and runs, in the running process of the vehicle, the two rear shock absorbers (22) are in a pressed state to work, the two pull rods (25) are in a pulled state to work, and the rear wheel roll control mechanism realizes the active control of the roll motion of the vehicle body by controlling the roll actuating angle alpha.
The front wheel steering profiling mechanism and the double rear wheels drive the vehicle to run together to form the all-wheel-drive active-heeling positive three-wheeled vehicle; the front wheel independent suspension is real-time profiled to the ground, the ground adhesion force of the front wheel is increased, the all-wheel drive condition is applied, single front wheel steering, all-wheel drive and all-wheel roll are adopted, the roll drive and control power consumption are reduced, and the ground adhesion force and the maneuverability of the active roll-right three-wheeled vehicle are improved.
In an all-wheel drive, active roll positive three-wheeled vehicle: setting the vehicle wheelbase Z, the mass m and the gravity acceleration g, and inputting a steering control angle by an input shaft of a steering gear
Figure BSA0000272245140000031
The positioning rod obtains a steering driving angle through the speed reduction of the steering gear and the transmission of the connecting rod
Figure BSA0000272245140000033
Time delayAfter the device delays delta t, the steering angle is obtained through the transmission of the steering knuckle and the front wheel
Figure BSA0000272245140000032
At the same time, an angle sensor mounted on an input shaft of the steering gear reads a steering control angle
Figure BSA0000272245140000034
The speed sensor reads in the instantaneous running speed v of the vehicle, the turning radius R is calculated by an on-board computer to be Z/tan theta, and the force balance condition during turning is met: mg × tan β ═ mv 2 R, from tan β ═ v 2 And (g × R), solving the roll angle β, solving the roll actuating angle α by the roll function β ═ f (α), transmitting the roll actuating angle α to a controller, and driving a rear wheel roll control mechanism through an actuator to obtain the vehicle body roll angle β so as to realize the synchronization of the vehicle steering and the vehicle body roll motion.
In the front wheel steering copying mechanism: the parallelogram closed kinematic chain MNQP of the front wheel steering profiling mechanism is arranged in front of the front wheel and the steering knuckle, and the front wheel steering profiling mechanism has the effects that the front wheel is arranged behind and is profiled to the ground in the vertical plane in the vehicle body, the connection mode of all components is unchanged, the steering and profiling parameters and the performance of the front wheel are the same, and another front wheel steering profiling mechanism is formed and is called as a rear-mounted front wheel steering profiling mechanism; the advantages are that: the independent front wheel suspension is arranged above the front wheels, the gravity center of the vehicle moves forwards to be beneficial to driving the front wheels, and meanwhile, the space above the front wheels is utilized, so that the internal space of the cab is enlarged.
In an all-wheel drive, active roll positive three-wheeled vehicle: the front wheel is followed up, a group of front wheel steering copying mechanisms and a group of rear wheel tilting control mechanisms are arranged in front and at the back of the same vehicle body according to a given wheel base Z and share the same vertical plane in the vehicle body, the rear wheel tilting control mechanism controls the vehicle body to tilt, the front wheel steering copying mechanisms realize the front wheel steering and the ground copying, the front wheel self-adaptive tilting, the front wheel freely rotates around the axis of the front wheel relative to a steering knuckle, and the double rear wheel drive vehicle runs to form the double rear wheel drive active tilting positive tricycle; the front wheels are steered and driven by double rear wheels, all wheels tilt, the power consumption of tilt control is reduced, the front wheels profile the ground in real time, the ground adhesion of the front wheels is increased, and the safety of the active tilt-right three-wheeled vehicle is improved; meanwhile, the single front wheel independent suspension can restrain the brake from nodding, and the comfort of the active side-tipping three-wheeled vehicle is improved.
The invention has the advantages that the all-wheel-drive active-heeling positive tricycle controls the vehicle to heel in a linkage mode of the vehicle body and the double rear wheels, a single front wheel turns and self-adaptively heels, the front wheel independently profiles the ground, and the all-wheel drive is adopted to form the all-wheel-drive active heeling vehicle with the positive tricycle characteristics, so that the single-wheel self-adaptive heeling characteristics are reserved, the heeling control power consumption is reduced, the front wheel independent suspension is arranged for connection, the all-wheel drive is realized, the ground adhesive force of the vehicle is improved, the power performance of the vehicle is improved, and the ground adaptive capacity of the vehicle is correspondingly improved.
Drawings
FIG. 1 is a schematic diagram of ground profile movement of a front wheel in a vertical plane of a vehicle body;
FIG. 2 is a schematic diagram of the front wheel steering copying mechanism;
FIG. 3 is a three-dimensional schematic diagram of a front wheel steering copying mechanism;
FIG. 4 is a diagrammatic view of a rear wheel positioning mechanism;
FIG. 5 is a schematic diagram of a rear wheel roll control mechanism;
FIG. 6 is a three-dimensional schematic diagram of a rear wheel roll control mechanism;
FIG. 7 is a schematic diagram of a profile of the rear-mounted front wheel to the ground in the vertical plane of the vehicle body;
FIG. 8 is a schematic diagram of an all-wheel drive positive roll tricycle assembly;
FIG. 9 is a three-dimensional schematic diagram of an all-wheel drive positive roll tricycle;
in the figure: 10-a vehicle body, 11-a front wheel, 12-a steering knuckle, 13-a lower rocker, 14-an upper rocker, 15-a front shock absorber, 16-a positioning rod, 17-a time delay device, 18-a connecting rod, 19-a steering gear, 21-a lower rocker, 22-a rear shock absorber, 23-an upper rocker, 24-a rear wheel, 25-a pull rod and 26-a balance rod.
Detailed Description
Embodiments of the invention are described below with reference to the accompanying drawings:
the all-wheel drive active roll positive three-wheeled vehicle consists of a front wheel steering copying mechanism and a rear wheel roll control mechanism (as shown in figure 9);
fig. 2 is a schematic view of a front wheel steering copying mechanism, which includes: the automobile steering device comprises an automobile body (10), front wheels (11), a steering knuckle (12), a lower rocker (13), an upper rocker (14), a front shock absorber (15), a positioning rod (16), a time delayer (17), a connecting rod (18) and a steering gear (19), wherein one end of the lower rocker (13) is rotatably connected with the automobile body (10), the other end of the lower rocker is connected with a ball hinge of the steering knuckle (12), one end of the upper rocker (14) is rotatably connected with the automobile body (10), the other end of the upper rocker is connected with the ball hinge of the steering knuckle (12), the rotating axes of two rotating connecting points on the automobile body (10) are vertical to the median plane of the automobile body, a connecting line L of the centers of two ball hinges on the steering knuckle (12) is positioned in the median plane of the automobile body, the lower rocker (13) and the upper rocker (14) are projected in parallel and equal in the median plane of the automobile body, a parallelogram closed motion chain MNQP is formed on the median plane of the automobile body, and an inclination angle delta is formed on the median plane of the automobile body, one end of a single front shock absorber (15) is rotationally connected with a vehicle body (10), the other end of the single front shock absorber is rotationally connected with a lower rocker (13), the rotational axes of two rotational connection points are perpendicular to the vertical plane in the vehicle body, a front wheel (11) is rotationally connected with the lower end of a steering knuckle (12), the rotational axes are vertically staggered with L, the distance c between the two vertically staggered axes is that the middle plane of the front wheel perpendicular to the axis of the front wheel (11) passes through L, the front shock absorber (15) works in a pressed state, the MNQP (parallelogram closed motion chain) changes to realize ground profile motion of the front wheel, and the front wheel (11) and the steering knuckle (12) rotate around L together to realize steering motion of the front wheel (as shown in figure 1); the connecting points of the positioning rods (16) are distributed in a right-angled triangle shape, the right-angled vertex of the positioning rods (16) is rotationally connected with the vehicle body (10), the rotational axis is parallel to L, one end S of the delayer (17) is connected with a spherical hinge of the positioning rods (16), the other end T of the delayer is connected with a spherical hinge on the steering knuckle (12), the steering gear (19) is fixed on the vehicle body (10), one end of the connecting rod (18) is connected with an output shaft spherical hinge of the steering gear (19), and the other end of the connecting rod is connected with a spherical hinge on the positioning rods (16); the constraint conditions are set as follows: when a front wheel neutral plane vertical to the axis of the front wheel (11) is coincident with a vehicle body vertical plane and a steering angle theta is 0, the projection of a connecting line of spherical centers S, T of spherical hinges at two ends of the delayer (17) on the vehicle body vertical plane is parallel to and equal to the projection MN of the lower rocker (13) on the vehicle body vertical plane, so that the ground profiling motion and the steering motion around L of the front wheel (11) in the vehicle body vertical plane are independent to form a front wheel steering profiling mechanism;
fig. 3 shows a three-dimensional schematic diagram of a front wheel steering copying mechanism, wherein: when the radius of a front wheel is r, the drag distance b is (r-c/sin delta) tan delta, the front wheel rotates relative to a steering knuckle around the axis of the front wheel so as to adapt to the running speed v of the vehicle, the front wheel and the steering knuckle revolve around a steering axis L together to realize the steering of the front wheel, and the front wheel and the steering knuckle translate in the vertical plane of the vehicle body together to realize the ground profile modeling of the front wheel; steering control angle input by steering gear input shaft
Figure BSA0000272245140000041
The positioning rod obtains a steering driving angle through the speed reduction of the steering gear and the transmission of the connecting rod
Figure BSA0000272245140000042
After the time delay device delays the time by delta t, the steering angle is obtained through the transmission of the steering knuckle and the front wheel
Figure BSA0000272245140000043
Realizing the steering of the vehicle; in the running process of the vehicle, the constraint condition ensures that the real-time profiling motion and the steering motion of the front wheel pair are not interfered with each other, the independent suspension is connected with the front wheel, the front wheel profiles the ground in real time, and the ground adhesion force of the front wheel is increased, so that the front wheel driving is implemented under the conditions that the single front wheel steers and heels. And (3) taking the inclination angle delta of 20-30 degrees and the drag distance b of-50-120 mm to ensure the steering correction and the straight line driving stability of the vehicle, and solving the value c after selecting the radius r of the front wheel.
The rear wheel roll control mechanism shown in fig. 5 constitutes a schematic diagram, and includes: the rear wheel positioning mechanism comprises a vehicle body (10), a lower swing rod (21), a rear shock absorber (22), an upper swing rod (23), a rear wheel (24), a pull rod (25) and a balancing rod (26), wherein one end A of the lower swing rod (21) is rotatably connected with the vehicle body (10), the other end E of the lower swing rod is connected with the rear wheel (24), the rear wheel (24) rotates relative to the lower swing rod (21) at a connecting point E, one end D of the upper swing rod (23) is rotatably connected with the rear part of the vehicle body (10), one end C of the rear shock absorber (22) is rotatably connected with the upper swing rod (23), the other end B of the rear shock absorber is rotatably connected with the lower swing rod (21), and the rotating axes of the rotating connecting points are perpendicular to the vertical plane of the vehicle body to form a group of rear wheel positioning mechanisms (as shown in figure 4); two groups of rear wheel positioning mechanisms with the same geometric parameters and performance parameters are symmetrically arranged in the left and right direction of the vertical plane of the vehicle body according to a given rear wheel track d and share the same vehicle body (10), the center point O of a balance rod (26) in the horizontal plane of the vehicle body is rotationally connected with the vehicle body (10), the rotation axis is perpendicular to the horizontal plane of the vehicle body and is positioned in the vertical plane of the vehicle body, two ends of the balance rod (26) are respectively connected with a pull rod (25) through ball hinges, the other ends of the two equal-length pull rods (25) are respectively connected with the ball hinges of an upper swing rod (23) in the left rear wheel positioning mechanism and the right rear wheel positioning mechanism, and two connecting points F, G are symmetrical about the vertical plane of the vehicle body to form a rear wheel roll control mechanism;
fig. 6 is a three-dimensional schematic diagram of a rear wheel roll control mechanism, in which: when the roll actuating angle alpha is 0, the rear wheel roll control mechanism is symmetrical about the mid-vehicle plane, the two rear wheels share the same axis, and the vehicle body roll angle beta is 0, so that the vehicle can run vertically (as shown in fig. 5); when the roll actuating angle alpha is not equal to 0, the two rear wheel axles are parallel, move oppositely relative to the vehicle body and move for a distance h along the vertical direction of the vehicle body, the vehicle body roll angle beta and the tan beta are h/d, a roll function beta of the relation between the vehicle body roll angle beta and the roll actuating angle alpha is obtained as f (alpha), the vehicle rolls and runs, in the running process of the vehicle, the two rear shock absorbers (22) are in a pressed state to work, the two pull rods (25) are in a pulled state to work, and the rear wheel roll control mechanism realizes the active control of the roll motion of the vehicle body by controlling the roll actuating angle alpha.
The all-wheel-drive active-roll positive three-wheeled vehicle shown in fig. 8 is a schematic diagram, wherein a group of front-wheel-steering copying mechanisms and a group of rear-wheel-steering control mechanisms are arranged in front and at the back of the same vehicle body according to a given axle distance Z and share the same vehicle body vertical plane, the rear-wheel-roll control mechanisms control the roll of the vehicle body, the front-wheel-steering copying mechanisms realize the steering of front wheels, the ground copying and the self-adaptive roll of the front wheels, and the front wheels and the double rear wheels drive the vehicle to run together to form the all-wheel-drive active-roll positive three-wheeled vehicle; the front wheel independent suspension is profiled to the ground in real time, the ground adhesion of the front wheel is increased, the front wheel independent suspension has the condition of applying all-wheel drive, the front wheel hub motor drives, the double rear wheels are driven by the middle motor through a differential mechanism and a chain or a toothed belt, the active side-tipping and right-turning tricycle all-wheel drive is realized, and the vehicle power performance is improved; the single front wheel steering, the all-wheel driving and the all-wheel tilting are adopted, the tilting driving and controlling power consumption is reduced, and the ground adhesion and the maneuverability of the active tilting right three-wheeled vehicle are improved.
Fig. 9 is a three-dimensional schematic diagram of an all-wheel drive active-roll-positive three-wheeled vehicle in which: setting the vehicle wheelbase Z, the mass m and the gravity acceleration g, and inputting a steering control angle by an input shaft of a steering gear
Figure BSA0000272245140000051
The positioning rod obtains a steering driving angle through the speed reduction of the steering gear and the transmission of the connecting rod
Figure BSA0000272245140000052
After the time delay device delays the time by delta t, the steering angle is obtained through the transmission of the steering knuckle and the front wheel
Figure BSA0000272245140000053
At the same time, an angle sensor mounted on an input shaft of the steering gear reads a steering control angle
Figure BSA0000272245140000054
The speed sensor reads in the instantaneous running speed v of the vehicle, the turning radius R is calculated by an on-board computer to be Z/tan theta, and the force balance condition during turning is met: mg × tan β ═ mv 2 R, from tan β ═ v 2 And (g × R), solving the roll angle β, solving the roll actuating angle α by the roll function β ═ f (α), transmitting the roll actuating angle α to a controller, and driving a rear wheel roll control mechanism through an actuator to obtain the vehicle body roll angle β so as to realize the synchronization of the vehicle steering and the vehicle body roll motion.
In the all-wheel drive active roll positive three-wheeled vehicle shown in fig. 8, 9: the steering gear (19) is a rack and pinion steering gear, or a circulating ball type steering gear, or a worm crank pin type steering gear; the delayer (17) is a displacement type mechanical buffer or a displacement type mechanical delayer; the ball hinge is selected from a rod end joint bearing GB/T9161-2001 or a radial joint bearing GB/T9163-2001, and for the time delayer (17) and the two pull rods (25), the rod end joint bearings or the radial joint bearing inner hole axes selected at the two ends of the same component are vertically staggered for use so as to obtain a larger front wheel steering angle and a larger vehicle side inclination angle, and the front wheel tire and the rear wheel tire are selected from a motorcycle tire GB 518-2007 with an arc-shaped section.
Fig. 7 shows a schematic diagram of a front wheel backward ground-facing copying mechanism in a vehicle body vertical plane, in a front wheel steering copying mechanism, in the schematic diagram of the front wheel ground-facing copying movement in the vehicle body vertical plane shown in fig. 1, a parallelogram closed kinematic chain MNQP of the front wheel steering copying mechanism is arranged in front of a front wheel and a steering knuckle, and the effect is that the front wheel backward ground-facing copying mechanism in the vehicle body vertical plane is formed, the connection mode of all components is unchanged, the steering and copying parameters and the performance of the front wheel are the same, and another front wheel steering copying mechanism is formed and is called a rear-mounted front wheel steering copying mechanism; the advantages are that: the independent front wheel suspension is arranged above the front wheel, the gravity center of the vehicle moves forwards to be beneficial to driving the front wheel, and meanwhile, the space above the front wheel is utilized, so that the internal space of the cab is enlarged.
In the all-wheel drive active roll positive three-wheeled vehicle shown in fig. 9: the front wheel is followed up, a group of front wheel steering copying mechanisms and a group of rear wheel tilting control mechanisms are arranged in front and at the back of the same vehicle body according to a given wheel base Z and share the same vertical plane in the vehicle body, the rear wheel tilting control mechanism controls the vehicle body to tilt, the front wheel steering copying mechanisms realize the front wheel steering and the ground copying, the front wheel self-adaptive tilting, the front wheel freely rotates around the axis of the front wheel relative to a steering knuckle, and the double rear wheel drive vehicle runs to form the double rear wheel drive active tilting positive tricycle; the front wheel is steered and driven by a double-rear-wheel hub motor, the whole wheel tilts, the power consumption of tilting control is reduced, the front wheel is profiled on the ground in real time, the ground adhesion of the front wheel is increased, and the safety of the active tilting positive tricycle is improved; meanwhile, the single front wheel independent suspension can restrain the brake from nodding, and the comfort of the active side-tipping three-wheeled vehicle is improved.
The all-wheel-drive active-heeling positive three-wheeled vehicle adopts a vehicle body and double rear wheels linkage mode to control the vehicle to heel, a single front wheel turns and self-adaptively heels, the front wheel independently profiles the ground, and the all-wheel-drive vehicle is driven to form the all-wheel-drive active-heeling vehicle with the characteristics of the positive three wheels, the self-adaptive heeling characteristic of the single wheel is reserved so as to reduce heeling control power consumption, the independent suspension connection of the front wheel is arranged to realize all-wheel drive, the ground adhesion of the vehicle is improved, the power performance of the vehicle is improved, and the ground adaptive capacity of the vehicle is correspondingly improved.

Claims (3)

1. The positive tricycle vehicle that heels of all-wheel drive initiative comprises front wheel steering copying mechanism and rear wheel heeling control mechanism, its characterized in that:
the front wheel steering copying mechanism comprises: one end of a lower rocker is rotatably connected with a vehicle body, the other end of the lower rocker is connected with a steering knuckle ball hinge, one end of an upper rocker is rotatably connected with the vehicle body, the other end of the upper rocker is connected with the steering knuckle ball hinge, the rotating axes of two rotating connection points on the vehicle body are vertical to the vertical plane of the vehicle body, the connecting line L of the centers of two balls on the steering knuckle is positioned in the vertical plane of the vehicle body, the projections of the lower rocker and the upper rocker on the vertical plane of the vehicle body are parallel and equal, a parallelogram closed type moving chain is formed in the vertical plane of the vehicle body, an inclination angle delta is formed between the L in the vertical plane of the vehicle body and the transverse plane of the vehicle body, one end of a single front shock absorber is rotatably connected with the vehicle body, the other end of the single front shock absorber is rotatably connected with the lower rocker, the rotating axes of the front wheel and the lower end of the steering knuckle are vertically staggered with the L, the distance c between the two vertical staggered axes passes through the L in the middle plane of the front wheel which is vertical to the axis of the front wheel, the front shock absorber works in a pressed state, the change of a parallelogram closed motion chain realizes ground profile motion of the front wheel pair, and the front wheel and the steering knuckle rotate around the L together to realize steering motion of the front wheel; the connecting points of the positioning rods are distributed in a triangular shape, the positioning rods are rotationally connected with the vehicle body, the rotating axis is parallel to the L, one end of the time delay device is connected with a spherical hinge of the positioning rods, the other end of the time delay device is connected with a point spherical hinge on the steering knuckle, the steering device is fixed on the vehicle body, one end of each connecting rod is connected with an output shaft spherical hinge of the steering device, and the other end of each connecting rod is connected with a point spherical hinge on the positioning rods; the constraint conditions are set as follows: when a front wheel median plane vertical to the axis of the front wheel is superposed with the vertical plane of the vehicle body, the projection of the sphere center connecting line of the spherical hinges at the two ends of the delayer on the vertical plane of the vehicle body is parallel to and equal to the projection of the lower rocker on the vertical plane of the vehicle body, so that the ground profiling motion of the front wheel in the vertical plane of the vehicle body is independent of the L-steering motion, and a front wheel steering profiling mechanism is formed;
wherein: when the radius of a front wheel is r, the drag distance b is (r-c/sin delta) tan delta, the front wheel rotates relative to a steering knuckle around the axis of the front wheel so as to adapt to the running speed of the vehicle, the front wheel and the steering knuckle revolve around L together to realize the steering of the front wheel, the front wheel and the steering knuckle move together in the vertical plane of the vehicle body so as to realize the ground profile of the front wheel, and the real-time profile motion and the steering motion of the front wheel to the ground are ensured to be not interfered with each other by constraint conditions in the running process of the vehicle;
the rear wheel roll control mechanism includes: one end of the lower swing rod is rotatably connected with the vehicle body, the other end of the lower swing rod is connected with a rear wheel, the rear wheel rotates relative to the lower swing rod at a connection point, one end of the upper swing rod is rotatably connected with the rear part of the vehicle body, one end of the rear shock absorber is rotatably connected with the upper swing rod, the other end of the rear shock absorber is rotatably connected with the lower swing rod, and the rotating axes of the rotating connection points are perpendicular to the vertical plane of the vehicle body to form a group of rear wheel positioning mechanisms; two groups of rear wheel positioning mechanisms with the same geometric parameters and performance parameters are symmetrically arranged in the left and right directions of a vertical plane of a vehicle body according to a given rear wheel track d and share the same vehicle body, the middle point of a balance bar in the vertical plane of the vehicle body is rotationally connected with the vehicle body, a rotation axis is perpendicular to the vertical plane of the vehicle body and is positioned in the vertical plane of the vehicle body, two ends of the balance bar are respectively connected with a pull rod through a ball hinge, the other ends of two equal-length pull rods are respectively connected with ball hinges of upper swing rods in the left rear wheel positioning mechanism and the right rear wheel positioning mechanism, and two connecting points are symmetrical about the vertical plane of the vehicle body to form a rear wheel roll control mechanism;
wherein: when the roll actuating angle alpha is 0, the rear wheel roll control mechanism is symmetrical about the middle vertical plane of the vehicle body, the two rear wheels share the same axis, the vehicle body roll angle beta is 0, and the vehicle runs vertically; when the roll actuating angle alpha is not equal to 0, two rear wheel axes are parallel, move oppositely relative to the vehicle body and move for a distance h along the vertical direction of the vehicle body, the roll angles beta and tan beta of the vehicle body are h/d, a roll function beta of the relation between the roll angle beta of the vehicle body and the roll actuating angle alpha is obtained as f (alpha), the vehicle runs in a roll mode, and the rear wheel roll control mechanism realizes the active control of the roll motion of the vehicle body by controlling the roll actuating angle alpha;
the front wheel steering copying mechanism and the rear wheel steering copying mechanism are arranged in front and back according to a given wheel base on the same vehicle body and share the same vehicle body vertical plane, the rear wheel tilting control mechanism controls the vehicle body to tilt, the front wheel steering copying mechanism realizes the front wheel steering and ground copying, the front wheel self-adaptive tilting, the front wheel and the double rear wheels drive the vehicle to run together, and the all-wheel-drive active tilting positive three-wheeled vehicle is formed.
2. The all-wheel drive active roll positive three-wheeled vehicle of claim 1, wherein the front-wheel steering profile mechanism comprises: the parallelogram closed type kinematic chain is arranged in front of the front wheel and the steering knuckle, and has the effects that the front wheel is arranged at the rear part in the vertical plane in the vehicle body and is profiled to the ground, the connection mode of all components is unchanged, and the steering and profiling parameters and the performance of the front wheel are the same, so that the rear-mounted front wheel steering profiling mechanism is formed.
3. The all-wheel-drive active-roll positive three-wheeled vehicle according to claim 1, wherein the front wheels follow up and are arranged in front and back of the same vehicle body according to a given wheel base by a set of front wheel steering copying mechanisms and a set of rear wheel roll control mechanisms, the same vehicle body vertical plane is shared, the rear wheel roll control mechanisms control the roll of the vehicle body, the front wheel steering copying mechanisms realize the front wheel steering and the ground copying, the front wheels are adaptively rolled, the front wheels freely rotate around the axes of the front wheels relative to the steering knuckles, and the double-rear-wheel-drive vehicle runs to form the double-rear-wheel-drive active-roll positive three-wheeled vehicle.
CN202210454676.2A 2022-04-14 2022-04-14 All-wheel drive active side-tipping positive tricycle Pending CN114802575A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210454676.2A CN114802575A (en) 2022-04-14 2022-04-14 All-wheel drive active side-tipping positive tricycle

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Application Number Priority Date Filing Date Title
CN202210454676.2A CN114802575A (en) 2022-04-14 2022-04-14 All-wheel drive active side-tipping positive tricycle

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113665718A (en) * 2021-08-19 2021-11-19 河南坐骑科技有限公司 Redundant driving mechanism and active side-tipping tricycle
CN113879423A (en) * 2021-10-11 2022-01-04 河南坐骑科技有限公司 Three-freedom-degree ground profiling chassis

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113665718A (en) * 2021-08-19 2021-11-19 河南坐骑科技有限公司 Redundant driving mechanism and active side-tipping tricycle
CN113879423A (en) * 2021-10-11 2022-01-04 河南坐骑科技有限公司 Three-freedom-degree ground profiling chassis

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