EP2288508A1

EP2288508A1 - Suspension device for a moving object

Info

Publication number: EP2288508A1
Application number: EP09761915A
Authority: EP
Inventors: Olivier Antenat
Original assignee: Individual
Current assignee: Antenat Olivier; BARRO, MICHEL
Priority date: 2008-05-21
Filing date: 2009-05-19
Publication date: 2011-03-02
Also published as: WO2009150364A1; FR2931395B1; FR2931395A1

Abstract

The invention relates to a device comprising a base (1) for receiving a load, connected to two side supporting elements (2) supported by the medium and formed by two hinged assemblies (3) including a swivel lever (31) with two arms (31a, b) forming therebetween an obtuse angle (ß) other than 180°, said arms being connected to a central pivot (32, 33) and each arm terminating in a side pivot (35, 36). The central pivot (32, 33) is connected to the base (1) and the side pivots are each connected to a side supporting element (35, 36). The feet of the pivots (33) are positioned on a straight baseline (XoXo) of the base (1) and the two homologous side pivots (36) are positioned on an auxiliary line (X1X1) of the side supporting element (2). The lines (XoXo) and (X1X1) are parallel to a direction d and the axes of the pivots are parallel and form an angle (a) other than 90° with said direction d. The optimum angles for the suspension device are a = 32.79°, ß = 149.70°.

Description

"Device for suspending a mobile" Field of the invention

The present invention relates to a suspension device for a mobile moving in a medium. The mobile may be a wheeled vehicle traveling on a hard surface, a slider vehicle traveling on a surface in a relatively soft medium such as snow or water or a boat traveling on the surface of the water. or an airplane moving in the air. State of the art There already exist suspension devices splitting the support means, for example motorcycles whose front wheels are split and which bow to take a turn.

But this split means of suspension does not provide good dynamic stability to the vehicle. The prior art already knows devices for laterally splitting means of displacement of the wheel, roulette, blade, ski, wing or float type, using a deformable double parallelogram comprising a plurality of articulations allowing a variation of the angle of each corner. In particular, the patent application is known

WO 2006/130007 relating to a stabilization device for a tilting vehicle comprising at least three wheels. The articulated structure of the double parallelogram includes in particular a transverse beam, dampers, a double articulated lever and a hydraulic tilt cylinder.

This device although resulting from a complex elaboration can not be stable in the dynamic state because the displacements of the support points of the wheels resulting from the lateral splitting, caused by the inclination of the means of locomotion, which constitute elements fon - for the determination of the displacement equilibrium, have not been taken into account for the calculation of the elements of the structure.

Other devices intended for lateral splitting of the reclining vehicle moving means have also been the subject of publications. The defects of balance and stability due to articulated splitting are most often reflected by an over-inclination of the means of locomotion in turns. In order to overcome these defects, a number of investigations have been directed towards mechanical or electronic solutions intended to regulate the amplitude of the deformation of the articulated structure but no publication refers to the search for a balance induced by the configuration of the displacement trajectories of the support points, resulting from a geometric organization of the axes of the joints of a device having a double deformable parallelogram structure with two pendulums. Purpose of the invention

The present invention aims to develop a suspension device laterally splitting the support means on the solid medium, liquid or gaseous, to ensure the static and dynamic state, the balance of the mobile, tilting moving on a surface solid or liquid or in a gaseous or liquid medium and in particular to increase and optimize the balance of the tilting mobile in the static state and the dynamic state, by increasing the points of contact with the surface or the medium on or in which the mobile moves. The invention particularly aims to develop a suspension device with duplicating support means which can be wheel type means, line of wheels, caterpillar, blade, ski, wing, set of blades, fin or float. DESCRIPTION AND ADVANTAGES OF THE INVENTION For this purpose, the present invention relates to a suspension device whose support means are split laterally, this device being characterized in that it comprises A- a base support receiving the load, B two lateral supports resting on the middle and constituting the split support means,

C- a mechanism connecting the base support to each of the lateral supports and formed of two articulated assemblies, each articulated assembly having

a two-armed balance wheel forming an obtuse angle different from 180 ° between them, the arms being joined to a central pivot and each terminated by a lateral pivot,

the central pivot being connected to the base support and the lateral pivots each to a lateral support,

* the two feet of the central pivots of the two sets being located on a base line of the base support,

the two homologous lateral pivots, of the two assemblies being situated on an auxiliary line of the corresponding lateral support, * the basic line and the auxiliary lines being parallel to a direction,

the axes of the pivots are parallel and form, with the direction, an angle different from 90 °; the axes of the central pivots of the two articulated assemblies defining the median plane and the axes of the lateral pivots defining an auxiliary plane;

the median plane and the auxiliary planes being parallel and the inclination movement printed by the base support to the median plane causing the inclination of the auxiliary planes and the auxiliary supports,

the optimum angles defining the suspension device are α = 32.79 ° β = 149.70 °. Thus, the structure of the suspension device defined generally above, deforms in case of inclination so that

one of the auxiliary planes moves forward / backward from the base plane while

the other auxiliary plane moves backward / forward with respect to the base plane, the base plane moving towards / away from an auxiliary plane while it moves away from / approaches the other auxiliary plane.

The structure described above makes it possible to improve the balance of the mobile, reclining in displacement and give it dynamic or moderating characteristics.

For a vehicle for locomotion comprising earth moving means that can be constituted in particular by wheels, lines of wheels, caterpillars, blades, skis, the lateral resolution of said articulated displacement means according to the invention allows in particular to optimize grip, braking capabilities, skid control and lateral stability.

For vehicles with maritime locomotion, the lateral splitting of the articulated floats or fins according to the device of the invention makes it possible to increase the road stability and the maneuverability. For vehicles with air locomotion, the lateral splitting of the wings or sets of blades articulated according to the invention increases maneuverability while reducing the risk of stall of the wing. Advantageously, the rockers of the structure on which the displacement means are mounted can be organized according to two different configurations:

To reduce the potential energy of the means of locomotion, a "moderating" configuration in which the vertices of the isosceles triangles forming the rockers are oriented downwards so that the sides of the isosceles triangles take the form of a " V ", lowering the center of gravity of the support during the deformation of the structure.

- To increase the potential energy of the means of locomotion, a "dynamizing" configuration in which the vertices of the isosceles triangles forming the rockers are oriented upwards so that the lateral sides of the isosceles triangles take the form of an accent circumflex, raising the center of gravity of the central base during the deformation of the structure. Preferably, for a greater reaction flexibility, especially in the case where the means of locomotion is a cycle, the lateral splitting of the front wheel and / or the rear wheel is organized according to the "moderating" configuration of the structure. .

Still preferentially, for a gain in reaction nervousness, especially in the case where the means of locomotion is an in-line roller skate, the lateral splitting of the line of wheels is organized according to the "dynamising" configuration of the wheel. structure.

Advantageously, the axes of the rockers can be configured according to two distinct orientations: to improve the directional rigidity of the means of locomotion, the axes of the articulations are oriented towards the bottom and toward the rear of the means of locomotion.

to improve the directional flexibility of the means of locomotion, the axes of the joints are oriented towards the bottom and towards the front of the means of locomotion.

Of course, in the case where in particular the tilting locomotion means is a cycle, the axes of rotation of the structure are oriented rearwardly and downwardly when the split wheels are located on the rear of the cycle. Conversely, the axes of rotation of the structure are oriented forwards and downwards when the split wheels are located on the front of the cycle. The articulated lateral splitting of the displacement means makes it possible to increase the points of contact with the surface or the medium.

The invention particularly relates to a method for determining the optimum angles of inclination of the axis of articulation α and the opening angle β of the balance, knowing that the algebraic value of each of these angles does not intervene not, the algebraic value depending solely on the direction of movement of the mobile for the angle α of inclination of the pivot and the reference projection plane used for the calculation, in the case of the angle β of the pendulum.

This method of determining the angles α and β, optimum, is characterized in that it projects in a vertical view, the circle described by the ends of the pendulum on a reference horizontal plane and the hunting triangle whose base is constituted by the projection of two end joints of the balance and whose vertex is the chosen virtual hunting point, this triangle being an isosceles right triangle, and the angle pair α and β is defined so that the projection of the ends of the pendulum in this horizontal reference plane, for the pivoting of the pendulum about its axis, corresponds to trajectories in the horizontal plane which remain inside the sides of the virtual hunting triangle, the side passing through the vertex and the projection ends of the balance in neutral position, this determination being made by successive approximations by modifying one of the angles α or β, the other α or β remaining fixed or p ar a trigonometric definition of the angles α and β and resolution of the two equations in α and β. drawings

The present invention will be described in more detail below with the aid of embodiments shown in the accompanying drawings in which:

FIG. 1 is a perspective diagram of the principle of the suspension device according to the invention,

FIG. 2 is a schematic side view of the suspension device showing certain angles; FIGS. 3A, 3B are front views of two pendulum arrangements,

FIGS. 4A and 4B are views along the axis of pivoting of two rockers with a positive angle and a negative angle in a plane. perpendicular to the pivot axis highlighting the angle between the two arms of the balance,

FIGS. 5A, 5B are respectively a side view of a suspension system in dynamic mode, for the non-pivoted rocker and the pivoted rocker,

FIGS. 6A, 6B are two front views corresponding to FIGS. 5A, 5B,

FIGS. 7A, 7B are views of the balance in a plane perpendicular to its pivot axis, corresponding to FIGS. 5A, 5B,

FIGS. 8A, 8B are side views of a suspension system in moderator mode, with the unbalanced rocker and the pivoted rocker,

FIGS. 9A, 9B are front views corresponding to FIGS. 8A, 8B,

FIGS. 10A and 10B are views of the balance wheel of FIGS. 8A and 8B in a plane perpendicular to the axis of pivoting of the balance,

FIG. 11 is a diagram seen from the front of the kinematics of the support points applied to the determination of the angles α and β equilibrating the suspension device according to the invention,

FIGS. 12.1-12.7 are diagrammatic views of the various steps for determining the angles α and β of the suspension system; FIG. 12.8 is an example of a balance wheel whose arms form an angle different from the optimum angle;

FIGS. 13A, 13B are perspective views of a roller skate equipped with a suspension device according to the invention, in the upright position and in the cornering position,

FIGS. 14A, 14B are perspective views of a catamaran in the upright position and in an inclined position,

FIGS. 15A and 15B show a two-wing aircraft equipped with a suspension device according to the invention,

FIG. 16 is a perspective view of a cycle whose front wheel is split with a suspension device according to the invention; FIG. 17 is a rear perspective view of FIG. 16, FIG. 18 and the table; which completes it show the different types of trajectory of the points of support according to the orientation of the axis of the pivots and the shape of the balance. Description of Embodiments of the Invention

The general principle of the invention will be described hereinafter with reference to FIG.

The invention relates to a suspension device for a mobile, taken in the general sense and moving in a medium. It can be a land mobile moving on a surface such as a road. The mobile can be a vehicle such as a bicycle, a motorcycle or a roller skate. It can also be a mobile moving on the water in the form of a catamaran type boat, regardless of its mode of propulsion, sail or motor. It can also be an aircraft provided with levitation surfaces that is to say wings. The mobile consists of a base support 1 receiving the load to be transported. This basic support is represented by a rectangular surface.

The base support 1 is carried in the middle or on the lifting surface by two lateral supports 2 of symmetrical function. One of the two lateral supports 2 is also represented by a rectangular surface schematically a pad. The other is not represented by not complicating the drawing. It may be as already indicated above, pads, running gear such as wheels, rolling elements in the general sense or catamaran hulls or aircraft wings. These lateral supports 2 are supported on the middle. The base support 1 is connected to each of the lateral supports 2 by a mechanism consisting of at least two articulated assemblies 3, operating in parallel. Each articulated assembly 3 is composed of a balance 31 with two arms 31a, 31b, symmetrical, forming between them an obtuse angle β different from a flat angle (180 °).

The two arms 31a, 31b are connected by a hinge 32 to a central pivot 33 connected to the base support 1; the two feet of the elements 33 are aligned in the reference direction (d), the axis XoXo on the basic support 1; they are parallel and contained in a plane called median PM.

The pivots 33 make an angle α relative to the direction (d) of the axis XoXo. The ends of the branches 31a, b of the balance 31 are also connected by joints 35 to pivots 36 carried by each lateral support 2. The feet of the pivots 36 of the articulations 35 are integral with the lateral support 2 and aligned along the axis XiXi parallel to the direction (d); they are contained in a so-called lateral plane (PL).

It is the same with the other lateral support 2 not shown. The joints 35 are inclined with respect to the direction XiXi according to the angle α so that the pivots 33, 36 are all parallel and make an angle α relative to the direction (d) (XoXo, XiXi).

In this description, the joints 32, 35 are schematically sleeves and the pivots are axes 33, 36, but the opposite is also possible.

It should be noted that if in the example presented, the angles α and β are considered as positive angles, it is also possible to have angles α, β negative and also combinations of angles α and β positive and negative. depending on the dynamics to be given to the suspension device.

Except in exceptional cases for a very particular application, the structure is symmetrical with respect to the median plane PM containing the pivots 33 and the rockers 31 are identical.

The pendulums 3 as shown are the reduction of rockers of any shape as will be explained below. Distinctly, each of the rockers 3, shown schematically, is contained in a plane PP perpendicular to the axis 33. But for reasons of practical organization, the arms 31a, 31b, real, are not necessarily contained in such a plane: it is only necessary that their projection in this plane, in the direction of the axis 33 gives two identical arms 31a, 31b, forming between them the angle β. It is the same joints 35 which are not necessarily in this plane PP but can be located at any point on the axis of the pivot 36 since the projection in the plane PP in the direction of the axes and pivots 33, 36 will be symmetrical in the PP plan. These different possibilities are not shown in FIG. 1. In other words, the function of a second pendulum is linked solely to the conservation of the parallelism of the PL and PM planes during the pivoting; the mathematical demonstration or schematic presentation of the device will be done with reference to a single pendulum. According to the invention, the movements of the base support 1 and the lateral supports 2 are combined by the two mechanisms 3; the supports 2 move parallel to the base support 1 but approaching or departing differently from the median plane PM next the angle of rotation of the rockers 31 about the axis 33: this also means that the lateral planes PL are in positions symmetrical with respect to the median plane PM if the rockers 31 are not pivoted. But as soon as the rockers 31 are pivoted by a certain angle (θ) around their joint / pivot 32, 33, this arrangement changes and one of the lateral planes PL is close to the median plane PM while the other PL s 'apart.

In other words, the symmetry is a symmetry of structure but in operation, the lateral supports 2 or lateral planes PL are spaced differently from the median plane following the rotation of the balancer 31 around its articulation 32 and pivot 33.

The choice of angles α and β will be described later. Figure 2 is a side view of the device of Figure 1 showing angles α which will be positive or negative in the direction VA or VB moving the mobile. FIGS. 3A, 3B show front views of an articulated assembly 3 with the balance 31 whose arms 31a, b form a positive or negative angle β. The angle β is not exactly that plotted in FIGS. 3A, 3B since these figures are front views in the direction (d) according to FIG. 1, whereas the angle β is actually measured in a plane PP pendicular to the hinge axis 33, 36, that is to say perpendicular to the direction of the pivots 33, 36 as shown in Figures 4A, 4B.

In general and as will be detailed later, the reaction of the suspension will be different depending on the orientation of the angles α and β. For ease of explanation and according to the orientation of Figure 2 in the event of a flow in the direction of the arrow VA, the axis 33, 36 will be said "axis plunging forward PAV"; in the case of the circulation in the direction VB, the axis 33, 36 will be said "axis plunging to the rear PAR". Similarly,

- The balance 31 whose arms 31a, b are directed downwardly as in Figures 3A, 4B will be called "dynamising balance Dy",

- In the case of the pendulum 31 directed upward as in Figures 3B, 4B, the balance will be called "moderator balance Mo". The effects of the different combinations PAV, PAR with Mo, Dy will be explained later. FIGS. 5A-10B show the deformation of the suspension device considered generally in the case of a schematization according to that of FIGS. 2 and 3A, 3B.

FIGS. 5A, 6A, 8A, 9A show, for comparison, the arrangement of FIGS. 2, 3A, 3B, the suspension device being in the neutral position. The median plane PM is vertical and the two lateral supports are supported in a vertical position, for example on a horizontal support such as the ground.

When during operation, the suspension device is inclined, the rocker rotates about the axis 33 and takes a position rotated about this axis 33. In side view according to Figures 5B, 8B the two arms 31a , B of the balance are inclined, so that one of the joints 35 is advanced and the other is retreated, but these joints remaining at the same height relative to the level of the plane of displacement. In a front view, according to FIGS. 6B and 9B, the suspension is inclined and because of the angle β between the arms, the median plane PM is no longer equidistant from the two joints 35 but approaches one and the other. 'apart from the other.

Figure 1 1 shows, in a simplified manner, the disposition of the suspension to show how to determine the optimum angles α and β.

The upper part of FIG. 11 is a comparison, for comparison, of the front view arrangement of the suspension according to FIG. 9A. The lower part of FIG. 11, in relation to the upper part, shows the same pivoting of the balance relative to the reference position, by presenting the vertical axis Z'eOeZe according to which the necessary vertical projection is made. for the search angles α = 32.79 ° and β = 149.70 °. Under these conditions, the lateral supports 2 are arranged in an inclined plane. The figure also shows the plane of horizontal displacement passing through an origin O along the horizontal axis Y'OY, the axis of movement X'OX being perpendicular to the axis Y'OY.

In order to determine the angles α and β, ensuring the best operation of the suspension, the balance 31 and the articulations which it carries at its ends 35 and its central articulation 32 are projected vertically according to FIG. on the horizontal plane XeOeX'e.

In the neutral position, the plane PM being vertical, if the balance pivots about its axis, its articulations 35 describe a circle in a plane perpendicular to the axis 33. This circle, in the plane PP inclined with respect to a horizontal plane is projected according to an ellipse on the horizontal plane XeOeYe. This ellipse is centered on OE. The balance is projected itself in the form of a triangle whose 35P ends are on the ellipse since the arms of the balance are the rays of the circle projecting along an ellipse.

Referring to the horizontal projection plane according to FIG. 12-1, the optimum operating condition chosen according to the invention consists in respecting a virtual hunting triangle with vertex P _v . The triangle P _v , B, C is an isosceles right triangle whose vertex Pv is the virtual hunting point of the axle arrow.

The condition to be fulfilled according to the invention is that the projections of the ends 35 of the balance when the balance pivots about its axis of articulation 33 remain inside the two sides at 45 ° of this triangle, that is to say say inside the BPv and CPv lines.

The calculation of the angles α and β is done by a trigonometric analysis. This calculation will be detailed below and it leads to an equation whose solutions are an angle α = 32.79 ° and β = 149.70 °.

When the geometry of the suspension is thus defined, the projection of the lateral supports 2 move on the horizontal projection plane along two pairs of curves such as those shown in Figure 12.7.

This figure is also drawn in FIG. 18 in the plane of horizontal displacement but represents the displacement of the real contact points of the lateral supports according to the inclination I of the planes PM and PL of the mobile with the plane of displacement, for example the point of contact of a wheel constituting a lateral support or a point of contact corresponding to the resultant of the support of the lateral support in the case of a skate, a ski or a hull of catamaran .. This point schematically located at the hinge 35 of the lateral support, moves on one side along a given trajectory from the axis OY while the other end of the pendulum moves in a somewhat anti-parallel curve, located in the other half-plane of the axis OY 'and getting closer to the axis OX if the first articulation deviates from it or vice versa.

The neutral position for a non-inclined suspension device corresponds to the position of the points on the Y'OY axis. The movements of the suspension will be explained below with the aid of FIGS. 5A-1OB:

FIGS. 5A-7B show the case of a dynamising balance, FIGS. 8A-1OB show the case of a moderator balance. Vibrant balance

Figures 5A, 6A, 7A show the suspension system in the neutral position. The median plane PM is vertical, that is to say perpendicular to the displacement surface:

FIG. 5A is a side view of a pendulum of the suspension system,

- Figure 6A is a front view of the suspension system and Figure 7A is a view in a plane perpendicular to the pivot axes 33, 36 of the balance still for the balance in the neutral position. FIGS. 5B, 6B, 7B are corresponding views for a beam pivoted by an angle θ. This pivoting angle of the beam results in an inclination of the median plane and the lateral planes of an angle I (Figure 6B) and a lifting of the pivot 33 of a height + DE. Balancer moderator

FIGS. 8A, 9A, 10A are views of a balance of the suspension system in neutral position, that is to say non-pivoted (θ = 0), and FIGS. 8B, 9B, 10B are corresponding views for the pendulum pivoted by an angle θ. This is reflected again by the inclination of the planes PM, PL (Figure 9B) of an angle I and a lowering of the pivot 33 (Figure 10B) a distance -DE.

FIG. 11 is a combination of three diagrams intended to facilitate the explanation of the determination of the angles α and β so that the system respects the virtual hunting point and FIGS. 12.1-12.7 are diagrams showing the successive steps reflecting the calculation. angles α and β for a certain rotation θ of the balance around its axis.

This rotation is not controlled by the driver of the mobile but is produced either by the lifting of a bearing surface relative to the other when the moving surface is no longer horizontal while the median plane must remain vertical (for example while driving across a slope) or when the vehicle is tilting in a bend.

When the system occupies the position shown in FIGS. 6A or 9A or else in the recall of these figures in the upper part of FIG. 1 1, the system is in the neutral position. The median plane is vertical and the surface of displacement of the points of support is horizontal. When the two points of support are no longer in a horizontal plane, the median plane remaining vertical, this translates into a pivoting of the balance.

It is the same when the vehicle tilts, that is to say when the median plane inclines relative to the plane of displacement, this results in a pivoting of the rockers.

As a suspension system comprises at least two rockers and these rockers are geometrically identical (the same angle β) and also pivoting about respective pivots inclined at the same angle α with respect to the direction d, it is sufficient to determine the angles α and β associated with a pendulum.

This determination of the angles α and β uses the so-called virtual hunting point. This hunting point corresponds to a mobile traveling in a straight line and which, in the simplest case, has two points of support in a horizontal plane positioned symmetrically on each side of the axis of displacement. The virtual hunting point is the vertex of the isosceles right triangle whose ends of the base are the two points of support. Taking into account the description given above, the bearing points of the suspension system on the plane of displacement correspond schematically to the translation of the ends of the beam. If according to FIG. 1 1, the balance 31 is defined by its vertex A and the two ends of its base B and C, the equivalent support points, since they are translated, of the suspension system on the plane of displacement, can also be called Bθ and Cθ.

If we then refer to Figure 12.1, the virtual hunting point P _v is the vertex of the isosceles right triangle whose base is BC. The virtual hunting point Pv is obviously located on the axis X'eXe which is also the mediator of the base B and C.

When the bearing points BC are no longer in a horizontal plane or if the mobile is inclined relative to the plane of displacement, this results in the (forced) rotation of the balance about its axis 33 so that, as will be seen then, in practice, the bearing points B and C move in the plane and no longer occupy the symmetrical position with respect to the axis X'eXe since the balance pivots and that, moreover, as the axis 33 of the balance is not horizontal but is an angle α with respect to the direction d (horizontal direction in the case the simpler), the pendulum moves with respect to the vertical plane of symmetry passing through the axis X'eXe. The projection of the vertex A of the pendulum is no longer located on the axis X'eXe.

It also means that the points of support B and C which are decaled as shown in Figure 12.4.

The vehicle is supposed to travel in a straight line. Under these conditions, each support point B, C has its virtual hunting point located on the axis X'eXe. This virtual hunting point is, according to its definition given in Figure 12.1, the intersection of a line inclined at 45 ° with respect to the axis X'eXe passing respectively through point B and virtual hunting point PVB associated with point B. The virtual hunting point P _v c of the new point C is obtained in the same way and corresponds to the intersection of the line inclined at 45 ° with respect to the axis X'eXe and passing through the point C, intersecting the axis XeX'e at the point Pvc In the general case, the points P _V B and P _v c do not coincide and are distant from the distance VE ≠ 0 as for the unbalanced device of Figure 12.8.

In the case of the example of Figure 12.8 which corresponds to a balance whose angle β is not the optimum angle but equal to 165 °, we see that the bearing points B ', C have points PVB and Pvc virtual fighters on the XeOeX'e axis giving a VE value different from O.

In order for the vehicle to travel normally in a straight line despite this shift of the bearing points B and C in both the transverse direction and in the longitudinal direction according to the coordinate system, the two hunting points must coincide, that is, that is, the distance VE is zero.

This condition gives the angle α and the angle β.

To determine the angle α of inclination of the axes 36 of the rocket relative to the plane of displacement and the angle β formed between the arms of the balance, so as to respect the virtual point of hunting, the determination of these two angles as explained with the help of Figures 1 1 and 12.1- 12.7.

It is then assumed that the rocker is rotated by an angle θ about its axis 33. This gives in a plane perpendicular to the axis 33, the pivoted disposition of the balance T (θ), the vertex A remaining in place but the ends of the base B and C passing in position Bθ and Cθ. This intermediate diagram shows the displacement of the medium M of the base BC which, in the neutral position, is in the median plane and which, in the pivoted position of the balance Tθ, is shifted by the distance Dt with respect to the median plane. This offset actually represents the offset experienced by the triangle ABΘCΘ when the median plane inclines with respect to the horizontal plane of displacement or projection plane in the vertical direction.

To facilitate calculation, this pivoting is first projected in the vertical projection plane giving the projection points A ', B', C and then, by inverse projection, the position of the bearing points of the lateral supports 2 in the plane of displacement which, passing through the support points of the lateral supports 2, makes an angle I with respect to the vertical projection plane.

This angle I is actually the angle of inclination of the suspension system relative to the plane of displacement which is the horizontal plane.

In other words, to determine the coordinates of the support points B 'and C of the system on the plane of displacement, as these points of support B', C are the translated points of the vertices B, C of the balance, one will first determine the coordinates of the vertices B and C in the plane perpendicular to the axis of rotation of the balance and then, we project these two points on the plane of the projection. But these projections do not take into account the displacement of the vertex A produced by the rotation of the pendulum θ in an orthonormal frame. Then, we will move this marker as a function of the displacement of the medium M of the base BC. This method of calculation avoids using the vertex A 'to define the actual position of the support points B', C on the plane of displacement.

To determine the offset of the apex of the balance Aθ following the pivot angle θ of the balance, the offset to be given to the projection of the triangle with respect to the axis X'eXe in the plane of displacement is determined. It is in fact the measurement of the medium displacement vector of the base Mθ of the base BΘCΘ with respect to the intersection of the base BΘCΘ with the axis X'eXe.

In other words, to determine the position of the points of support of the moving body in the plane of displacement, consider the projection in the plane of movement of the triangle representing the balance while considering that the displacement between the projection representing the neutral position of the pendulum and the projection representing the pivoted pendulum the angle θ around its axis is obtained by combining two movements:

First, the pivoting of the balance of the angle θ by supposing that the vertex of the triangle remains fixed then, one translates the projection of the triangle of the offset obtained by measuring the offset of the middle of the base with respect to the axis X ' X.

Having the coordinates of the points B ', C, projections of the ends Bθ, Cθ of the pendulum pivoted by the angle θ and translated according to the displacement Dt, it is written that the virtual hunting point PVB of the bearing point B' projection of Bθ is equal to the virtual hunting point Pvc of the point of support C projection of the point Cθ.

The virtual hunting point of each of the points B 'and C is located on the axis XX'.

The following angular values are thus obtained: α = 32.79 ° β = 149.70 °.

The calculation hereinafter makes it explicit to obtain these two angular values.

These two angular values can be obtained by successive iterations giving θ different angular values, for example between 0 and 35 ° which is the usual angle of inclination for the system.

Figures 12.1- 12.7 explain in a different way the different calculation steps starting from the neutral position (figure 12.1) and assuming that the median plane has been inclined by an angle close to 30 ° in practice which translates into a pivoting of the balance of an angle θ = 35 °.

Figure 12.2 shows the projection on the plane of displacement of the pendulum pivot, assuming that the apex of the rocker has not moved yet.

This makes it possible to determine the offset of the center of the pendulum base (FIG. 12.3) with respect to the axis XX '. Then, we translate the balance of this shift Dt according to Figure 12.4. Then, according to FIG. 12.5, it is described that the hunting points of the ends Bθ and Cθ of the base are the same point P _v c, PVB on the axis XX '.

The pair of angular values for α and β is then obtained according to the calculation given below. Figure 12.6 shows the obtaining by successive iterations of the position of the different points B 'and C for the angles θ varying from 5 to 5 of 0 ° and 35 °.

Figure 12.7 shows the plot of the projected trajectories of the pendulum ends.

It is actually four curve segments combined in pairs on either side of the OE vertex of the coordinate system and the X'eXe and Y'eYe axes.

This figure also shows the displacement of the middle M of the base and the displacement of the apex A of the balance.

The mathematical demonstration to determine the exact value of the angles α and β characterizing the equilibrium of the device of the invention is as follows, applies the principle described above.

The device is positioned above an orthoregular mark Xe, Oe, Ye representative of the horizontal plane P.

The device of the invention, seen from above in a vertical equilibrium position, is represented on the Xe, Oe, Ye plane by an isosceles triangle T (O).

The isosceles triangle T (O) represents the superposition of the basalizers.

Each corner of the isosceles triangle T (O) represents the vertical projection on the Xe, Oe, Ye plane of the three pivot points of a beam formed in a plane perpendicular to the axis of rotation and oriented at an angle α with the plane Xe, Oe, Ye. The angle formed by the sides of the isosceles triangle (V) on the perpendicular plane PP is β.

Under these conditions, the vertex of the isosceles triangle T (O) corresponds both to the base support (1) and to the central pivot point of the balance, as well as to the ends of the base of the isosceles triangle T (O). correspond both to the lateral articulation points of the balance and to the resultant of the points of support of the surfaces of levitation of the lateral supports.

The top of the isosceles triangle T (O) is positioned on the center of the Oe mark. X is the direction of the moving direction of the means of locomotion, the base of the isosceles triangle (TO) being oriented towards the direction of the direction and the axes of rotation being oriented dipping towards the direction from the direction, the demonstration is performed according to a device in "moderator / front" configuration.

The ellipse 30 is representative of the vertical projection of the circular movement of the ends of the isosceles triangle (V) following all the rotations (θ) around their vertex. Moreover, the vertex of the ellipse (30) is defined at the point M on the Ye-Oe-Ye axis. The point R corresponds to the position of the end of a pendulum according to a rotation θ = - y ₂ (i80 ° -β).

The distance (r) between the point Oe and R is therefore equal to 1. The norm of unity of the marker is defined by the length of the sides of the isosceles triangle (V) formed on a plane perpendicular to the pivot of the pendulum.

The coordinates of the vertical projection of the ends of the isosceles triangle (V) as a function of the rotation θ, drawing the ellipse (30), are defined according to the following equations:

With Δ = Y ₂ (180 ° - β) xe = sin (Δ + θ) * sin (α) and ye = cos (Δ + θ) x'e = sin (Δ - θ) * sin (α) and y 'e = -cos (Δ - θ)

On the triangle T (θ), representing the vertical projection of the isosceles triangle (V) after a rotation θ, we see an offset Dt corresponding to the distance between the point representing the middle of the base and the point representing the intersection of the base and X axis, O, X '. The values of the shifts Dt as a function of the rotations θ are defined by the following equations: xDt (θ) = sin (α) * cos (π / 2- θ) * TAN (θ) * sin (Δ) yDt (θ) = sin (θ) * sin (Δ)

Dt thus corresponds to the offset of the projection points of the central base of the triangle between the vertical equilibrium position and the position after a rotation θ of the isosceles triangle (V). In a first step, to establish the equilibrium of the trajectories of the ends of the triangles T '(θ), this triangle is subjected to translations Dt (θ) as a function of the rotations θ.

The vertical projection of the balanced trajectories of the extremities of the translated triangles T (θ) is defined by the following coordinates: xp = xe-xDt and yp = y-yDt x'p = x'e-xDt and y'p = y e-YDT • In a second step we trace two axes Pv-Ch and Pv-Ch 'each positioned symmetrically at 45 ° of the axis Xe, Oe, X'e and each passing through one of the ends of the triangle T (O). Each of these axes corresponds to a virtual chase defined by the following equations: For Pv-Ch: yc = -xc + (xe (0) + ye (0))

For Pv -Ch ': y'c = -x'c + (xe (0) + ye (0))

• In a third step we define the longitudinal differences between the ends of the translated triangles T '(θ) and virtual hunts: Ei being the difference corresponding to the internal inclination and Ee being the difference corresponding to the external inclination.

The coordinates on the axis Xe, Oe, X'e of the virtual chase according to θ are defined by: xc (θ) = -yp (θ) + (xe (0) + ye (0))

Taking into account the symmetry of the trajectories of the extremities of the translated triangle T '(θ), the longitudinal differences are calculated in the following way:

Ee (θ) = xc (-θ) -xp (-θ) and Ei = xc (θ) -xp (θ)

• In a fourth step we establish the difference of the longitudinal differences to define the variation of the longitudinal differences as a function of θ: the variation VE (Θ) = Ee (θ) -Ei (θ)

• In a fifth step, we look for the values of α and β for which the variation VE is minimum for all rotations θ between -35 ° and 35 °. It appears that for each value of β of the balancers, there exists a value of α for the axes of the articulations allowing to reduce in an optimum way the difference of the longitudinal differences.

The results of this equation system with two unknowns obtained by successive approximations and corresponding to the optimum equilibrium, whose approximate values have been calculated up to the thirteenth decimal place, are:

Δ = 15, 1508690109007 °, α = 32.7889991 104801 ° and β = 149.6982619781986 °. The mathematical demonstration for the search of the values α and β was performed with respect to vertical projections on the plane Xe, Oe, Ye of the pendulum movement of the device of the invention in "forward / moderator" configuration. In this condition, by making reference changes it is observed that for the four configurations of the device of the invention the mathematical search for the determination of the optimum equilibrium results in the same values α and β. Indeed, by inverting Xe and X'e we obtain the configuration

"Back / moderator".

Similarly by inverting Ye and Ye ', from the two previous configurations, we obtain the configurations "forward / energizing" and "revitalizing". Moreover, a variation of more than two degrees in the values of α and β causes a large increase in the variation VE. In order to benefit from the best balance, the means of locomotion conceived with the device will have to be constructed by respecting as closely as possible the values of the optimum equilibrium. FIGS. 13A, 13B show an embodiment of a suspension device in the form of a roller skate:

the basic support is the plate 101 to which the shoe 101 1 is fastened,

the lateral supports are each constituted by a pair 102 of rollers 1022.

The pairs of rollers 102 are carried by a connecting rod 1020 terminated at both ends by a yoke 1021 each carrying a wheel 1022. The two pivots 133 of the base support 102 are directed rearward so that the balances 131 carried by the pivots operate in PAR mode. The pendulums have their arm pointing down; they are of the dynamizing type Dy. The orientation of the pivots can be PAR and PAV or PAR or PAV.

Figures 14A, 14B show a suspension device according to the invention applied to a catamaran, for example windsurfing type.

The base support 201 is the platform carrying the mast 201 1 and the sail 2012. It is connected by two rockers 231 to the lateral supports each constituted by a shell 202. The hulls 202 are connected by non-detailed pivots to the arms of the rockers 231 they themselves connected by pivots to the platform 201. The orientation of the pivots may be PAR or PAV type or PAR and PAV, the arrangement of the rockers being dynamic type Dy here. The catamaran is represented here in the form of a windsurf board with the 2013 roll bar.

FIG. 14A shows, in perspective, the catamaran in an upright circulating position pushed by a tailwind and FIG. 14B showing the wheel traveling upwind, in this inclined position, the hulls act by exerting a drifting force necessary for stability. of the road.

Figures 15A, 15B show an aircraft whose base support is constituted by the fuselage 301 of the aircraft. The fuselage 301 carries the two wings 302 connected to the fuselage 301 by two rockers 331 open upwards, that is to say in a moderating arrangement Mo.

The pivots connecting the pendulums 331 to the fuselage 301 can be in PAV or PAR or PAR and PAV mode.

Figures 16 and 17 are partial perspective views of a cycle 400 whose front is equipped with a suspension device according to the invention which has at the same time a steering function. The rear wheel is not split and its installation corresponds to a classic assembly.

The suspension combining the steering of the wheels makes the system more complicated than that shown in FIG. 1 also to simplify the description, the steering function of the wheels and the suspension function will be distinguished even though the movements by these two functions are in reality combined. For the description of the suspension device, the set of elements is oriented for a displacement of the cycle in a straight line, which abstracts from the direction function. The handlebars or the steering column are not turned.

The cycle 400 consists of a frame 401 assembled tubes bearing the rear wheel 402 provided with a pinion 403 for its drive by a chain 404 passing on the plate 405 of the pedal 406. The front wheel is split, replaced by two wheels 407 directional each carried by a fork 408 connected to a tube-shaped fork body 409 and a shock absorber 410. Each fork body 409 is pivotally mounted in a steering auxiliary post 41 1, parallel to the main steering column 412, a first rocker 413 is connected by a hinge 414 to each auxiliary upright 41 1 and by a hinge 415 to the main upright 412. The first rocker 413 does not transmit the steering movement since it is connected to the steering upright belonging to the frame 401 and not to the steering column. The fork bodies 409 are each connected to a steering auxiliary column 416 housed in each auxiliary upright 41 1. The hinge pins are parallel and the mounting is symmetrical for the two fork members 409 of the two wheels 407. The forks 408 are actually each constituted by a set of welded tubes combining two V-shaped and joined by a U-shaped portion carrying the fender and the articulation of the shock absorber 410, the other two ends being connected by a double joint to the body Fork 409.

The fork bodies 409 are connected to a second balancer 417 each time by a double articulation 418 at both ends of the second beam; the second balance 417 is connected by a double articulation to the extension 420 of the main steering column 421. This extension 420 is generally parallel to the fork body 409 and its double articulation 419 for the top of the second balance is equivalent to the other two double joints 418 of the fork bodies 409.

These double joints 418, 419 are in fact the combination of a first articulation 418a, 419a for the suspension and a second articulation 418b, 419b for the steering. As to simplify the description of the suspension structure, it is assumed that the locked direction, the second articulations 418b, 419b which intervene for the direction, are considered here for this description as blocked and only the first articulations 418a, 419a corresponding to the suspension, work. In this arrangement, the joints 414, 418a, 415, 419a at the two ends of the two rockers 413, 417 and at their two vertices correspond to two identical and distinct isosceles triangles registered by projection in the common direction of the axes of articulation in a plane. perpendicular to this direction, although the apparent shape of the two rockers is not the same for reasons of integration of the rockers in the frame and clearance for the pivoting direction. Their overall curvature is the same; Here the balances 413, 417 have a mod mode Mo, the opening of the two rockers being turned forward and up. The articulated system comprising the main amount 412, the main column 421 supposed to be locked in neutral position in the main steering upright, the two rockers 413, 417, the auxiliary uprights 41 1 and the fork members 409 constitute an articulated assembly as the one described in principle in FIG. 1. The inclination of the frame 401 of the bicycle produced by means of the steering upright 412, the inclination of the two wheels 407 and the pivoting of the rockers 413, 417 by the articulations 414 , 418a, 415, 419a. The direction of articulation axes 414, 415, 418a, 419a of the top of each beam 413, 417 and that of the joints at the ends of the balance are parallel to each other and between the two rockers.

These axes of articulation make the angle α with the direction of movement or direction of the surface on which the bicycle (direction (d)). This angle is not to be taken in relation to the amount of direction since this amount does not have any particular significance for this angular identification and does not intervene since by hypothesis, for the purposes of this description, the direction is considered as blocked. . The perspective view of the rear according to FIG. 17 makes it possible to better see the organization of the second balance 417 showing both the suspension movements and the steering movements thanks to the three double joints 418, 419. While the first balance 413 which connects the main steering upright 412 to the auxiliary uprights 41 1, providing only the transmission of the suspension movements.

Referring to the general terms used for the description of the suspension device in Figure 1, this description of the articulated assembly will be repeated here based on Figure 17 which shows the base support and the two lateral supports.

The base support 1 is constituted by the tube of the main steering upright 412 secured to the tubes of the frame 401, the inner tube forming the steering column 421 passing through the main upright 412 connected in the upper part of the handlebar not shown and in the lower part , the inclined tube forming the extension 420 of the steering column 421. This inclined tube carries at the front, the double joint 419 for the second beam 417.

The lateral supports 2 according to FIG. 1 are constituted here by FIGS. 16, 17) each by two welded tubes, carrying the fork 408 of the wheel 407 with a shock absorber system and connected to a tube end forming the lateral upright 41 1, parallel to the tube of the main upright 412 and also bearing a hinge pin for the first beam of to form a deformable parallelogram for the two lateral supports joined by the two rockers 413, 417.

For the description of the direction and its movement, it will be assumed reciprocally that the joints of the suspension are blocked. This means that the first balance 413 is blocked: its articulation 415 to the amount 412 of the frame is blocked, as well as its two joints 414 carried by the auxiliary amounts 41 1.

It is the same for the second balance 417 which combines the suspension function and the transmission function of the steering movement to the two wheels 407. For the description, by hypothesis, the first joints 418a, 419a of the second beam 417 are considered as blocked : its articulation at the top and its two joints at the ends. Only the second articulations 419b can be played with the extension 420 of the steering column 421 and the second articulations 418b carried by the fork bodies 409 connected to the auxiliary steering columns 416.

The extension 420 bearing the top of the second beam 417 is not fixed, but carried by the steering column 421. Thus, by pivoting the handlebar to the left or to the right, this extension 420 is rotated to the left or to the right and drives the articulation 419 of the top of the balance 417 and, consequently, the two ends of the balance to rotate the wheels 407 in one direction or the other.

This pivoting is made possible because the rear balance arm 413 with a single articulation makes it possible, for the steering function, to split the steering column 412 on either side, symmetrically, by two auxiliary elements of the steering column 41. that rotate both wheels as a single steering wheel of a bike.

If the bike frame is held upright, not leaning to one side or the other, the direction of the two wheels works like that of the single wheel of a bike. The wheel turns without leaning.

Under the same conditions, if you lean the bike on one side or the other by blocking the steering in the neutral position, there is movement of the wheel support point, one of the wheels advance and the Another drop due to the shape of the balance and the inclination of the axis of the suspension joint.

The actual movement of direction, combines these two movements since the cyclist pivots his handlebars in the direction he wants and at the same time for reasons of balance, it naturally leans on the inside of the turn.

FIG. 17 shows, from the top view of the rear, substantially the position of the cyclist, the disposition of the first rear balance or caliper 413 with respect to the outer tube forming the amount of the steering column and the articulation of the end of this balance to the two tubes forming the auxiliary columns of steering column.

The main steering column 421 carries, at one end, the extension 420 and at the other end, the handlebar in the manner of a usual bicycle handlebars. But this solution can also be replaced by a mounting releasing the middle part of the frame at the amount of the steering column in favor of side amounts.

In this case, the height of the main upright 412 and of the steering column is reduced and the handlebar is removed and replaced by two half-handlebars, a left half-handlebar and a right half-handlebar, fixed to the two lateral columns of the steering column. direction 416, prolonged.

The cycle direction movement is synchronized by the main steering column between the two auxiliary columns each associated with a wheel. The steering system is composed of the following elements: the extension of the steering column and the second articulation of the double articulation of the top of the second balance as well as the second articulation of the double articulation connecting each end of the second balance to the body of the fork. If it is assumed that the frame 401 of the cycle remains in a vertical plane, the pivoting movement of the main steering column 421 produces the pivoting of its extension 420 which moves the top of the second beam 417 or forward beam. This displacement movement results in a displacement movement of each of the two ends of the second beam, that is to say the double joint connecting these two ends to the fork body. The fork bodies 409 thus pivot in parallel with the extension 420 of the steering column to each auxiliary steering column in the auxiliary steering column. The two auxiliary amounts 41 1 remain motionless relative to the main amount of direction since they are blocked by the first balance which, by hypothesis, remains fixed since no inclination movement is induced in the frame. In actual operation, the steering movement is combined with a tilting motion of the frame necessary for the cycle to remain balanced in a turn. At this moment, the movements of direction and inclination combine and cause a complex displacement with inclination of the two wheels.

Finally, with the aid of FIG. 18 and the table, it is possible to dynamically visualize, for an inclination of the mobile from 30 ° to -30 ° on a horizontal displacement surface, the kinematics of the different displacement trajectories (AB, A'B ', CD and CD') possible points of support according to the four possible configurations of the device of the invention, are "moderator / front", "moderator / back", "energizer / before" and "energizing / back".

The table at the bottom of Figure 18 gives the correspondence between the rotation angle θ of the beam and the inclination of the mobile for values between 0 ° and 35 ° of rotation of the angle θ of the balance.

Claims

R E V E N D I C A T IO N S

1 °) Device for suspending a mobile carrying a load whose support means are split and moving in a medium, characterized in that it comprises

A- a base support (1) receiving the load,

B- two lateral supports (2) bearing on the medium and constituting the split support means,

C- a mechanism connecting the base support to each of the lateral supports and formed of two articulated assemblies (3), each articulated assembly (3) having a balance (31) with two arms (31a, b) forming between them a an obtuse angle (β) different from 180 °, the arms being joined to a central pivot (32, 33) and each terminated by a lateral pivot (35, 36), the central pivot (32, 33) being connected to the support of base (1) and the lateral pivots each to a lateral support (35, 36),

the two feet of the central pivots (33) of the two assemblies (3) being situated on a base line (XoXo) of the base support (1),

the two homologous lateral pivots (36) of the two assemblies (3) being situated on an auxiliary line (XiXi) of the corresponding lateral support (2),

the base line (XoXo) and the auxiliary lines (XiXi) being parallel to a direction (d),

the axes of the pivots are parallel and form, with the direction (d), an angle (α) other than 90 °, the axes of the central pivots of the two articulated assemblies defining the median plane and the axes of the lateral pivots defining a plane auxiliary,

the median plane and the auxiliary planes being parallel and the inclination movement printed by the base support (1) to the median plane causing the inclination of the auxiliary planes and the auxiliary supports, the optimum angles defining the device for suspension are α = 32.79 ° β = 149.70 °.

2 °) Mobile forming a ship, slider, airplane, floating on or in a medium, equipped with a suspension device according to claim 1, characterized in that the base support is the body of the ship, the slider or the aircraft and the lateral supports are floats, pads or sails.

3) Mobile equipped with a suspension device according to claim 1, forming a roller skate, characterized in that the base support is a fastener (101) receiving the foot of the user and each lateral support (102) is a set of two wheels (1022).

Mobile device equipped with a suspension device according to claim 1, forming a bicycle or a motorcycle, characterized in that the base support (401) is the front upright (412) of the frame and each lateral support (409). has a wheel (407).

5 °) Mobile according to claim 4, characterized in that the wheel (407) is carried by an axis and the two wheels of the two lateral supports (409) are associated (417) in their pivoting movement about their respective axis.

6) Method for determining the optimum inclination angle (α) and swing angle (β) for a suspension device according to claim 1, characterized in that the circle described by the ends of the balance wheel is projected. on a horizontal plane of reference and one draws the hunting triangle whose base is constituted by the projection of two end joints of the balance and whose top is the chosen virtual hunting point, this triangle being an isosceles right triangle, and the pair of angles (α) and (β) is defined so that the projection of the ends of the balance in this horizontal reference plane, for the pivoting of the balance about its axis, corresponds to trajectories in the horizontal plane which remain at inside the sides of the virtual hunting triangle, these sides passing through the top and the projection of the ends of the balance in neutral position, this determination being made by successive approximations by modifying one of the angles (α) or (β), the other (α) or (β) remaining fixed or by a trigonometric definition of the angles (α) and (β) and resolution of the two equations in (α) and in (β).