CN202192954U - Elastic independent linear-guiding suspension with multiple connecting rods - Google Patents

Abstract

The utility model relates to an elastic independent linear-guiding suspension with multiple connecting rods, which comprises wheels, a frame, a spring damper system and a steering joint, wherein the steering joint is connected with the wheels by a hub unit, and the spring damper system is respectively connected with the steering joint and the frame by the aid of a ball joint pair. The elastic independent linear-guiding suspension further comprises four elongated elastic anisotropy components, wherein the longitudinal axes of the upper first component and the lower first component are positioned in the same vertical plane, the longitudinal axes of the upper second component and the lower second component are positioned in the same vertical plane, and the two vertical planes are not parallel. The elastic independent linear-guiding suspension with multiple connecting rods has the advantages that the wheels can be restrained so that runout of the wheels can be always on a straight line, abrasion of tires is effectively reduced, and operational stability, running smoothness and riding comfortableness of vehicles can be effectively improved. In addition, the elastic independent linear-guiding suspension with the multiple connecting rods has the advantages of simple structure, high designability, convenience in assembling and adjustment and the like.

Description

Many connecting rods of elasticity linear guiding independent suspension

Technical field

The utility model relates to a kind of automobile suspension system, especially a kind of many connecting rods of elasticity linear guiding independent suspension.

Background technology

Suspension be guarantee to have between wheel or vehicle bridge and the automobile bearing system (vehicle frame or self-supporting body) the elasticity contact and can transmitted load, relax impact, damped vibration and the adjusting automobile general name of relative assembly such as vehicle body position in the process of moving.General suspension mainly is made up of elastic element, shock absorption device and guiding mechanism three parts.In some cases, a certain parts held concurrently two kinds or three kinds of effects are such as the steel spring effect of elastic element and guiding mechanism of having held concurrently.Wherein the function of guiding mechanism is to guarantee power all between wheel and vehicle body or the vehicle frame and moment reliable delivery, and the decision wheel is with respect to the placement property of vehicle body or vehicle frame.Path of motion when guiding mechanism has determined wheel bounce and the situation of change of wheel alignment parameter, and the position at roll center and trim center before and after the automobile have influenced the road-holding property and the anti-trim ability of car load to a great extent.

According to the characteristics of guiding mechanism, automotive suspension mainly can be divided into dependent suspension and independent suspension two big classes.The characteristic feature of dependent suspension is to be connected by a buttress bracing struts or non-disconnected vehicle bridge between the left and right wheels, when monolateral wheel bounce, directly has influence on the opposite side wheel.The independent suspension left and right wheels links to each other with vehicle body or vehicle frame separately " independence " or constitutes broken bridge of car.In addition, also have the semi-independent suspension of a kind of characteristics between dependent suspension and independent suspension.The dependent suspension shortcoming is obvious, such as left and right wheels beat interact, non-suspended mass is bigger etc., can not satisfy the requirement of current vehicle running smoothness and road-holding property aspect, so independent suspension has obtained very big development.

The constructional feature of independent suspension is that the wheel of both sides connects with vehicle body or vehicle frame through resilient suspension individually, and vehicle bridge is made breakaway-element.Therefore; Independent suspension has following advantage: one, in suspension elastic element certain deformation scope, the both sides wheel can self-movement, and is independent of each other; Can reduce the coupling vibration of vehicle frame and vehicle body when on rough road, going like this; And help to eliminate the bad phenomenon of the continuous beat of wheel flutter, and promoted automobile straight-line travelling ability, guaranteed good road-holding property.Two, reduced the automobile nonspring carried mass.Under the dependent suspension situation, whole vehicle bridge and wheel all belong to the nonspring carried mass part.Under the independent suspension situation, as far as drive axle, because main reduction gear, diff and shell thereof all are fixed on the vehicle frame, become spring carried mass; As far as steeraxle, it only has steering yoke bolt and steering swivel, and the unjointed beam at middle part no longer exists.So when adopting independent suspension, nonspring carried mass comprises all or part of quality of a part of part in wheel mass and the suspension system, obvious than with dependent suspension the time nonspring carried mass much little.Nonspring carried mass is littler when road conditions is identical with the speed of a motor vehicle, and then the suffered impact load of vehicle body is littler, so adopt independent suspension can improve the ground connection performance of vehicle running smoothness and tire.When three, adopting broken bridge of car, the position of engine assembly just can reduce and reach descends centre of gravity of vehicle, has improved running car stability.Give wheel bigger up-and-down movement space simultaneously, thereby can design suspension rate less, the body vibrations frequency is reduced, to improve riding comfort.Four, be easy to realize that drive wheel turns to.Above advantage is widely used on the modern automobile independent suspension, and particularly the wheel flutter of car has all generally adopted independent suspension, and in order to improve driving safety, the rear overhang of increasing luxury car has also adopted independent suspension.

At present, most widely used independent suspension mainly contains on automobile: double cross arm independent suspension, Mai Fuxun independent suspension and multi-connecting-rod separated suspension.The outstanding advantage of double cross arm independent suspension is a flexible design, but wheel alignment parameter is bigger with tread change when adopting the automotive wheel of this suspension to beat, and has reduced automobile straight-line travelling ability, causes road-holding property relatively poor, while tire serious wear.The advantage of McPherson suspension is simple in structure, saves the space, and positional parameters such as its wheelspan, toe-in and outward camber change little in the wheel bounce process; Alleviated wear on tyres, also make automobile have road-holding property preferably, but its designability has been relatively poor; And there is friction force between the piston rod of bumper and the orienting sleeve; Make the dynamic stiffness of suspension increase, the elastic behavior variation, especially this influence is more remarkable when little displacement.The advantage of multi-connecting-rod separated suspension mainly is that wheel alignment parameter changes very little in the time of can guaranteeing wheel bounce; But its design flexibility is poor, and very responsive to the bar linkage structure parameter, the processing and manufacturing accuracy requirement is high; Assembling adjustment difficulty is mainly used in medium-to-high grade car at present.

Though conventional at present independent suspension can both satisfy the suspension design requirement on function, when wheel bounce, wheel alignment parameter all can change.In practical application; The variation of any positional parameter of wheel all can have a negative impact to vehicle handling stability or others performance; Variation such as wheelspan can cause automobile straight-line travelling ability drop, also causes rolling resistance to increase simultaneously and to the influence of steering swivel system; The variation of camber angle can cause the inordinate wear of tire.

Can not change be emphasis and the difficult point in the independent suspension structure innovative design to its positional parameter in the time of how can guaranteeing wheel bounce.Tsing-Hua University Zhao Jingshan mountain etc. once proposed three kinds of linear guiding mechanisms that can be used in automotive suspension; Referring to [1. Zhao Jingshan mountain, Chu Fulei. vertical translation type spacing multi-connecting-rod separated suspension [P]. Chinese patent: 200610113114.2,2007-2-28.] [2. Zhao Jingshan mountain; Zhao Sheng; Feng respects, Chu Fulei. a kind of independent rear suspension [P] that can keep wheel alignment parameter constant. and Chinese patent: 200910001094.3,2009-7-8.].The suspension side chain is the RRR kinematic link in the above-mentioned patent [1] [2], has the dead point phenomenon at the end position of bob, and the kinematic link be made up of three revolute pairs of RRR kinematic link, and its rigidity of structure and intensity receive certain influence.

Summary of the invention

The utility model will solve the shortcoming of above-mentioned prior art; A kind of many connecting rods of elasticity linear guiding suspension fork mechanism that can be used for Motor Vehicle Independent Suspension System is provided; Camber angle, Kingpin inclination angle and casterangle, left and right wheels distance, toeing-in (posterior cord) and the wheel base variable quantity in wheel bob process of realizing wheel are littler; Thereby improve road-holding property, the riding comfort of automobile and the traveling comfort of taking, and can effectively reduce Tyte Wear.

The utility model solves the technical scheme that its technical matters adopts: this many connecting rods of elasticity linear guiding independent suspension; Comprise wheel, vehicle frame; Spring damper system and steering swivel; Wherein steering swivel connects with wheel through hub; The spring damper system connects with steering swivel and vehicle frame respectively through the bulb pair; This suspension fork mechanism also comprises the elastic anisotropy member of four long strip-board shapes, is respectively upside first member that connects with vehicle frame and connect with steering swivel through the 5th revolute pair through first revolute pair, connects with vehicle frame and passes through upside second member that the 6th revolute pair connects with steering swivel through second revolute pair; Downside first member that connects with vehicle frame and connect with steering swivel through the 7th revolute pair through the 3rd revolute pair connects with vehicle frame and passes through downside second member that the 8th revolute pair connects with steering swivel through the 4th revolute pair; The longitudinal axis of said upside first member and downside first member is in same vertical plane, and the longitudinal axis of upside second member and downside second member is in same vertical plane, and above-mentioned two vertical planes are not parallel.

As preferably, suspension fork mechanism increases one or more described elastic anisotropy member, and the longitudinal axis of all elastic anisotropy members only is positioned at two uneven vertical planes, has increased the load capacity of suspension fork mechanism.

As preferably, suspension fork mechanism is set up the spoke slat of one or more big rigidity between the elastic anisotropy member of every side, and spoke slat is connected through revolute pair with adjacent two elastic anisotropy members up and down, and each that has increased suspension fork mechanism is to rigidity.

The effect that utility model is useful is: many connecting rods of elasticity linear guiding suspension fork mechanism that the utility model provides; Can retrain wheel; All the time in-line when making its bob, camber angle, Kingpin inclination angle and casterangle, toeing-in (posterior cord), the left and right wheels that realizes wheel apart from and the variable quantity of positional parameter in wheel bob process such as wheel base littler, thereby effectively reduce Tyte Wear; And can improve road-holding property, the riding comfort of automobile and the traveling comfort of taking effectively; Have simple in structurely, designability is strong, assembles the outstanding advantage of grade easy to adjust.

Description of drawings

Fig. 1 is the structural representation of many connecting rods of elasticity linear guiding independent suspension mechanism of providing of the utility model;

Fig. 2 is the characteristic scheme drawing of elastic anisotropy member in this suspension fork mechanism;

Fig. 3 is the equivalent movement chain scheme drawing of elastic anisotropy member deformation in compression;

Fig. 4 is the birds-eye view of this suspension fork mechanism;

Fig. 5 is the structural scheme of mechanism that this suspension fork mechanism is set up spoke slat;

Description of reference numerals: wheel 1, steering swivel 2, spring damper system 3, the upside first member 4a, the upside second member 4b, the downside first member 4c, the downside second member 4d, vehicle frame 5, spoke slat 6, the first revolute pair A ₁, the second revolute pair A ₂, the 3rd revolute pair A ₃, the 4th revolute pair A ₄, the 5th revolute pair B ₁, the 6th revolute pair B ₂, the 7th revolute pair B ₃, the 8th revolute pair B ₄

The specific embodiment

Below in conjunction with accompanying drawing the utility model is described further:

Embodiment 1: like Fig. 1; This many connecting rods of elasticity linear guiding independent suspension comprises wheel 1, vehicle frame 5, spring damper system 3 and steering swivel 2; Wherein steering swivel 2 connects with wheel 1 through hub; Spring damper system 3 connects with steering swivel 2 and vehicle frame 5 respectively through the bulb pair, and this suspension fork mechanism also comprises four elastic anisotropy members, is respectively through the first revolute pair A ₁Connect with vehicle frame 5 and through the 5th revolute pair B ₁The upside first member 4a that connects with steering swivel 2 is through the second revolute pair A ₂Connect with vehicle frame 5 and through the 6th revolute pair B ₂The upside second member 4b that connects with steering swivel 2 is through the 3rd revolute pair A ₃Connect with vehicle frame 5 and through the 7th revolute pair B ₃The downside first member 4c that connects with steering swivel 2 is through the 4th revolute pair A ₄Connect with vehicle frame 5 and through the 8th revolute pair B ₄The downside second member 4d that connects with steering swivel 2, the elastic telescopic member that these four elastic anisotropy members are long strip-board shape, the rigidity of its opposing winding board face transverse horizontal direction bending is less, and the rigidity of opposing winding board face normal orientation bending is very big; The longitudinal axis of said upside first member 4a and the downside first member 4c is in same vertical plane α, and the longitudinal axis of upside second member 4b and the downside second member 4d is in same vertical plane β, and above-mentioned two vertical planes are not parallel.

Next will explain the bending stiffness characteristic of elastic anisotropy member in the utility model, Fig. 2 is the principle features scheme drawing of the described elastic anisotropy member of the utility model.The elastic anisotropy member is the elastic telescopic member of long strip-board shape, and the cylinder at elastic anisotropy member two ends is represented the first revolute pair A respectively ₁With the 5th revolute pair B ₁, member is respectively through the first revolute pair A ₁With the 5th revolute pair B ₁Connect with vehicle frame 5 and steering swivel 2.Curve op representes the longitudinal axis of member, i.e. the line of member cross-section center.O-XYZ is Descartes's rectangular coordinate system, wherein, is the Y direction with the vertical direction, is parallel to horizontal surface and is the Z direction perpendicular to longitudinal axis, and directions X is confirmed with right-hand rule.After member stress produced flexural deformation, the plate face was not in remaining on same plane.The plane at certain infinitesimal section plate face place after the bending of dS display plate face among Fig. 2.To be parallel to Z direction and the straight line T in plate face infinitesimal plane dS is the transverse horizontal direction straight line of dS, is the normal orientation straight line of dS perpendicular to the straight line N of plate face infinitesimal plane dS.

The bending stiffness characteristic of elastic anisotropy member can be interpreted as: in the ideal case, the rigidity of member opposing winding board face transverse horizontal direction bending is less.In as shown in Figure 2, receive the load F that is positioned at the o-XY plane when member ₁The time, because member small-sized along plate face normal orientation, its bending stiffness is less, so the member pressurized produces elastic bending, winding board face transverse horizontal straight line T occurs bending and deformation.The projection of member longitudinal axis op in the o-XY plane no longer is straight line, but a curve.On the other hand, the rigidity of elastic anisotropy member opposing winding board face normal orientation bending is very big.In as shown in Figure 2, when member receives the load F that direction is parallel to the o-XZ plane ₂The time; Because member is very big along the size of plate face horizontal direction, its bending stiffness is very big, so the degree of member pressurized generation elastic bending is very little; Winding board face normal direction straight line N occur bending and deformation minimum even the distortion, the projection of member longitudinal axis op in the o-XZ plane still is straight line.

Because the rigidity of elastic anisotropy member opposing winding board face transverse horizontal direction bending is less, the elastic deformability is strong, therefore by the first revolute pair A ₁With the 5th revolute pair B ₁And the kinematic link that this elastic component is formed can move in the o-XY plane.If with the first revolute pair A ₁Be permanent seat, then the 5th revolute pair B ₁Can arrive and the first revolute pair A ₁Distance less than the elastic component raw footage have a few.On the other hand, because the crooked rigidity of elastic anisotropy member opposing winding board face normal orientation is very big, the elastic deformation amplitude is minimum, so this member can retrain above-mentioned kinematic link again and in the o-XY plane, moves all the time.This shows, by the first revolute pair A ₁With the 5th revolute pair B ₁And the kinematic link that elastic component is formed can equivalence be an instantaneous RRR kinematic link, that is kinematic link in the plane of being made up of three revolute pairs.As shown in Figure 3 is the first revolute pair A ₁With the 5th revolute pair B ₁And the kinematic link A of elastic component composition ₁PB ₁Equivalence is the scheme drawing of instantaneous RRR kinematic link.At initial condition, kinematic link A ₁PB ₁Terminal B ₁Receive a load N who makes progress ₁, elastic component P has less elastic bending, at this moment kinematic link A ₁PB ₁Can equivalence become an instantaneous RRR kinematic link A ₁C ₁B ₁When increasing, load is N ₂The time, the elastic bending of elastic component P increases, at this moment kinematic link A ₁PB ₁Can equivalence become another instantaneous RRR kinematic link A ₁C ' ₁B ' ₁This shows kinematic link A ₁PB ₁The unfixed RRR kinematic link in revolute pair position in the middle of being equivalent to one.

From the above, by the first revolute pair A ₁With the 5th revolute pair B ₁And the kinematic link formed of elastic component can retrain terminal link and in same plane, moves all the time.Because the longitudinal axis of upside first member 4a and the downside first member 4c is in same vertical plane, and steering swivel 2 is respectively through the 5th revolute pair B ₁With the 6th revolute pair B ₂Connect with these two elastic components, so steering swivel 2 can only move in the vertical plane that the longitudinal axis of these two members is confirmed.On the other hand, the longitudinal axis of upside second member 4b and the downside second member 4d is in same vertical plane, and steering swivel 2 is respectively through the 7th revolute pair B ₃With the 8th revolute pair B ₄Connect with these two elastic components, so steering swivel 2 can only move in the vertical plane that the longitudinal axis of these two members is confirmed.Again because above-mentioned two vertical planes are not parallel, so steering swivel 2 can only do straight-line motion, and its track is parallel to the intersection on two vertical planes.That is to say that the suspension fork mechanism that the utility model provides can retrain steering swivel even wheel is done the boning out campaign, have the linear guiding function.

Next, we can utilize the equivalent movement chain to analyze the kinematic principle of the linear guiding effect of the utility model.According to [Zhao Jingshan, Feng Zhijing, Chu Fulei. robot mechanism degree of freedom analysis theories [M]. Beijing: Science Press, 2009.] analysis theories of the mechanism freedom that proposes, we can use screw theory kinematic link end item degree of freedom is analyzed.

Fig. 4 is the linear guiding independent suspension mechanism birds-eye view of the employing elastic anisotropy member that provides of the utility model.Describe for convenient, with the first revolute pair A ₁With the second revolute pair A ₂The plane at two axis place be the xoy plane, be the origin of coordinates with the intersection point of these two axis, with the second revolute pair A ₂Axis set up right-handed system for the x axle.If the first revolute pair A ₁With the second revolute pair A ₂Two axis when mutually orthogonal, then as shown in Figure 4, the y axle just with the first revolute pair A ₁Dead in line.Be without loss of generality, the axis of establishing the first revolute pair A1 is ψ (0 °＜ψ＜180 °) to the angle of x axle, the second revolute pair A at present ₂Distance to the origin of coordinates is a, and the first revolute pair A1 is b to the distance of the origin of coordinates, then can obtain the second revolute pair A ₂Coordinate be (a 0 0), the coordinate of the first revolute pair A1 is (bcos ψ bsin ψ 0).From the above mentioned, by the first revolute pair A ₁With the 5th revolute pair B ₁And the kinematic link A of upside first member 4a composition ₁P ₁B ₁Can equivalence be RRR kinematic link A ₁C ₁B ₁In like manner, by the second revolute pair A ₂With the 6th revolute pair B ₂And the kinematic link A of upside second member 4b composition ₂P ₂B ₂Can equivalence be RRR kinematic link A ₂C ₂B ₂On this basis, can establish the 6th revolute pair B ₂With the 5th revolute pair B ₁Coordinate be respectively (a y _B2z _B2) and (x _B1y _B1z _B1), revolute pair C ₂And C ₁Coordinate be followed successively by (a y _C2z _C2) and (x _C1y _C1z _C1).If a ≠ b, then member receives eccentric load easily, is unfavorable for stability of configuration, therefore makes a=b.

Under the o-xyz system of axes, revolute pair A ₂, C ₂And B ₂The direction vector of axis is s ₁=(1 0 0) ^T, revolute pair A ₁, C ₁And B ₁The direction vector of axis is s ₂=(cos ψ sin ψ 0) ^T, according to screw theory, kinematic link A ₁C ₁B ₁Kinematic screw system do

${\$}_{A_2{C}_2{B}_2}=\left[\begin{array}{ccc}{\$}_{A2}& {\$}_{C2}& {\$}_{B2}\end{array}\right]---\left(1\right)$

Wherein ${\$}_{A2}={\left(\begin{array}{cccccc}1& 0& 0& 0& 0& 0\end{array}\right)}^T,$

${\$}_{\mathrm{<figure-callout\; id="2"\; label="C"\; filenames="110801140043.png,110801140123.png"\; state="\{\{state\}\}">C</figure-callout>}2}={\left(\begin{array}{cccccc}1& 0& 0& 0& z_{C2}& -y_{C2}\end{array}\right)}^T,$

${\$}_{B2}={\left(\begin{array}{cccccc}1& 0& 0& 0& z_{B2}& -y_{B2}\end{array}\right)}^T.$

Kinematic link A ₂C ₂B ₂End conswtraint

Can obtain by the reciprocity screw theory, promptly

$\$E{\$}^r=0---\left(2\right)$

Wherein

Be kinematic screw system, $E=\left[\begin{array}{cc}0& I_3\\ {\mathrm{<figure-callout\; id="3"\; label="I"\; filenames="110801140043.png,110801140126.png"\; state="\{\{state\}\}">I</figure-callout>}}_3& 0\end{array}\right],$ ${\mathrm{<figure-callout\; id="3"\; label="I"\; filenames="110801140043.png,110801140126.png"\; state="\{\{state\}\}">I</figure-callout>}}_3=\left[\begin{array}{ccc}1& 0& 0\\ 0& 1& 0\\ 0& 0& 1\end{array}\right],$

For

Antispin system.

Can obtain

by (2) formula is:

${\$}_{A_2{C}_2{B}_2}^r={\left[\begin{array}{cccccc}1& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right]}^T---\left(3\right)$

Equally, can write out another kinematic link A of steering swivel 2 ₁C ₁B ₁Kinematic screw system be:

${\$}_{A_1{C}_1{B}_1}=\left[\begin{array}{ccc}{\$}_{A1}& {\$}_{C1}& {\$}_{B1}\end{array}\right]---\left(4\right)$

Wherein ${\$}_{\mathrm{<figure-callout\; id="1"\; label="A"\; filenames="110801140043.png,110801140126.png"\; state="\{\{state\}\}">A</figure-callout>}1}={\left(\begin{array}{cccccc}\mathrm{Cos}\mathrm{\&psi;}& \mathrm{Sin}\mathrm{\&psi;}& 0& 0& 0& 0\end{array}\right)}^T,$

${\$}_{\mathrm{<figure-callout\; id="1"\; label="C"\; filenames="110801140043.png,110801140126.png"\; state="\{\{state\}\}">C</figure-callout>}1}={\left(\begin{array}{cccccc}\cos \mathrm{\&psi;}& \sin \mathrm{\&psi;}& 0& -{\mathrm{<figure-callout\; id="1"\; label="z\; C"\; filenames="110801140043.png,110801140126.png"\; state="\{\{state\}\}">z</figure-callout>}}_C\sin \mathrm{\&psi;}& {\mathrm{<figure-callout\; id="1"\; label="z\; C"\; filenames="110801140043.png,110801140126.png"\; state="\{\{state\}\}">z</figure-callout>}}_C\cos \mathrm{\&psi;}& {\mathrm{<figure-callout\; id="1"\; label="x\; C"\; filenames="110801140043.png,110801140126.png"\; state="\{\{state\}\}">x</figure-callout>}}_C\sin \mathrm{\&psi;}-{\mathrm{<figure-callout\; id="1"\; label="y\; C"\; filenames="110801140043.png,110801140126.png"\; state="\{\{state\}\}">y</figure-callout>}}_C\cos \mathrm{\&psi;}\end{array}\right)}^T,$

${\$}_{\mathrm{<figure-callout\; id="1"\; label="B"\; filenames="110801140043.png,110801140126.png"\; state="\{\{state\}\}">B</figure-callout>}1}={\left(\begin{array}{cccccc}\cos \mathrm{\&psi;}& \sin \mathrm{\&psi;}& 0& -{\mathrm{<figure-callout\; id="1"\; label="z\; B"\; filenames="110801140043.png,110801140126.png"\; state="\{\{state\}\}">z</figure-callout>}}_B\sin \mathrm{\&psi;}& {\mathrm{<figure-callout\; id="1"\; label="z\; B"\; filenames="110801140043.png,110801140126.png"\; state="\{\{state\}\}">z</figure-callout>}}_B\cos \mathrm{\&psi;}& {\mathrm{<figure-callout\; id="1"\; label="x\; B"\; filenames="110801140043.png,110801140126.png"\; state="\{\{state\}\}">x</figure-callout>}}_B\sin \mathrm{\&psi;}-{\mathrm{<figure-callout\; id="1"\; label="y\; B"\; filenames="110801140043.png,110801140126.png"\; state="\{\{state\}\}">y</figure-callout>}}_B\cos \mathrm{\&psi;}\end{array}\right)}^T.$

Equally, kinematic link A ₁C ₁B ₁End conswtraint Also can try to achieve according to (2) formula:

${\$}_{A_1{C}_1{B}_1}^r={\left[\begin{array}{cccccc}\cos \mathrm{\&psi;}& \sin \mathrm{\&psi;}& 0& 0& 0& 0\\ 0& 0& 0& \sin \mathrm{\&psi;}& -\cos \mathrm{\&psi;}& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right]}^T---\left(5\right)$

Therefore, with vehicle frame (5) as fixed bearing, then steering swivel 2 suffered being constrained to:

${\$}_2^r=\left[\begin{array}{cc}{\$}_{A_2{C}_2{B}_2}^r& {\$}_{A_1{C}_1{B}_1}^r\end{array}\right]---\left(6\right)$

(6) formula substitution (2) formula can be obtained the free motion that steering swivel 2 had is:

${\$}_2={\left(\begin{array}{cccccc}0& 0& 0& 0& 0& 1\end{array}\right)}^T---\left(7\right)$

As long as 0 °＜ψ＜180 °, (13) formula is set up, and obviously, when ψ=90 °, formula (7) is also set up.Formula (7) shows that steering swivel 2 has a free motion along the translation of z direction of principal axis, thereby the steering swivel of the linear guiding suspension fork mechanism of employing elastic anisotropy can be done the motion of translation of single degree of freedom boning out.Therefore, this linear guiding suspension fork mechanism can make the parameters such as camber angle, Kingpin inclination angle and casterangle, wheelspan and wheelbase of the wheel that links with steering swivel 2 in the wheel bounce process, remain constant.So just Tyte Wear be can reduce to greatest extent, and then road-holding property, riding comfort and the travelling comfort of automobile improved.Simultaneously, this mechanism design is simple, and version is flexible and changeable, and the assembling adjustment is simple and convenient.Simultaneously, the utility model removes the independent suspension be used as automobile, can also be applied to the alighting gear of aircraft, also can be used as guiding mechanism and is applied to any needs and does in the physical construction of boning out motion of translation.

Embodiment 2: suspension fork mechanism increases an elastic anisotropy member, and the longitudinal axis of this elastic anisotropy member is positioned at one of two uneven vertical planes.All the other structures are with embodiment 1.

Embodiment 3: suspension fork mechanism increases by two described elastic anisotropy members, and the longitudinal axis of all elastic anisotropy members only is positioned at two uneven vertical planes.All the other structures are with embodiment 1.

Embodiment 4: as shown in Figure 5 is a kind of embodiment of many connecting rods of elasticity space line guiding independent suspension mechanism in practical application that the utility model provides.Two spoke slats 6 are set up in two elastic anisotropy members centres up and down in every side, and spoke slat is connected through revolute pair with adjacent two elastic anisotropy members up and down.Increase spoke slat do not increase elastic component the vertical planar process to bending stiffness, and can retrain homonymy two elastic components up and down its elastic deformation is reached unanimity.Simultaneously; Increased the bending stiffness of elastic component opposing around the vertical rectilinear direction; The distortion that has guaranteed elastic component more remains in the same vertical plane; Also just further guaranteed the linear guiding function of suspension fork mechanism, increased steering swivel except that the vertical direction other respectively to rigidity and load-carrying capacity.All the other structures are with embodiment 1.

Embodiment 5: suspension fork mechanism is set up one 6 between the elastic anisotropy member of every side, and spoke slat 6 is connected through revolute pair with adjacent two elastic anisotropy members up and down.All the other structures are with embodiment 1.

Except that the foregoing description, the utility model can also have other embodiments.All employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection domain of the utility model requirement.

Claims (3)

1. many connecting rods of elasticity linear guiding independent suspension; Comprise wheel (1), vehicle frame (5); Spring damper system (3) and steering swivel (2); Wherein steering swivel (2) connects with wheel (1) through hub; Spring damper system (3) connects with steering swivel (2) and vehicle frame (5) respectively through the bulb pair; It is characterized in that: this suspension fork mechanism also comprises the elastic anisotropy member of four long strip-board shapes; It is respectively upside first member (4a) that connects with vehicle frame (5) and connect with steering swivel (2) through the 5th revolute pair (B) through first revolute pair (A); Upside second member (4b) that connects with vehicle frame (5) and connects with steering swivel (2) through the 6th revolute pair (B) through second revolute pair (A) connects with vehicle frame (5) and passes through downside first member (4c) that the 7th revolute pair (B) connects with steering swivel (2) through the 3rd revolute pair (A), connects with vehicle frame (5) and passes through downside second member (4d) that the 8th revolute pair (B) connects with steering swivel (2) through the 4th revolute pair (A); The longitudinal axis of said upside first member (4a) and downside first member (4c) is in same vertical plane, and the longitudinal axis of upside second member (4b) and downside second member (4d) is in same vertical plane, and above-mentioned two vertical planes are not parallel.

2. many connecting rods of elasticity linear guiding independent suspension according to claim 1; It is characterized in that: suspension fork mechanism increases one or more described elastic anisotropy member, and the longitudinal axis of all elastic anisotropy members only is positioned at two uneven vertical planes.

3. many connecting rods of elasticity linear guiding independent suspension according to claim 1; It is characterized in that: suspension fork mechanism is set up the spoke slat (6) of one or more big rigidity between the elastic anisotropy member of every side, and spoke slat (6) is connected through revolute pair with adjacent two elastic anisotropy members up and down.

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