CN115320312A - Vehicle side-tipping driving device and active side-tipping tricycle using same - Google Patents
Vehicle side-tipping driving device and active side-tipping tricycle using same Download PDFInfo
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- CN115320312A CN115320312A CN202211002314.6A CN202211002314A CN115320312A CN 115320312 A CN115320312 A CN 115320312A CN 202211002314 A CN202211002314 A CN 202211002314A CN 115320312 A CN115320312 A CN 115320312A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/007—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces means for adjusting the wheel inclination
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
- B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/026—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected transversally
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/80—Interactive suspensions; arrangement affecting more than one suspension unit
- B60G2204/82—Interactive suspensions; arrangement affecting more than one suspension unit left and right unit on same axle
Abstract
The invention relates to a vehicle roll driving device and an active roll tricycle applying the same, belonging to the technical field of vehicle chassis, and researching a roll driving control technology of an active roll vehicle, wherein the key technical measures of the vehicle roll driving device are as follows: a torsion bar spring is connected in parallel on the basis that the actuating rod series double shock absorbers drive the vehicle to roll, and the actuating rod series double shock absorbers and the torsion bar spring series double connecting rods drive the vehicle to roll together, so that the roll angle response lag caused by a spring damping system of the shock absorbers is restrained, the nonlinearity of a roll motion transmission system is reduced, and the roll response speed of the vehicle is improved. The driving speed of the active roll vehicle on a curve is increased, and the safety and comfort performance of the active roll vehicle are improved.
Description
Technical Field
The invention relates to a vehicle side-tipping driving device and an active side-tipping tricycle using the same, belongs to the technical field of vehicle chassis, and particularly relates to the side-tipping driving control technical field of active side-tipping vehicles.
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 for the vehicle with small wheel track and narrow body, the 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 overturning force applied to the vehicle so as to keep the stable running posture of the vehicle.
During the running process of the active roll vehicle on a curve, if the running speed is further increased, the generated centrifugal force is increased, the vehicle stably runs at a large roll angle, the active roll vehicle enables two wheels to move quickly and greatly relative to the vehicle body through a suspension roll system, and the vehicle can roll at a correct time and a large angle and needs to roll quickly to respond; for an active roll vehicle with a small wheel track and a narrow body as an object, the universal joint cannot realize the motion and power transmission between two half shafts of a differential and a driving wheel, so that the active roll vehicle is configured with two hub motors to be driven into the most economic and practical version, and the mass and the rotational inertia of the hub motors are larger, so that the unsprung mass is increased; when the active side-tipping vehicle drives the vehicle to roll through the actuating rod and the double shock absorbers connected in series, the shock absorber on one side is continuously compressed, and the shock absorber on the other side is released, so that the vehicle roll angle response is delayed, and the response speed of the vehicle roll motion is influenced; in order to restrain the response lag of the roll angle caused by a suspension spring damping system, reduce the nonlinearity of a roll motion transmission system and improve the roll response speed of a vehicle, a roll driving and controlling system of an actively-rolled vehicle is researched, and the improvement of the safety and the comfort of the vehicle has theoretical significance and practical value.
Disclosure of Invention
The invention aims to provide a vehicle roll driving device.A torsion bar spring is connected in parallel on the basis that an actuating rod tandem double shock absorber drives a vehicle to roll, and the actuating rod tandem double shock absorber and the torsion bar spring tandem double connecting rod drive the vehicle to roll together so as to restrain the roll angle response lag caused by a spring damping system of the shock absorber, reduce the nonlinearity of a roll motion transmission system and improve the vehicle roll response speed.
The technical scheme adopted for achieving the aim of the invention comprises the following steps:
the vehicle roll driving device includes: one end of a lower swing rod (20) is rotatably connected with a vehicle body (10), the other end of the lower swing rod is connected with a wheel (23), the wheel (23) rotates relative to the lower swing rod (20) at a connection point, one end of an upper swing rod (22) is rotatably connected with the vehicle body (10), one end of a shock absorber (21) is rotatably connected with the upper swing rod (22), the other end of the shock absorber is rotatably connected with the lower swing rod (20), a rotation connection point of the vehicle body (10) and the lower swing rod (20) and a rotation connection point of the vehicle body (10) and the upper swing rod (22) are respectively arranged at the front side and the rear side of the shock absorber, and the rotation axes at the rotation connection points are vertical to the vertical plane of the vehicle body to form a group of wheel positioning mechanisms; two groups of wheel positioning mechanisms with the same geometric parameters and performance parameters 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 (10), the middle point O of an actuating rod (24) in the vertical plane of the vehicle body is rotationally connected with the vehicle body (10), the rotating 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 actuating rod (24) 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 (22) in the left and right wheel positioning mechanisms, and two connecting points E and F are symmetrical about the vertical plane of the vehicle body;
the parallel connection method of the torsion bar springs comprises the following steps: the torsion bar spring (26) is rotatably connected with the actuating rod (24) around a torsion axis N, the torsion axis N is perpendicular to the rotating axis of the actuating rod (24) relative to the vehicle body (10) and is parallel to the connecting line of two end points of the actuating rod (24), two end points C and D of the torsion bar spring (26) are symmetrical about the middle vertical plane of the vehicle body, two end points are respectively connected with a connecting rod (27) through a ball hinge, the other ends of the two equal-length connecting rods (27) are respectively connected with a lower swing rod (20) in the left and right wheel positioning mechanisms, two connecting points G and H are symmetrical about the middle vertical plane of the vehicle body, the roll motor (28) drives the actuating rod (24) to rotate through a speed reducer (29), and the actuating rod series double shock absorbers and the torsion bar spring series double connecting rods jointly drive the roll motion of the vehicle to form the roll driving device of the vehicle.
Wherein: in the transverse plane of the vehicle body, the rotation angle alpha of the actuating rod (24) relative to the vehicle body (10) is a roll actuating angle, the included angle beta of the vehicle body relative to the ground is a vehicle roll angle, when the roll actuating angle alpha =0, the vehicle roll driving device is symmetrical about the middle vertical plane of the vehicle body, the vehicle roll angle beta =0, and the vehicle runs vertically; when the roll actuating angle alpha is not equal to 0, the actuating rod is connected with the double shock absorbers in series to drive the vehicle to roll, and in the roll movement process of the vehicle, the shock absorbers on one side are continuously compressed, and the shock absorbers on the other side are released, so that the roll angle response of the vehicle is delayed;
the two-way driving vehicle roll motion control mode: the torsion bar spring rotates around a torsion axis N relative to the actuating rod (24), the torsion bar spring revolves along with the actuating rod (24), the rotation angle is equal to alpha, the torsion bar spring is connected with the double connecting rods in series to drive the vehicle to roll, the double shock absorbers connected in series with the actuating rod and the torsion bar spring are used for driving the vehicle to roll together, the torsion deformation of the torsion bar spring around the torsion axis N is used for restraining the roll angle response lag caused by the spring damping system of the shock absorbers, the nonlinearity of a roll motion transmission system is reduced, the roll response speed of the vehicle is improved, and the lateral stability of the vehicle is improved; the torsion bar spring rotates around a torsion axis N relative to the actuating rod (24) to avoid the motion interference of double-path driving, when alpha is not equal to 0, a roll function beta = f (alpha) of the relation between a vehicle roll angle beta and a roll actuating angle alpha is obtained, the vehicle rolls and runs, the vehicle roll driving device realizes the active control of the roll motion of the vehicle by controlling the roll actuating angle alpha, and the safety and the comfort of the active roll vehicle are improved.
In the vehicle roll driving device, a rotating connection point of a vehicle body (10) and a lower swing rod (20) and a rotating connection point of the vehicle body (10) and an upper swing rod (22) are respectively arranged at the front side and the rear side of a shock absorber, in order to change the motion and stress characteristics of the shock absorber in the vehicle roll motion process, the rotating connection points of the vehicle body (10), the lower swing rod (20) and the upper swing rod (22) are arranged at the same side of the shock absorber, other structures and components are unchanged, the torsion bar and spring parallel connection method is the same, and an actuating rod series double shock absorber and a torsion bar and spring series double connecting rod jointly drive the vehicle to roll to form another vehicle roll driving device.
In the vehicle roll driving device, the torsional rigidity of the torsion bar spring influences the response speed of a vehicle roll system, the higher the torsional rigidity of the torsion bar spring is, the weaker the nonlinearity of the roll motion transmission system is, the faster the roll response speed is, and the higher the traffic speed of a vehicle curve is; the smaller the torsion rigidity of the torsion bar spring is, the stronger the nonlinearity of the roll motion transmission system is, the slower the roll response speed is, and the better the ground profiling capability of the independent suspension.
In the above-described vehicle roll driving apparatus, the roll motor is a dc servo motor, and the reducer is an RV reducer or a planetary gear reducer.
The active roll tricycle includes: the active roll vehicle with the characteristics of double rear wheel driving and front wheel steering is formed by arranging a group of vehicle roll driving devices behind, arranging a group of front wheel steering copying mechanisms in front on the same vehicle body according to a given wheel base, sharing the same vehicle body vertical plane, steering the front wheels, and driving and controlling the roll motion of the vehicle.
The front wheel steering copying mechanism comprises: the steering main shaft (11) is a combination of an upper cylinder and a lower double-fork arm, the cylinder of the steering main shaft (11) is rotatably connected with the vehicle body (10), a rotating axis L is positioned in a vertical plane of the vehicle body, a back inclination angle delta is formed between the L and a vertical plane of the vehicle body in the vertical plane of the vehicle body, the steering knuckle (12) is a U-shaped arm, an open end of the U-shaped arm of the steering knuckle (12) is rotatably connected with a front wheel (14), the bottom of the U-shaped arm of the steering knuckle (12) is rotatably connected with the tail ends of the double-fork arms of the steering main shaft (11), the middle part of the U-shaped arm of the steering knuckle (12) is respectively rotatably connected with the two front shock absorbers (13), the other ends of the two front shock absorbers (13) are respectively rotatably connected with the double-fork arms of the steering main shaft (11), the rotating axes at the rotating connection points are parallel to each other and are vertically staggered with the L, the rotating axis of the front wheel (14) is vertically staggered with the L, the rotating axis of the two vertically staggered axes are separated by a distance e, the L, the rotating axis of the front wheel (14) passes through the L in the middle plane of the front wheel perpendicular to be in a profiling mechanism, and the rotating axis of the front wheel (13) is in a working state, and the profiling mechanism is formed;
wherein: when the radius of a front wheel is r, the drag distance s = (r-e/sin δ) tan δ, 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 a vehicle, the front wheel, the steering knuckle, a front shock absorber and a steering main shaft rotate around L relative to a vehicle body together to realize the steering of the front wheel, and the front wheel and the steering knuckle rotate relative to the steering main shaft to realize the ground profile modeling of the front wheel; during the running process of the vehicle, the single front wheel realizes the ground profiling motion under the conditions of steering and heeling.
The invention has the beneficial effects that the vehicle roll driving device and the active roll tricycle using the same drive the vehicle to roll through the double shock absorbers connected in series by the actuating rods and the double connecting rods connected in series by the torsion bar springs, so that the roll angle response lag caused by the spring damping system of the shock absorbers is restrained, the nonlinearity of a roll motion transmission system is reduced, the roll response speed of the vehicle is improved, and the safety and the comfort performance of the active roll vehicle are improved.
Drawings
FIG. 1 is a schematic diagram of a vehicle roll motion driven by a double shock absorber with a series of actuating rods;
FIG. 2 is a schematic diagram of a torsion bar spring in series with a double link driving a vehicle to roll;
FIG. 3 is a three-dimensional schematic view of a vehicle roll drive assembly;
FIG. 4 is a schematic view of another vehicle roll drive arrangement;
FIG. 5 is a schematic diagram of the roll motion of the roll drive assembly;
FIG. 6 is a schematic view of a front wheel steering copying mechanism;
FIG. 7 is a schematic diagram of the front wheel steering copying mechanism;
FIG. 8 is a three-dimensional schematic diagram of a front wheel steering copying mechanism;
FIG. 9 is a schematic diagram of the components of an active side-tipping tricycle;
FIG. 10 is a three-dimensional schematic diagram of an active roll tricycle;
in the figure: 10-a vehicle body, 11-a steering main shaft, 12-a steering knuckle, 13-a front shock absorber, 14-a front wheel, 20-a lower swing rod, 21-a shock absorber, 22-an upper swing rod, 23-a wheel, 24-an actuating rod, 25-a pull rod, 26-a torsion bar spring, 27-a connecting rod, 28-a side-tipping motor and 29-a speed reducer.
Detailed Description
Embodiments of the invention are described below with reference to the accompanying drawings:
fig. 1 shows a schematic diagram of a roll motion of a vehicle driven by a series of dual shock absorbers connected to an actuating rod, and the roll motion driving apparatus of the vehicle comprises: one end of a lower swing rod (20) is rotatably connected with a vehicle body (10), the other end of the lower swing rod is connected with a wheel (23), the wheel (23) rotates relative to the lower swing rod (20) at a connection point, one end of an upper swing rod (22) is rotatably connected with the vehicle body (10), one end of a shock absorber (21) is rotatably connected with the upper swing rod (22), the other end of the shock absorber is rotatably connected with the lower swing rod (20), a rotation connection point of the vehicle body (10) and the lower swing rod (20) and a rotation connection point of the vehicle body (10) and the upper swing rod (22) are respectively arranged at the front side and the rear side of the shock absorber, and the rotation axes at the rotation connection points are vertical to the vertical plane of the vehicle body to form a group of wheel positioning mechanisms; two groups of wheel positioning mechanisms with the same geometric parameters and performance parameters 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 (10), the middle point O of an actuating rod (24) in the vertical plane of the vehicle body is rotationally connected with the vehicle body (10), the rotating 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 actuating rod (24) 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 (22) in the left and right wheel positioning mechanisms, and two connecting points E and F are symmetrical about the vertical plane of the vehicle body;
in the schematic diagram of the torsion bar spring series double-link driving vehicle roll motion shown in fig. 2, the torsion bar spring parallel method comprises: the torsion bar spring (26) is rotatably connected with the actuating rod (24) around a torsion axis N, the torsion axis N is vertically intersected with the actuating rod (24) relative to the rotation axis of the vehicle body (10) and is parallel to a connecting line of two end points of the actuating rod (24), two end points C and D of the torsion bar spring (26) are symmetrical about the middle vertical plane of the vehicle body, two end points are respectively connected with a connecting rod (27) through a ball hinge, the other ends of the two equal-length connecting rods (27) are respectively connected with a lower swing rod (20) in the left and right wheel positioning mechanisms, two connecting points G and H are symmetrical about the middle vertical plane of the vehicle body, the roll motor (28) drives the actuating rod (24) to rotate through a speed reducer (29), and the actuating rod series double shock absorbers and the torsion bar spring series double connecting rods jointly drive the roll motion of the vehicle to form the roll driving device of the vehicle (as shown in figure 3).
Wherein: in the transverse plane of the vehicle body, the rotation angle alpha of the actuating rod (24) relative to the vehicle body (10) is a roll actuating angle, the included angle beta of the vehicle body relative to the ground is a vehicle roll angle, when the roll actuating angle alpha =0, as shown in fig. 3, the vehicle roll driving device is symmetrical about the vertical plane in the vehicle body, the vehicle roll angle beta =0, and the vehicle runs vertically; when the roll actuating angle alpha is not equal to 0, the actuating rod is connected with the double shock absorbers in series to drive the vehicle to roll, and in the roll movement process of the vehicle, the shock absorbers on one side are continuously compressed, and the shock absorbers on the other side are released, so that the roll angle response of the vehicle is delayed;
fig. 5 shows a schematic diagram of the roll motion of the vehicle roll driving device, and a two-way driving vehicle roll motion control mode: the torsion bar spring rotates around a torsion axis N relative to the actuating rod (24), the torsion bar spring revolves along the actuating rod (24), the rotation angle of the torsion bar spring is equal to alpha, the torsion bar spring is connected with the double connecting rods in series to drive the vehicle to roll, the actuating rod series double shock absorbers and the torsion bar spring series double connecting rods jointly drive the vehicle to roll, and the torsion deformation of the torsion bar spring around the torsion axis N is used for restraining the roll angle response lag caused by the spring damping systems of the shock absorbers, so that the nonlinearity of a roll motion transmission system is reduced, the roll response speed of the vehicle is improved, and the lateral stability of the vehicle is improved; the torsion bar spring rotates around a torsion axis N relative to the actuating rod (24) to avoid the motion interference of double-path driving, when alpha is not equal to 0, a roll function beta = f (alpha) of the relation between a vehicle roll angle beta and a roll actuating angle alpha is obtained, the vehicle rolls and runs, the vehicle roll driving device realizes the active control of the roll motion of the vehicle by controlling the roll actuating angle alpha, and the safety and the comfort of the active roll vehicle are improved. In fig. 5: α =50.18 °, β =17 °.
In the schematic view of another vehicle roll driving device shown in fig. 4, in the vehicle roll driving device shown in fig. 3, a rotation connection point of a vehicle body (10) and a lower swing rod (20) and a rotation connection point of the vehicle body (10) and an upper swing rod (22) are respectively arranged at the front side and the rear side of a shock absorber, in order to change the motion and stress characteristics of the shock absorber in the vehicle roll motion process, the rotation connection points of the vehicle body (10), the lower swing rod (20) and the upper swing rod (22) are arranged at the same front side of the shock absorber, other structures and components are unchanged, the torsion bar spring parallel connection method is the same, and a double-shock absorber with an actuating rod connected in series and a double-connecting rod with a torsion bar spring connected in series jointly drive the vehicle roll motion, so as to form another vehicle roll driving device. In fig. 4: when four relative rotation connecting points of the vehicle body, the lower swing rod, the shock absorber and the upper swing rod are selected to form a parallelogram in the vertical plane projection of the vehicle body, the shock absorber translates in the vehicle roll movement process, the stress direction of the shock absorber is unchanged, the stress size is changed uniformly, the nonlinearity of a roll movement transmission system is further reduced, and the roll response speed of the vehicle is improved.
In the vehicle roll driving apparatus shown in fig. 3 and 4, the roll motor is a dc servo motor, and the reducer is an RV reducer or a planetary reducer; the ball hinge selects a rod end knuckle bearing GB/T9161-2001 or a radial knuckle bearing GB/T9163-2001, and the selected rod end knuckle bearing or the axial line of the inner hole of the radial knuckle bearing are used in a vertically staggered mode so as to obtain a larger vehicle side inclination angle.
In the vehicle roll driving device shown in fig. 3 and 4, the torsional rigidity of the torsion bar spring affects the response speed of the vehicle roll system, the greater the torsional rigidity of the torsion bar spring is, the weaker the nonlinearity of the roll motion transmission system is, the faster the roll response speed is, and the higher the traffic speed of the vehicle curve is; the torsion rigidity of the torsion bar spring is smaller, the nonlinearity of a roll motion transmission system is strengthened, the roll response speed is slowed, and the ground profiling capability of the independent suspension is improved.
Fig. 6 is a schematic view of a front wheel steering copying mechanism, which includes: the steering main shaft (11) is a combination of an upper cylinder and a lower double-fork arm, the cylinder of the steering main shaft (11) is rotatably connected with a vehicle body (10), a rotating axis L is positioned in a vertical plane of the vehicle body, a back inclination angle delta is formed between the L and a vertical plane of the vehicle body in the vertical plane of the vehicle body, a steering knuckle (12) is a U-shaped arm, an open end of the U-shaped arm of the steering knuckle (12) is rotatably connected with a front wheel (14), the bottom of the U-shaped arm of the steering knuckle (12) is rotatably connected with the tail ends of the double-fork arms of the steering main shaft (11), the middle part of the U-shaped arm of the steering knuckle (12) is respectively rotatably connected with two front shock absorbers (13), the other ends of the two front shock absorbers (13) are respectively rotatably connected with the double-fork arms of the steering main shaft (11), the rotating axes at the rotating connection points are parallel to each other and are vertically staggered with the L, the rotating axis of the front wheel (14) is a distance e between the rotating axis of the two vertically staggered axes, the rotating axis of the front wheel (14) passes through the L, the middle surface of the front wheel perpendicular to the rotating axis of the front wheel (14), the two front shock absorbers (13) is in a working state, and a profiling mechanism is formed as shown in a pressed state (8);
wherein: when the radius of a front wheel is r, the drag distance s = (r-e/sin δ) tan δ, the front wheel rotates relative to a steering knuckle around the axis of the front wheel to adapt to the running speed v of a vehicle, the front wheel, the steering knuckle, a front shock absorber and a steering main shaft rotate together relative to a vehicle body around a steering axis L to realize the steering of the front wheel, and the front wheel and the steering knuckle rotate relative to the steering main shaft to realize the ground profiling of the front wheel; during the running process of the vehicle, the single front wheel realizes the ground profiling motion under the steering and rolling conditions (as shown in figure 7). And (3) taking a caster angle delta = 20-30 degrees and a towing distance s = -50-120 mm to guarantee steering alignment and straight line driving stability of the vehicle, and solving the value e after selecting the radius r of the front wheel.
Fig. 9 is a schematic diagram of an active roll tricycle assembly, the active roll tricycle assembly including: the active roll tricycle with the characteristics of double rear wheel driving and front wheel steering is formed by arranging a group of vehicle roll driving devices in a rear mode, arranging a group of front wheel steering copying mechanisms in a front mode on the same vehicle body according to a given wheel base, sharing a same vehicle body vertical plane, steering a front wheel, driving a double rear wheel hub motor, selecting a motorcycle tire GB 518-2007 with a circular arc-shaped cross section as a front wheel tire and a rear wheel tire, driving and controlling the vehicle roll movement by the vehicle roll driving devices, enabling the front wheel steering copying mechanisms to roll adaptively with the vehicle body, and enabling the active roll tricycle with the characteristics of double rear wheel driving and front wheel steering to have the advantages of good vehicle safety and comfort (as shown in figure 10).
Claims (5)
1. A vehicle roll drive apparatus, characterized by comprising:
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 the vehicle wheel, the vehicle wheel rotates relative to the lower swing rod at a connection point, one end of the upper swing rod is rotatably connected with the vehicle body, one end of the shock absorber is rotatably connected with the upper swing rod, the other end of the shock absorber is rotatably connected with the lower swing rod, the rotation connection point of the vehicle body and the lower swing rod and the rotation connection point of the vehicle body and the upper swing rod are respectively arranged at the front side and the rear side of the shock absorber, and the rotation axes of the rotation connection points are vertical to the vertical plane of the vehicle body to form a group of wheel positioning mechanisms; two groups of 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 wheel track and share the same vehicle body, the middle point of an actuating rod in the vertical plane of the vehicle body is rotationally connected with the vehicle body, a rotating 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 actuating rod are respectively connected with a pull rod through a ball hinge, the other ends of the two equal-length pull rods are respectively connected with a ball hinge of an upper swing rod in the left and right wheel positioning mechanisms, and the two connecting points are symmetrical about the vertical plane of the vehicle body;
the parallel connection method of the torsion bar springs comprises the following steps: the torsion bar spring is rotationally connected with the actuating rod around a torsion axis of the torsion bar spring, the torsion axis is perpendicular to the rotating axis of the actuating rod relative to the vehicle body and is parallel to a connecting line of two end points of the actuating rod, two end points of the torsion bar spring are symmetrical relative to the middle vertical plane of the vehicle body, two end points of the torsion bar spring are respectively connected with a connecting rod through ball hinges, the other ends of two equilong connecting rods are respectively connected with the ball hinges of the lower swing rods in the left and right wheel positioning mechanisms, two connecting points are symmetrical relative to the middle vertical plane of the vehicle body, the actuating rod is driven to rotate by the roll motor through a speed reducer, and the actuating rod series double shock absorbers and the torsion bar spring series double connecting rods drive the vehicle to roll to form the vehicle roll driving device.
2. The vehicle roll driving apparatus according to claim 1, wherein the rotational connection points of the vehicle body and the lower and upper swing links are disposed on the same side of the shock absorbers, and other structures and compositions are unchanged, and the torsion bar springs are connected in parallel in the same manner, and the vehicle roll driving apparatus is formed by jointly driving the roll motion of the vehicle by the actuating bar series double shock absorbers and the torsion bar spring series double links.
3. The vehicle roll drive of claim 1 wherein the magnitude of the torsional stiffness of the torsion bar spring affects the vehicle roll system response speed, the greater the torsion bar spring torsional stiffness the less the roll motion driveline nonlinearity and the faster the roll response speed; the smaller the torsion rigidity of the torsion bar spring is, the stronger the nonlinearity of the roll motion transmission system is, and the slow roll response speed is.
4. The vehicle roll drive of claim 1 wherein said roll motor is selected from the group consisting of a dc servo motor, and said retarder is selected from the group consisting of an RV retarder and a planetary gear retarder.
5. Active tricycle that heels, its characterized in that includes: the active roll vehicle with the characteristics of double rear wheel drive and front wheel steering is formed by a group of vehicle roll driving devices as claimed in claim 1, a group of front wheel steering copying mechanisms are arranged in front of the same vehicle body according to a given wheel base and share the same vehicle body vertical plane, front wheel steering and double rear wheel drive are adopted, the vehicle roll driving devices drive and control vehicle roll movement, and the front wheel steering copying mechanisms and the vehicle body are subjected to self-adaptive roll;
the front wheel steering copying mechanism comprises: the steering main shaft is an assembly of an upper cylinder and a lower double-fork arm, the cylinder of the steering main shaft is rotatably connected with a vehicle body, a rotating axis L is positioned in a vertical plane of the vehicle body, a back inclination angle is formed between the L and a vertical plane of the vehicle body in the vertical plane of the vehicle body, the steering knuckle is a U-shaped arm, the open end of the U-shaped arm of the steering knuckle is rotatably connected with the front wheel, the bottom of the U-shaped arm of the steering knuckle is rotatably connected with the tail ends of the double-fork arms of the steering main shaft, the middle part of the U-shaped arm of the steering knuckle is rotatably connected with the two front shock absorbers respectively, the other ends of the two front shock absorbers are rotatably connected with the double-fork arms of the steering main shaft respectively, rotating axes at each rotating connection point are parallel to each other and are vertically staggered with the L, the rotating axes of the front wheels are vertically staggered with the L, the middle surface of the front wheels perpendicular to the rotating axes of the front wheels passes the L, and the two front shock absorbers work in a pressed state to form a front steering profiling mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211002314.6A CN115320312A (en) | 2022-08-13 | 2022-08-13 | Vehicle side-tipping driving device and active side-tipping tricycle using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211002314.6A CN115320312A (en) | 2022-08-13 | 2022-08-13 | Vehicle side-tipping driving device and active side-tipping tricycle using same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115320312A true CN115320312A (en) | 2022-11-11 |
Family
ID=83925543
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211002314.6A Pending CN115320312A (en) | 2022-08-13 | 2022-08-13 | Vehicle side-tipping driving device and active side-tipping tricycle using same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115320312A (en) |
-
2022
- 2022-08-13 CN CN202211002314.6A patent/CN115320312A/en active Pending
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