CN110936783A - Car body side-tipping linkage mechanism and active side-tipping vehicle using same - Google Patents
Car body side-tipping linkage mechanism and active side-tipping vehicle using same Download PDFInfo
- Publication number
- CN110936783A CN110936783A CN201911224025.9A CN201911224025A CN110936783A CN 110936783 A CN110936783 A CN 110936783A CN 201911224025 A CN201911224025 A CN 201911224025A CN 110936783 A CN110936783 A CN 110936783A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- steering
- roll
- vehicle body
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K25/00—Axle suspensions
- B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/02—Tricycles
- B62K5/06—Frames for tricycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/08—Cycles with handlebars, equipped with three or more main road wheels with steering devices acting on two or more wheels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Automatic Cycles, And Cycles In General (AREA)
Abstract
The invention relates to a vehicle body roll linkage mechanism and an active roll vehicle using the same, belonging to the technical field of vehicle chassis, in particular to the technical field of vehicle body roll driving and control, wherein the vehicle body roll linkage mechanism is composed of a roll mechanism and a steering mechanism, the vehicle body roll linkage mechanism rotates relative to a vehicle frame, an actuating angle α and a steering angle theta are used as control parameters, and the vehicle body roll and the vehicle steering move in two degrees of freedom, so that the wheels do not roll in the vehicle body roll process, the vehicle body roll linkage mechanism is suitable for general car tires, three working conditions of steering roll, independent roll or independent steering can be realized in the vehicle driving process, the vehicle body active roll linkage mechanism is applied to the vehicle steering, so that the vehicle automatically tilts a certain angle to resist centrifugal force or roll force when passing a bend or when passing an inclined road surface, and a.
Description
Technical Field
The invention relates to a vehicle body roll linkage mechanism and an active roll vehicle using the same, belongs to the technical field of vehicle chassis, and particularly relates to the technical field of vehicle body roll driving and control.
Background
The active roll control system improves the operation stability, smoothness, traffic speed and safety of the vehicle during turning by controlling the degree of the vehicle inclining to the inner side of the turning during turning, and the vehicle active roll technology can enable the vehicle to automatically incline for a certain angle during passing a bend or driving on an inclined road surface to generate a balance moment to resist the centrifugal force or the side overturning force applied to the vehicle so as to keep the stable driving posture of the vehicle with a small wheel base.
The active roll technology of the vehicle is generally implemented by two modes of independent roll of a vehicle body and linkage roll of the vehicle body and wheels, wherein: the vehicle body and the wheels are in linkage roll mode, the roll of the vehicle body and the steering motion of the vehicle are mutually influenced, the control stability, the smoothness and the safety of the vehicle during turning are better, two-wheel independent steering or four-wheel independent steering is required to be adopted, or a vehicle steering roll linkage device formed by the linkage of a roll mechanism and a steering mechanism is adopted, but the structure is complex, the manufacturing cost is high, and the vehicle steering roll linkage device is suitable for high-end vehicles; the vehicle body independent side-tipping mode is adopted, the vehicle body moves relative to the vehicle frame, the vehicle body side-tipping and the vehicle steering movement are independently carried out without mutual interference, wheels do not side-tipping in the vehicle body side-tipping process, any steering mechanism and general car tires can be adopted, usually, the actuator directly drives the vehicle body to rotate relative to the vehicle frame to realize the vehicle body side-tipping, and the control stability, the smoothness and the safety reliability are poor when the vehicle turns; the method has the advantages that the side-tipping driving mode of the vehicle body is explored, the side-tipping transmission and control method of the vehicle body is researched, and the theoretical significance and the practical value are achieved for reducing the manufacturing cost of the active side-tipping vehicle and improving the performance of the vehicle body independent side-tipping vehicle.
Disclosure of Invention
The invention aims to provide a vehicle body side-rolling linkage mechanism and an active side-rolling vehicle applying the same, which realize that wheels do not side and adapt to general car tires in the vehicle body side-rolling process by the rotation of a vehicle body relative to a vehicle frame, are applied to the vehicle body actively inclining for a certain angle to resist centrifugal force or side-rolling force when the vehicle passes a bend or runs on an inclined road surface, and keep the stable running posture of the vehicle.
The technical scheme adopted for achieving the aim of the invention comprises the following steps: the car body side-tipping linkage mechanism consists of a side-tipping mechanism and a steering mechanism;
the roll mechanism described above includes: a vehicle body (1), a right lower pull rod (2), a left lower pull rod (3), a right steering knuckle spindle (4), a left steering knuckle spindle (5), a right upper pull rod (6), a left upper pull rod (7), a right steering knuckle (8), a left steering knuckle (9), a right wheel (10), a left wheel (11), a right shock absorber (12), a left shock absorber (13), a balance rod (14), a vehicle frame (15) and a restraint rod (16), sequentially and rotatably connecting the frame (15), the right lower pull rod (2), the right knuckle spindle (4) and the right upper pull rod (6), wherein each relative rotation axis at a connecting point B, C, D, A is parallel to and perpendicular to the vehicle transverse plane to form a quadrilateral ABCD of the same relative movement plane, the right knuckle (8) and the right knuckle spindle (4) are rotatably connected around the axis CD of the right knuckle spindle, and the right knuckle (8) is connected with a right wheel (10) and controls the direction of the right wheel; sequentially and rotatably connecting a frame (15), a left lower pull rod (3), a left steering knuckle spindle (5) and a left upper pull rod (7), wherein the relative rotation axes at the connecting point F, G, H, E are parallel and vertical to the transverse plane of the vehicle to form a quadrilateral EFGH of the same relative movement plane, the left steering knuckle (9) is rotatably connected with the left steering knuckle spindle (5) around the axis GH thereof, the left steering knuckle (9) is connected with a left wheel (11) and controls the direction thereof, and the upper connecting points A, B of the frame (15) are respectively symmetrical with E, F about the central vertical plane of the vehicle; the vehicle body (1) is rotatably connected with the vehicle frame (15), a connecting point W is positioned in a vehicle body vertical plane, the W is positioned in a vehicle central vertical plane, the middle point of a balance rod (14) is rotatably connected with the vehicle body (1), a connecting point U is positioned in the vehicle body vertical plane, two ends of the balance rod (14) are respectively rotatably connected with one end L of a right shock absorber (12) and one end J of a left shock absorber (13), the other end of the right shock absorber (12) is rotatably connected with a point K of a right upper pull rod (6), the other end of the left shock absorber (13) is rotatably connected with a point I of a left upper pull rod (7), relative rotating axes at the connecting point W, U, K, L, I, J are parallel and perpendicular to a vehicle vertical plane, the right shock absorber (12) and the left shock absorber (13) are equal in length and same in performance, WU (KL) is equal to IJ, WK (WI) is equal to UJ, one end of a restraint rod (16) is rotatably connected with a point X of the vehicle frame (15), The other end of the balance rod is rotationally connected with a Z point of a balance rod (14), WU is equal to XZ, WX is equal to UZ, the lengths of a right lower pull rod (2) and a left lower pull rod (3) are equal, the lengths of a right knuckle spindle (4) and a left knuckle spindle (5) are equal, and the lengths of a right upper pull rod (6) and a left upper pull rod (7) are equal, so that a side-tipping mechanism is formed;
the included angle between a vehicle body (1) and a vehicle frame (15) is an actuating angle α, the included angle between a vertical plane in the vehicle body and a central vertical plane of the vehicle is a vehicle body side inclination angle β, the roll attitude of the vehicle body (1) is controlled by the actuating angle β 0, when α is 0, β is 0, the vehicle body does not roll, when α is 0, β is not equal to 0, the vehicle body rolls, a roll function β of the relationship between the vehicle body side inclination angle β and the actuating angle α of a roll mechanism is f (α), and wheels do not roll in the roll process of the vehicle body.
The steering mechanism described above includes: a right steering knuckle spindle (4) and a right steering knuckle (8) in the roll mechanism, a left steering knuckle spindle (5) and a left steering knuckle (9), a steering swing arm (17), a right steering arm (18), a left steering arm (19), a right connecting rod (20) and a left connecting rod (21) in the roll mechanism, an axis intersection point M of the right steering knuckle spindle (4) and the right steering knuckle (8), and the right steering arm (18) and the right steering knuckle (8) form a whole
The angle is fixedly connected and rotates around a CD (compact disc) together, the axis intersection point N of the left steering knuckle spindle (5) and the left steering knuckle (9) is formed, and the left steering arm (19) and the left steering knuckle (9) are the same
The angle is fixedly connected and rotates around a GH together; one end of a steering swing arm (17) is rotationally connected with an O point of a frame (15), the rotation axis is positioned in the central vertical plane of the vehicle and is parallel to the transverse plane of the vehicle, one end of a right connecting rod (20) is connected with an S point ball hinge at the tail end of the right steering arm (18), the other end of the right connecting rod is connected with a P point ball hinge of the steering swing arm (17), one end of a left connecting rod (21) is connected with a T point ball hinge at the tail end of a left steering arm (19), the other end of the left connecting rod is connected with a Q point ball hinge of the steering swing arm (17), OP (OQ) is obtained, the right steering arm (18) is equal to the left steering arm (19), the right connecting rod (20) is equal to the left connecting rod (;
wherein: the included angle between the steering swing arm (17) and the frame (15) is a steering angle theta, the directions of the left wheel and the right wheel are controlled by the steering angle theta, when the steering angle theta is 0, the included angle between the right steering arm (18) and the vehicle transverse plane is equal to the included angle between the left steering arm (19) and the vehicle transverse plane, and the included angles are all
The vehicle runs straight; when the steering angle theta is not equal to 0, the deflection angle theta of the outer wheeleAnd inner wheel deflection angle thetaiThe Ackerman steering condition is met, and the vehicle can steer to run.
The vehicle body roll linkage mechanism is formed by a roll mechanism and a steering mechanism, a frame does not roll and wheels do not roll in the vehicle body roll process, the roll mechanism and the steering mechanism move independently, the independent control of the vehicle body roll and the vehicle steering is realized by taking an actuating angle α and a steering angle theta as control parameters, and the steering return of the left and right wheels and the straight-line driving stability are realized by the inward inclination and the backward inclination of main shafts of left and right steering knuckles and the outward inclination and the toe-in of the left and right wheels.
In the vehicle body roll linkage mechanism, a vehicle body roll center W is positioned in a vehicle central vertical plane, the height of the vehicle body roll center W from the ground is determined by the relative position of W and BF, when the distance h between W and BF is set to be 0, W is overlapped with BF, when h is less than 0, W is positioned below BF, when h is more than 0, W is positioned above BF, two ends of a balance rod (14) are respectively and rotatably connected with one end L of a right shock absorber (12) and one end J of a left shock absorber (13), when h is larger, the other end of the right shock absorber (12) is rotatably connected with a K point of a right upper pull rod (6), the other end of the left shock absorber (13) is rotatably connected with an I point of a left upper pull rod (7), the vehicle body roll linkage mechanism is called as an upper pull vehicle body roll linkage mechanism, when h is smaller, the other end of the right shock absorber (12) is rotatably connected with the K point of a right lower pull rod (2), the other end of the left shock absorber (13) is rotatably connected with the I point of a left lower pull rod (3), the vehicle body roll linkage mechanism is called as a lower pull linkage mechanism, and the vehicle body roll linkage mechanism meets the conditions of WU < J > 84, and the same condition of a UL < W < J > 83 and the same vehicle wheel process is not satisfied.
In the vehicle body roll linkage mechanism, when the connecting points L, U, J on the balance bar (14) are collinear, the corresponding connecting points K, W, I are theoretically collinear; the balance bar (14) upper attachment point L, U, J is located at radius R0Is located at the radius R theoretically, the corresponding connection point K, W, I is located at the radius R0And on the other circumference, if the conditions of KL to IJ and WK to WI to UL to UJ are satisfied, the same roll function β to f (α) is satisfied and the vehicle wheel does not roll during the rolling of the vehicle body.
In the above-described body roll linkage mechanism, the actuation angle α is generated by an actuator, the actuator is an electromagnetic actuator, an electromechanical actuator, or an electrohydraulic actuator, the roll mechanism position is determined by the actuation angle α, and the body roll angle β is obtained by the roll function β being equal to f (α).
In the above-mentioned car body heeling linkage mechanism, the steering angle θ is generated by a steering gear, and the steering gear is a rack and pinion steering gear, or a worm crank pin type steering gear, or a recirculating ball type steering gear; determining the position of the steering mechanism according to the steering angle thetaeInner wheel deflection angle thetaiAnd the Ackerman steering condition is met, and the turning radius R of the vehicle is obtained.
A non-steering wheel vehicle body roll mechanism is composed of a roll mechanism: the right knuckle (8) is connected with right knuckle spindle (4) around its axis CD rotation and is changed into perpendicular solid connection, and left knuckle (9) is connected with left knuckle spindle (5) around its axis GH rotation and is changed into perpendicular solid connection and form, includes: a vehicle body (1), a right lower pull rod (2), a left lower pull rod (3), a right steering knuckle spindle (4), a left steering knuckle spindle (5), a right upper pull rod (6), a left upper pull rod (7), a right steering knuckle (8), a left steering knuckle (9), a right wheel (10), a left wheel (11), a right shock absorber (12), a left shock absorber (13), a balance rod (14), a vehicle frame (15) and a restraint rod (16), sequentially and rotatably connecting the frame (15), the right lower pull rod (2), the right knuckle spindle (4) and the right upper pull rod (6), wherein the relative rotation axes at the connecting point B, C, D, A are parallel and vertical to the vehicle transverse plane to form a quadrilateral ABCD with the same relative movement plane, the right knuckle (8) is vertically and fixedly connected with the right knuckle spindle (4), the right knuckle (8) is connected with the right wheel (10), and the rotation axes of the right wheel are positioned in the vehicle transverse plane; sequentially and rotatably connecting a frame (15), a left lower pull rod (3), a left steering knuckle spindle (5) and a left upper pull rod (7), wherein the relative rotation axes at a connecting point F, G, H, E are parallel and vertical to the vehicle transverse plane to form a quadrilateral EFGH of the same relative movement plane, a left steering knuckle (9) is vertically and fixedly connected with the left steering knuckle spindle (5), the left steering knuckle (9) is connected with a left wheel (11), the rotation axis of the left wheel is positioned in the vehicle transverse plane, and the upper connecting point A, B of the frame (15) is respectively symmetrical to E, F about the vehicle central longitudinal vertical plane; the vehicle body (1) is rotatably connected with the vehicle frame (15), a connecting point W is positioned in a vehicle body vertical plane, the W is positioned in a vehicle central vertical plane, the middle point of a balance rod (14) is rotatably connected with the vehicle body (1), a connecting point U is positioned in the vehicle body vertical plane, two ends of the balance rod (14) are respectively rotatably connected with one end L of a right shock absorber (12) and one end J of a left shock absorber (13), the other end of the right shock absorber (12) is rotatably connected with a point K of a right upper pull rod (6), the other end of the left shock absorber (13) is rotatably connected with a point I of a left upper pull rod (7), relative rotating axes at the connecting point W, U, K, L, I, J are parallel and perpendicular to a vehicle vertical plane, the right shock absorber (12) and the left shock absorber (13) are equal in length and same in performance, WU (KL) is equal to IJ, WK (WI) is equal to UJ, one end of a restraint rod (16) is rotatably connected with a point X of the vehicle frame (15), The other end of the steering mechanism is rotationally connected with a Z point of a balance rod (14), WU is XZ, WX is UZ, the length of a right lower pull rod (2) is equal to that of a left lower pull rod (3), the length of a right knuckle spindle (4) is equal to that of a left knuckle spindle (5), the length of a right upper pull rod (6) is equal to that of a left upper pull rod (7), and a non-steering wheel vehicle body side-tipping mechanism is formed;
the included angle between a vehicle body (1) and a vehicle frame (15) is an actuating angle α, the included angle between a vertical plane in the vehicle body and a central vertical plane of the vehicle is a vehicle body side inclination angle β, the vehicle body (1) rolling posture is controlled by the actuating angle β 0, when α is 0, β is 0, the vehicle body does not roll, when α is 0, β is 0, the vehicle body rolls, a rolling function β of the relationship between the vehicle body side inclination angle β and the actuating angle α of the non-steering wheel vehicle body rolling mechanism is f (α), and wheels do not roll in the vehicle body rolling process.
In the non-steering wheel roll mechanism, a roll center W is positioned in a vehicle central vertical plane, the height of the roll center W from the ground is determined by the relative position of W and BF, when the distance h between W and BF is set to be 0, W is overlapped with BF, when h is less than 0, W is positioned below BF, when h is more than 0, W is positioned above BF, two ends of a balance rod (14) are respectively rotatably connected with one end L of a right shock absorber (12) and one end J of a left shock absorber (13), when h is larger, the other end of the right shock absorber (12) is rotatably connected with a point K of a right upper pull rod (6), the other end of the left shock absorber (13) is rotatably connected with a point I of a left upper pull rod (7), when h is smaller, the other end of the right shock absorber (12) is rotatably connected with a point K of a right lower pull rod (2), the other end of the left shock absorber (13) is rotatably connected with a point I of a left lower pull rod (3), and when IJ is satisfied, WUf and the same vehicle body roll center W is equal to a same vehicle body vertical plane and Uf and a same condition is not satisfied, and a vehicle height is equal to a same vehicle height of a same vehicle as WUf and a same condition.
Front wheel steering active side-tipping four-wheel vehicleThe vehicle includes: a group of vehicle body rolling linkage mechanisms and a group of non-steering wheel vehicle body rolling mechanisms are arranged on the same vehicle body according to a given axle distance L0The front-rear wheel type active-heeling four-wheel vehicle has the advantages that the front-rear wheel type active-heeling four-wheel vehicle is arranged in front and rear, shares the same frame, has the same vehicle central vertical plane, is driven by the double front wheels and the double rear wheels, controls the vehicle body heeling by the vehicle body heeling linkage mechanism, is adaptively changed by the actuating angle α in the non-heeling wheel vehicle body heeling mechanism, and is adaptively heeled by the non-heeling wheel vehicle body heeling mechanism, so that the front-wheel steering active-heeling four-wheel vehicle is formed, the.
The tricycle with the front wheel steered and actively inclined and tilted comprises a tricycle body; is preceded by a set of body-side-tipping linkages, on the same body, according to a given wheelbase L0The single wheel is arranged at the rear part and shares the central vertical plane of the same vehicle, the double front wheels are used for steering, the rear wheel is used for driving, the vehicle body side-tipping linkage mechanism is used for controlling the vehicle body to side-tipping, and the single rear wheel and the vehicle body side-tipping together form a front wheel steering and active side-tipping tricycle; has the characteristics of small volume, mobility and flexibility.
The positive tricycle that leans is initiatively leaned on to front wheel steering includes: the rear part of a non-steering wheel vehicle body side-tipping mechanism is arranged on the same vehicle body according to a given wheel base L0The single wheel is arranged in front and shares the central vertical plane of the same vehicle, the double rear wheel drives, the front wheel steers, the non-steering wheel vehicle body tilting mechanism controls the vehicle body to tilt, the single front wheel tilts with the vehicle body together to form the front wheel steering active tilting positive tricycle; the device has the characteristics of large bearing capacity, small turning radius and good ground adaptability.
The rear wheel steering active side-tipping tricycle includes: with a set of non-steering wheels, arranged in front of the body-rolling mechanism, on the same body, according to a given wheel base L0The single wheel is arranged at the rear part and shares the central vertical plane of the same vehicle, the double front wheels drive and the rear wheel steer, the non-steering wheel vehicle body side-tipping mechanism controls the vehicle body to tip, and the single rear wheel and the vehicle body side-tipping together form the rear wheel steering active side-tipping tricycle; has the characteristics of large climbing capacity, small volume, mobility and flexibility.
In the active roll vehicle using the body roll linkage mechanism, a left side and a right side are providedDistance K between main shafts of steering knuckles0The vehicle running speed v and the gravity acceleration g are adopted, the vehicle body side-tipping linkage mechanism is a two-degree-of-freedom motion system, and the vehicle body side-tipping and the vehicle steering can be independently carried out or simultaneously finished, so that three operation modes of turning side-tipping, independent side-tipping or independent steering can be realized in the vehicle running process:
①, when the vehicle turns at high speed, the steering angle theta is given, and the steering gear is driven by the steering gear to obtain the deflection angle theta of the outer wheelseInner wheel deflection angle thetaiAnd the Ackerman steering condition is met: cot (theta)e)-cot(θi)＝K0/L0The turning radius R is L0cot(θi)+K0Per 2, force balance in cornering mg × tan β ═ mv2R, from tan β ═ v2Solving a vehicle body roll angle β, obtaining an actuating angle α from a roll function β ═ f (α), and generating the actuating angle α by an actuator to drive a roll mechanism so as to roll the vehicle body and resist the turning centrifugal force to keep the stability of the vehicle running at high speed;
②, when the vehicle runs on a transverse slope ground, dynamically reading a ground transverse slope angle p by an inclination angle sensor, taking a vehicle side inclination angle β as-p, obtaining an actuating angle α by a roll function β as f (α), and generating an actuating angle α by an actuator to drive a roll mechanism so as to realize vehicle body roll and resist the side turning force of the vehicle caused by terrain change, thereby keeping the stable running posture of the vehicle;
③, when the vehicle runs at low speed, α is 0, β is 0, theta can be arbitrarily taken within a certain range, and the steering gear is driven by the steering gear to obtain the corresponding outer wheel deflection angle thetaeInner wheel deflection angle thetaiThe Ackerman steering condition is met, low-speed running and steering without heeling are realized, and the running smoothness of the vehicle is kept.
In the active-roll tricycle using the non-steered wheel body-roll mechanism, the vehicle running speed v and the gravity acceleration g are set, when the vehicle runs on a curve, the steering angle theta is given by single-wheel steering, and the turning radius R is equal to L0The ratio of mg × tan β to mv satisfies the force balance condition during turning2R, from tan β ═ v2/(g × R) the roll angle β is solved,the method comprises the steps of obtaining an actuating angle α by a roll function β ═ f (α), driving a non-steering wheel vehicle body roll mechanism by an actuating angle α generated by an actuator to realize vehicle body roll and resist turning centrifugal force so as to keep the stability of the vehicle in curve running, dynamically reading a ground transverse gradient angle p by an inclination angle sensor when the vehicle runs on a transverse gradient ground, obtaining a vehicle body roll angle β ═ p, obtaining an actuating angle α by a roll function β ═ f (α), and driving the non-steering wheel vehicle body roll mechanism by an actuating angle α generated by the actuator to realize vehicle body roll and resist terrain change to cause vehicle roll force so as to keep the stable running posture of the vehicle.
The invention has the beneficial effects that the provided vehicle body side-tipping linkage mechanism and the active side-tipping vehicle applying the mechanism realize the independent control of the vehicle steering and the vehicle body side-tipping movement by the rotation of the vehicle body relative to the vehicle frame, and the wheels do not side-tipping in the vehicle body side-tipping process, thereby being suitable for the general car tire; the vehicle body active side-tipping device is applied to vehicle steering, so that the vehicle can automatically tip at a certain angle to resist centrifugal force or side-tipping force when passing a bend or a slope road surface, and a stable driving posture is kept.
Drawings
FIG. 1 is a diagrammatic view of a roll mechanism;
FIG. 2 is a schematic view of a steering mechanism;
FIG. 3 is a schematic diagram of the roll linkage mechanism of the vehicle body;
FIG. 4 is a schematic diagram of the drop-down body roll linkage assembly;
FIG. 5 is a schematic diagram of the assembly of the pull-up type car body side-tipping linkage mechanism;
FIG. 6 is a schematic view of a non-steerable wheel vehicle body roll mechanism;
FIG. 7 is a three-dimensional schematic diagram of a non-steerable wheel body roll mechanism;
FIG. 8 is a schematic diagram of the roll operation of the roll linkage;
FIG. 9 is a schematic view of the steering operation of the body roll linkage;
FIG. 10 is a schematic diagram of a body roll linkage for cross-slope roll travel;
FIG. 11 is a schematic diagram of a front wheel steering actively heeled four-wheel vehicle assembly;
FIG. 12 is a schematic diagram of the front wheel steering active side-tipping tricycle assembly;
FIG. 13 is a schematic diagram of a front wheel steering actively heeling positive tricycle;
FIG. 14 is a schematic diagram of the rear wheel steering active side-tipping tricycle;
in the figure: 1-vehicle body, 2-right lower pull rod, 3-left lower pull rod, 4-right knuckle spindle, 5-left knuckle spindle, 6-right upper pull rod, 7-left upper pull rod, 8-right knuckle, 9-left knuckle, 10-right wheel, 11-left wheel, 12-right shock absorber, 13-left shock absorber, 14-balancing rod, 15-vehicle frame, 16-restraining rod, 17-steering swing arm, 18-right steering arm, 19-left steering arm, 20-right connecting rod and 21-left connecting rod.
Detailed Description
Embodiments of the present invention are described below with reference to the accompanying drawings;
the vehicle body roll linkage mechanism consists of a roll mechanism and a steering mechanism (shown in figure 3);
fig. 1 shows a diagrammatic view of a roll mechanism comprising: a vehicle body (1), a right lower pull rod (2), a left lower pull rod (3), a right knuckle spindle (4), a left knuckle spindle (5), a right upper pull rod (6), a left upper pull rod (7), a right knuckle (8), a left knuckle (9), a right wheel (10), a left wheel (11), a right shock absorber (12), a left shock absorber (13), a balancing rod (14), a vehicle frame (15) and a restraint rod (16), sequentially and rotatably connecting the frame (15), the right lower pull rod (2), the right knuckle spindle (4) and the right upper pull rod (6), wherein each relative rotation axis at a connecting point B, C, D, A is parallel to and perpendicular to the vehicle transverse plane to form a quadrilateral ABCD of the same relative movement plane, the right knuckle (8) and the right knuckle spindle (4) are rotatably connected around the axis CD of the right knuckle spindle, and the right knuckle (8) is connected with a right wheel (10) and controls the direction of the right wheel; sequentially and rotatably connecting a frame (15), a left lower pull rod (3), a left steering knuckle spindle (5) and a left upper pull rod (7), wherein the relative rotation axes at the connecting point F, G, H, E are parallel and vertical to the transverse plane of the vehicle to form a quadrilateral EFGH of the same relative movement plane, the left steering knuckle (9) is rotatably connected with the left steering knuckle spindle (5) around the axis GH thereof, the left steering knuckle (9) is connected with a left wheel (11) and controls the direction thereof, and the upper connecting points A, B of the frame (15) are respectively symmetrical with E, F about the central vertical plane of the vehicle; the vehicle body (1) is rotatably connected with the vehicle frame (15), a connecting point W is positioned in a vehicle body vertical plane, the W is positioned in a vehicle central vertical plane, the middle point of a balance rod (14) is rotatably connected with the vehicle body (1), a connecting point U is positioned in the vehicle body vertical plane, two ends of the balance rod (14) are respectively rotatably connected with one end L of a right shock absorber (12) and one end J of a left shock absorber (13), the other end of the right shock absorber (12) is rotatably connected with a point K of a right upper pull rod (6), the other end of the left shock absorber (13) is rotatably connected with a point I of a left upper pull rod (7), relative rotating axes at the connecting point W, U, K, L, I, J are parallel and perpendicular to a vehicle vertical plane, the right shock absorber (12) and the left shock absorber (13) are equal in length and same in performance, WU (KL) is equal to IJ, WK (WI) is equal to UJ, one end of a restraint rod (16) is rotatably connected with a point X of the vehicle frame (15), The other end of the balance rod is rotationally connected with a Z point of a balance rod (14), WU is XZ, WX is UZ, the right lower pull rod (2) is equal to the left lower pull rod (3) in length, BC is FG, the right knuckle spindle (4) is equal to the left knuckle spindle (5) in length, CD is GH, the right upper pull rod (6) is equal to the left upper pull rod (7) in length, AD is EH, the right knuckle (8) is equal to the left knuckle (9) in length, the right wheel (10) is equal to the left wheel (11) in radius, and a roll mechanism is formed;
the included angle between a vehicle body (1) and a vehicle frame (15) is an actuating angle α, the included angle between a vertical plane in the vehicle body and a central vertical plane of the vehicle is a vehicle body side inclination angle β, the roll attitude of the vehicle body (1) is controlled by the actuating angle β 0, when β 2 is 0, β 1 is 0 and the vehicle body does not roll, when β 3 is not equal to 0, β 4 is not equal to 0 and the vehicle body rolls (as shown in fig. 8), a roll function β of the relation between the vehicle body side inclination angle β 6 and the actuating angle β 5 of a roll mechanism is f (α), wheels do not roll and the wheel pitch of the vehicle is not changed in the process of rolling the vehicle body, when the roll function β is α > 0, β is greater than 0, the vehicle body rolls left and α is less than 0, and β is less than 0 and the vehicle body rolls right.
The steering mechanism shown in fig. 2 is a schematic view, the steering mechanism comprising: a right steering knuckle spindle (4) and a right steering knuckle (8) in the roll mechanism, a left steering knuckle spindle (5) and a left steering knuckle (9) in the roll mechanism, a steering swing arm (17), a right steering arm (18), a left steering arm (19), a right connecting rod (20), a left connecting rod (21), an axis intersection point M of the right steering knuckle spindle (4) and the right steering knuckle (8), and a right steering arm (18) and the right steering knuckle (8)A steering knuckle (8) is
The angle is fixedly connected and rotates around a CD (compact disc) together, the axis intersection point N of the left steering knuckle spindle (5) and the left steering knuckle (9) is formed, and the left steering arm (19) and the left steering knuckle (9) are the same
The angle is fixedly connected and rotates around a GH together; one end of a steering swing arm (17) is rotatably connected with a point O of a frame (15), the rotating axis is positioned in the central vertical plane of the vehicle and is parallel to the transverse plane of the vehicle, one end of a right connecting rod (20) is connected with a point S ball hinge at the tail end of the right steering arm (18), the other end of the right connecting rod is connected with a point P ball hinge of the steering swing arm (17), one end of a left connecting rod (21) is connected with a point T ball hinge at the tail end of a left steering arm (19), the other end of the left connecting rod is connected with a point Q ball hinge of the steering swing arm (17), OP is OQ, the right steering arm (18) is equal to the left steering arm (19), MS is NT, the right connecting rod (20) is equal to the left connecting rod (21), and SP is TQ, so that a steering;
wherein: the included angle between the steering swing arm (17) and the frame (15) is a steering angle theta, the directions of the left wheel and the right wheel are controlled by the steering angle theta, when the steering angle theta is 0, the included angle between the right steering arm (18) and the vehicle transverse plane is equal to the included angle between the left steering arm (19) and the vehicle transverse plane, and the included angles are all
The vehicle runs straight; when the steering angle theta is not equal to 0, the deflection angle theta of the outer wheeleAnd inner wheel deflection angle thetaiThe ackermann steering condition is satisfied and the vehicle is steered to run (as shown in fig. 9).
The vehicle body roll linkage mechanism shown in fig. 3 is a schematic diagram, the vehicle body roll linkage mechanism is formed by a roll mechanism and a steering mechanism, a vehicle frame does not roll and wheels do not roll in the vehicle body roll process, the roll mechanism and the steering mechanism move independently, the vehicle body roll and the vehicle steering are independently controlled by taking an actuating angle α and a steering angle theta as control parameters, and the steering correction and the straight line driving stability of the left and the right wheels are realized by the inward inclination and the backward inclination of main shafts of left and the right steering knuckles and the outward inclination and the toe-in of the left and the right wheels.
The vehicle body roll linkage mechanism shown in fig. 3, 4 and 5 is composed of a schematic diagram, wherein in the vehicle body roll linkage mechanism, a vehicle body roll center W is positioned in a vehicle central vertical plane, the height of the vehicle body roll center W from the ground is determined by the relative position of W and BF, when the distance h between W and BF is set, W is overlapped with BF, when h is less than 0, W is positioned at the lower side of BF, when h is more than 0, W is positioned at the upper side of BF (shown in fig. 3), two ends of a balance rod (14) are respectively rotatably connected with one end L of a right shock absorber (12) and one end J of a left shock absorber (13), when h is larger and h is larger than 2/3 AB, the other end of the right shock absorber (12) is rotatably connected with a point K of a right upper pull rod (6), the other end of the left shock absorber (13) is rotatably connected with a point I of a left upper pull rod (7), the vehicle body roll linkage mechanism is called as an upper pull-up roll linkage mechanism (shown in fig. 5), when h is smaller and h is not larger than h is equal to or smaller than h, the lower end of a vehicle body roll linkage mechanism (2/3), and the vehicle body roll linkage mechanism is called a vehicle body roll linkage mechanism (13) and the left pull-down link is called as a vehicle body roll linkage mechanism (13) and meets the condition that the rotating point I3, and the rotating condition that the rotating point of a vehicle body roll linkage mechanism is satisfied.
Fig. 3 and 5 are schematic diagrams of the body roll linkage mechanism, in which when the connection points L, U, J on the stabilizer bar (14) are collinear, the corresponding connection points K, W, I are theoretically collinear (as shown in fig. 3); the balance bar (14) upper attachment point L, U, J is located at radius R0Is located at the radius R theoretically, the corresponding connection point K, W, I is located at the radius R0On the other circumference (as shown in fig. 5), the same roll function β f (α) is satisfied and the wheel does not roll during the roll of the vehicle body if the conditions WU KL IJ and WK WI UL UJ are satisfied.
The vehicle body roll linkage mechanism shown in fig. 4 and 5 is composed of a principle diagram, wherein when a connection point Z of a restraint rod (16) is collinear with UL or UJ, another connection point X is correspondingly collinear with WK or WI theoretically (as shown in fig. 4), when the connection point Z of the restraint rod (16) is positioned on a circle with a radius R1 and U, L or U, J is positioned on another circle with a radius R1 and W, K or W, I theoretically (as shown in fig. 5), the condition that WU is XZ and WX is UZ is met, the same roll function β f (α) is met, and wheels do not roll in the vehicle body roll process.
The body roll linkage mechanism shown in fig. 3, 4 and 5 is composed of a principle diagram, wherein in the body roll linkage mechanism, a ball hinge is selected from rod end joint bearings GB/T9161 and 2001 or radial joint bearings GB/T9163 and 2001, an actuating angle α is generated by an actuator, the actuator is selected from an electromagnetic actuator, an electromechanical actuator or an electrohydraulic actuator, an actuator output shaft drives a vehicle body in the body roll linkage mechanism to rotate relative to the vehicle frame at a point W, the position of the roll mechanism is determined by an actuating angle α, a vehicle body roll angle β is obtained by a roll function β -f (α), a steering angle theta is generated by a steering gear, a rack and pinion steering gear or a worm crank pin steering gear or a circulating steering gear, a steering gear output shaft drives a steering swing arm in the body roll linkage mechanism to rotate relative to the vehicle frame, the position of the steering mechanism is determined by a steering angle theta, and the steering mechanism position is determined by the steering angle theta corresponding to an outer wheel deflection angleeInner wheel deflection angle thetaiAnd the Ackerman steering condition is met, and the turning radius R of the vehicle is obtained.
The non-steered wheel roll mechanism shown in fig. 6 is a schematic view of a non-steered wheel roll mechanism, and the roll mechanism is composed of: the right knuckle (8) is connected with right knuckle spindle (4) around its axis CD rotation and is changed into perpendicular solid connection, and left knuckle (9) is connected with left knuckle spindle (5) around its axis GH rotation and is changed into perpendicular solid connection and form, includes: a vehicle body (1), a right lower pull rod (2), a left lower pull rod (3), a right steering knuckle spindle (4), a left steering knuckle spindle (5), a right upper pull rod (6), a left upper pull rod (7), a right steering knuckle (8), a left steering knuckle (9), a right wheel (10), a left wheel (11), a right shock absorber (12), a left shock absorber (13), a balance rod (14), a vehicle frame (15) and a restraint rod (16), sequentially and rotatably connecting the frame (15), the right lower pull rod (2), the right knuckle spindle (4) and the right upper pull rod (6), wherein the relative rotation axes at the connecting point B, C, D, A are parallel and vertical to the vehicle transverse plane to form a quadrilateral ABCD with the same relative movement plane, the right knuckle (8) is vertically and fixedly connected with the right knuckle spindle (4), the right knuckle (8) is connected with the right wheel (10), and the rotation axes of the right wheel are positioned in the vehicle transverse plane; sequentially and rotatably connecting a frame (15), a left lower pull rod (3), a left steering knuckle spindle (5) and a left upper pull rod (7), wherein the relative rotation axes at a connecting point F, G, H, E are parallel and vertical to the vehicle transverse plane to form a quadrilateral EFGH of the same relative movement plane, a left steering knuckle (9) is vertically and fixedly connected with the left steering knuckle spindle (5), the left steering knuckle (9) is connected with a left wheel (11), the rotation axis of the left wheel is positioned in the vehicle transverse plane, and the upper connecting point A, B of the frame (15) is respectively symmetrical to E, F about the vehicle central longitudinal vertical plane; the vehicle body (1) is rotatably connected with the vehicle frame (15), a connecting point W is positioned in a vehicle body vertical plane, the W is positioned in a vehicle central vertical plane, the middle point of a balance rod (14) is rotatably connected with the vehicle body (1), a connecting point U is positioned in the vehicle body vertical plane, two ends of the balance rod (14) are respectively rotatably connected with one end L of a right shock absorber (12) and one end J of a left shock absorber (13), the other end of the right shock absorber (12) is rotatably connected with a point K of a right upper pull rod (6), the other end of the left shock absorber (13) is rotatably connected with a point I of a left upper pull rod (7), relative rotating axes at the connecting point W, U, K, L, I, J are parallel and perpendicular to a vehicle vertical plane, the right shock absorber (12) and the left shock absorber (13) are equal in length and same in performance, WU (KL) is equal to IJ, WK (WI) is equal to UJ, one end of a restraint rod (16) is rotatably connected with a point x of the vehicle frame (15), The other end of the balance rod is rotationally connected with a Z point of a balance rod (14), WU is XZ, WX is UZ, the right lower pull rod (2) is equal to the left lower pull rod (3) in length, BC is FG, the right knuckle spindle (4) is equal to the left knuckle spindle (5) in length, CD is GH, the right upper pull rod (6) is equal to the left upper pull rod (7) in length, AD is EH, the right knuckle (8) is equal to the left knuckle (9) in length, the right wheel (10) is equal to the left wheel (11) in radius, and a non-steering wheel vehicle body roll mechanism is formed (shown in figure 7);
the included angle between a vehicle body (1) and a vehicle frame (15) is an actuating angle α, the included angle between a vertical plane of the vehicle body and a central vertical plane of the vehicle is a vehicle body side inclination angle β, the roll attitude of the vehicle body (1) is controlled by the actuating angle β 0, when β 2 is 0, β 1 is 0, the vehicle body does not roll, when β 3 is 0, β 4 is 0 and the vehicle body rolls, a roll function β of the relationship between the vehicle body side inclination angle β 6 and the actuating angle β 5 of a non-steering wheel vehicle body roll mechanism is f (α), when the vehicle body rolls, wheels do not roll, the vehicle wheel pitch does not change, when a roll function β is α is 0, β is greater than 0, the vehicle body rolls left, when α is less than 0, β is less than 0, and the vehicle body right.
The non-steering wheel roll mechanism shown in fig. 6 and 7 is characterized in that a roll center W is located in a vertical plane of a vehicle center, the height of the roll center W from the ground is determined by the relative position of W and BF, when the distance between W and BF is set as h, W is overlapped with BF when h is less than 0, W is located below BF, when h is greater than 0, W is located above BF, two ends of a balance rod (14) are respectively rotationally connected with one end L of a right shock absorber (12) and one end J of a left shock absorber (13), when h is greater, the other end of the right shock absorber (12) is rotationally connected with a point K of a right upper tie rod (6), the other end of the left shock absorber (13) is rotationally connected with a point I of a left upper tie rod (7), when h is smaller, the other end of the right shock absorber (12) is rotationally connected with a point K of a right lower tie rod (2), the other end of the left shock absorber (13) is rotationally connected with a point I of a left lower tie rod (3), and the other end of the left shock absorber (13) is rotationally connected with a point I, W35F, and the same roll function of Uf and K (84) and the process of the same vehicle wheel does not satisfy the same condition of WK, and the same condition of WK (W) and the same roll function of.
Fig. 11 is a schematic diagram of a front-wheel steering active-roll four-wheel vehicle including: a group of vehicle body rolling linkage mechanisms and a group of non-steering wheel vehicle body rolling mechanisms are arranged on the same vehicle body according to a given axle distance L0The front and rear wheels are arranged in front and rear, share the same frame and have the same vehicle central longitudinal vertical plane, the same named rod pieces in the front mechanism and the rear mechanism have the same length, the same shape and the same geometric dimension, the wheel track of the front wheel is equal to the wheel track of the rear wheel, the double front wheels are steered, the double rear wheels are driven by a hydraulic motor, the four wheels are all driven by universal car tires GB 9743 plus 2007, a vehicle body side-tipping linkage mechanism controls the vehicle body to tip, an actuating angle α in a non-steered wheel vehicle body side-tipping mechanism is changed in a self-adaptive mode, and the non-steered wheel vehicle body side-tipping mechanism is self-adaptively tipped to form a front wheel steering active side-tipping four-wheel vehicle.
Fig. 12 is a schematic diagram of a front-wheel steering active-side-dump tricycle, including: is preceded by a set of body-side-tipping linkages, on the same body, according to a given wheelbase L0Single wheel rear-mounted, double front wheel steering, single wheel sharing the same vehicle central vertical planeThe rear wheel is connected to the vehicle body through a swing arm and a shock absorber, the rear wheel is driven by a hub motor, the double front wheels adopt a universal car tire GB 9743 and 2007, the rear wheel adopts a motorcycle tire GB518-2007 with a circular arc-shaped section, the vehicle body side-tipping linkage mechanism controls the vehicle body to side-tip, and the single rear wheel and the vehicle body side-tip together form a front wheel steering and active side-tipping tricycle; has the characteristics of small volume, mobility and flexibility.
Fig. 13 is a schematic diagram of a front-wheel steering active-roll positive tricycle, including: the rear part of a non-steering wheel vehicle body side-tipping mechanism is arranged on the same vehicle body according to a given wheel base L0The single wheel is arranged in front and shares the central vertical plane of the same vehicle, the hub motors of the double rear wheels are driven, the front wheels are steered, the double rear wheels adopt universal car tires GB 9743-; the device has the characteristics of large bearing capacity, small turning radius and good ground adaptability.
Fig. 14 is a schematic diagram showing a rear-wheel steering active-side-dump tricycle, including: with a set of non-steering wheels, arranged in front of the body-rolling mechanism, on the same body, according to a given wheel base L0The single wheel is arranged at the rear and shares the central vertical plane of the same vehicle, the hub motors of the double front wheels are driven, the rear wheels are steered, the double front wheels adopt general car tires GB 9743-; has the characteristics of large climbing capacity, small volume, mobility and flexibility.
Combining the schematic diagrams of the operation of the roll linkage shown in fig. 8, 9 and 10 and the active roll vehicle using the roll linkage shown in fig. 11 and 12, the distance K between the main axes of the left and right knuckles is set0The running speed v and the gravity acceleration g of the vehicle, and the body side-tipping linkage mechanism are a two-degree-of-freedom motion system, and the body side-tipping and the vehicle steering can be realizedThe method can be independently carried out or simultaneously finished, so that three operation modes of turning and rolling, independent rolling or independent turning can be realized in the running process of the vehicle;
①, when the vehicle turns at high speed, the steering angle theta is given, and the steering gear is driven by the steering gear to obtain the deflection angle theta of the outer wheelseInner wheel deflection angle thetaiAnd the Ackerman steering condition is met: cot (theta)e)-cot(θi)＝K0/L0The turning radius R is L0cot(θi)+K0Per 2, force balance in cornering mg × tan β ═ mv2R, from tan β ═ v2Solving a vehicle body roll angle β, obtaining an actuating angle α from a roll function β ═ f (α), and generating the actuating angle α by an actuator to drive a roll mechanism so as to roll the vehicle body and resist the turning centrifugal force to keep the stability of the vehicle running at high speed;
②, when the vehicle runs on a transverse slope ground, dynamically reading a ground transverse slope angle p (as shown in fig. 10) by an inclination angle sensor, taking a vehicle side inclination angle β as-p, obtaining an actuating angle α by a roll function β as f (α), and generating an actuating angle α by an actuator to drive a roll mechanism so as to realize vehicle body roll and resist the vehicle side-turning force caused by terrain change to keep the stable running posture of the vehicle;
③, when the vehicle runs at low speed, α is 0, β is 0, theta can be arbitrarily taken within a certain range, and the steering gear is driven by the steering gear to obtain the corresponding outer wheel deflection angle thetaeInner wheel deflection angle thetaiThe Ackerman steering condition is met, low-speed running and steering without heeling are realized, and the running smoothness of the vehicle is kept.
In conjunction with the non-steered wheel body roll mechanism shown in fig. 6 and 7 and the active roll tricycle using the non-steered wheel body roll mechanism shown in fig. 13 and 14, the vehicle running speed v and the gravitational acceleration g are set so that the vehicle runs on a curve with a steering angle θ given by one-wheel steering and a turning radius R equal to L0The ratio of mg × tan β to mv satisfies the force balance condition during turning2R, from tan β ═ v2/(g × R) the roll angle β is solved, the actuation angle α is obtained from the roll function β ═ f (α), and the actuation angle α is generated by the actuatorWhen the vehicle runs on a transverse gradient ground, a ground transverse gradient angle p is dynamically read by an inclination angle sensor, a vehicle side inclination angle β is taken as-p, an actuating angle α is obtained by a rolling function β as f (α), and the actuating angle α is generated by an actuator to drive the non-steering wheel vehicle body rolling mechanism, so that the vehicle body rolling and the vehicle side rolling force caused by resisting terrain change are realized, and the stable running posture of the vehicle is maintained.
Through the embodiment, the vehicle body roll linkage mechanism and the active roll vehicle applying the same realize independent control of vehicle steering and vehicle body roll motion, wheels do not roll and the wheel track of the vehicle does not change in the vehicle body roll process, three working conditions of steering roll, independent roll or independent steering can be realized in the vehicle running process, and further the non-steering wheel vehicle body roll mechanism and the active roll vehicle applying the same are provided; the vehicle body active side-tipping device is applied to vehicle steering, so that the vehicle can automatically tip at a certain angle to resist centrifugal force or side-tipping force when passing a bend or a slope road surface, and a stable driving posture is kept.
Claims (11)
1. The car body tilting linkage mechanism consists of a tilting mechanism and a steering mechanism, and is characterized in that:
the roll mechanism includes: the vehicle comprises a vehicle body, a right lower pull rod, a left lower pull rod, a right knuckle spindle, a left knuckle spindle, a right upper pull rod, a left upper pull rod, a right knuckle, a left knuckle, a right wheel, a left wheel, a right shock absorber, a left shock absorber, a balancing rod, a vehicle frame and a restraint rod, wherein the vehicle frame, the right lower pull rod, the right knuckle spindle and the right upper pull rod are sequentially and rotatably connected, relative rotation axes at a connection point B, C, D, A are parallel and vertical to the vehicle transverse plane to form a quadrilateral ABCD of the same relative movement plane, the right knuckle and the right knuckle spindle are rotatably connected around the axis CD of the right knuckle spindle, and the right knuckle is connected with the right wheel and controls the direction of the right wheel; sequentially and rotatably connecting the frame, the left lower pull rod, the left knuckle spindle and the left upper pull rod in sequence, wherein the relative rotation axes at the connecting point F, G, H, E are parallel and perpendicular to the transverse plane of the vehicle to form a quadrilateral EFGH of the same relative movement plane, the left knuckle is rotatably connected with the left knuckle spindle around the axis GH thereof, the left knuckle is connected with a left wheel and controls the direction of the left wheel, and the connecting points A, B on the frame are respectively symmetrical with E, F about the central longitudinal vertical plane of the vehicle; the vehicle body is rotationally connected with the vehicle frame, a connecting point W is positioned in a vehicle body vertical plane, meanwhile, W is positioned in a vehicle central vertical plane, the middle point of a balancing rod is rotationally connected with the vehicle body, a connecting point U is positioned in the vehicle body vertical plane, two ends of the balancing rod are respectively rotationally connected with one end L of a right shock absorber and one end J of a left shock absorber, the other end of the right shock absorber is rotationally connected with a point K of a right upper pull rod, the other end of the left shock absorber is rotationally connected with a point I of the left upper pull rod, relative rotation axes at the connecting point W, U, K, L, I, J are parallel and perpendicular to a vehicle transverse plane, the right shock absorber and the left shock absorber have the same length and the same performance, a point KL is IJ, a point WK is UL UJ, one end of a restraint rod is rotationally connected with a point X of the vehicle frame, the other end of the restraint rod is rotationally connected with a point Z of the balancing rod, a point WU is XZ, a point UZ is WX is equal in length, a right lower pull rod is equal to a left pull rod, a, the length of the right upper pull rod is equal to that of the left upper pull rod;
the included angle between a vehicle body and a vehicle frame is an actuating angle α, the included angle between a vertical plane in the vehicle body and a central vertical plane of the vehicle is a vehicle body side inclination angle β, the vehicle body side inclination posture is controlled by the actuating angle β 0, when α is 0, β is 0, the vehicle body does not incline, when α is 0, β is 0, the vehicle body inclines, a side inclination function β of the relationship between the vehicle body side inclination angle β and the actuating angle α of a side inclination mechanism is obtained, f (α), and wheels do not incline in the vehicle body side inclination process;
the steering mechanism comprises: a right steering knuckle spindle and a right steering knuckle in the roll mechanism, a left steering knuckle spindle and a left steering knuckle in the roll mechanism, a steering swing arm, a right steering arm, a left steering arm, a right connecting rod and a left connecting rod, an axis intersection point M of the right steering knuckle spindle and the right steering knuckle, and a right steering arm and the right steering knuckle form a whole
Angle-fixed connection, rotation around axis CD, left steering knuckle spindle and left steering knuckle spindle axis intersection point N, left steering arm and left steering knuckleBecome the same
The angle is fixedly connected and rotates around a GH together; one end of the steering swing arm is rotationally connected with an O point of the frame, the rotational axis is positioned in the central vertical plane of the vehicle and is parallel to the transverse plane of the vehicle, one end of the right connecting rod is connected with a tail end ball hinge of the right steering arm, the other end of the right connecting rod is connected with a P point ball hinge of the steering swing arm, one end of the left connecting rod is connected with a tail end ball hinge of the left steering arm, the other end of the left connecting rod is connected with a Q point ball hinge of the steering swing arm, OP is OQ, the length of the right steering arm is equal to that of the left steering arm, and the length;
wherein: the included angle between the steering swing arm and the frame is a steering angle theta, the directions of the left wheel and the right wheel are controlled by the steering angle theta, and when the steering angle theta is 0, the included angle between the right steering arm and the vehicle vertical plane is equal to the included angle between the left steering arm and the vehicle vertical plane, and the included angles are all
The vehicle runs straight; when the steering angle theta is not equal to 0, the deflection angle theta of the outer wheeleAnd inner wheel deflection angle thetaiThe Ackerman steering condition is met, and the vehicle can steer to run.
2. The roll linkage according to claim 1, wherein the roll center W is located in a vertical plane of the vehicle center, the height of the roll center W from the ground is determined by the relative position of W and BF, when the distance h between W and BF is set to 0, W coincides with BF, when h is less than 0, W is located below BF, when h is greater than 0, W is located above BF, when h is greater, both ends of the stabilizer bar are respectively rotationally connected with one end L of the right shock absorber and one end J of the left shock absorber, when h is greater, the other end of the right shock absorber is rotationally connected with a point K of the right upper tie bar, the other end of the left shock absorber is rotationally connected with a point I of the left upper tie bar, when h is smaller, the other end of the right shock absorber is rotationally connected with a point K of the right lower tie bar, the other end of the left shock absorber is rotationally connected with a point I of the left lower tie bar, when WU is KL, and when WK is equal to UL is equal to UJ, the same roll function β and when the same roll function is satisfied, and the wheel is not satisfied (α).
3. The body roll linkage of claim 1 wherein the corresponding connection points K, W, I are theoretically collinear when the stabilizer bar upper connection points L, U, J are collinear; the balance bar upper attachment point L, U, J is located at radius R0Is located at the radius R theoretically, the corresponding connection point K, W, I is located at the radius R0On the other circumference, if the conditions WU-KL-II and WK-WI-UL-UJ are satisfied, the same roll function β -f (α) is satisfied, and the vehicle wheel does not roll during the rolling of the vehicle body.
4. The roll linkage of claim 1 wherein the actuation angle α is generated by an actuator that is selected from the group consisting of an electromagnetic actuator, an electromechanical actuator, and an electrohydraulic actuator.
5. The vehicle roll linkage of claim 1 wherein the steering angle θ is produced by a steering gear selected from the group consisting of a rack and pinion steering gear, a worm crank pin steering gear, and a recirculating ball steering gear.
6. A non-steerable wheel vehicle body roll mechanism formed by the roll mechanism of claim 1 in which the right knuckle is rotationally connected to the right knuckle spindle about its axis CD instead of being fixedly connected vertically and the left knuckle is rotationally connected to the left knuckle spindle about its axis GH instead of being fixedly connected vertically, comprising: the vehicle comprises a vehicle body, a right lower pull rod, a left lower pull rod, a right knuckle spindle, a left knuckle spindle, a right upper pull rod, a left upper pull rod, a right knuckle, a left knuckle, a right wheel, a left wheel, a right shock absorber, a left shock absorber, a balancing rod, a vehicle frame and a restraint rod, wherein the vehicle frame, the right lower pull rod, the right knuckle spindle and the right upper pull rod are sequentially and rotatably connected, relative rotation axes at a connection point B, C, D, A are parallel and perpendicular to a vehicle transverse plane to form a quadrilateral ABCD of the same relative movement plane, the right knuckle is vertically and fixedly connected with the right knuckle spindle, and the rotation axes of the right knuckle, the right wheel and the right wheel are positioned in a vehicle transverse plane; sequentially and rotatably connecting the frame, the left lower pull rod, the left steering knuckle main shaft and the left upper pull rod in sequence, wherein the relative rotation axes at the connecting point F, G, H, E are parallel and vertical to the transverse plane of the vehicle to form a quadrilateral EFGH of the same relative movement plane, the left steering knuckle is vertically and fixedly connected with the left steering knuckle main shaft, the rotation axes of the left steering knuckle, the left wheel and the left wheel are connected, and are positioned in the transverse plane of the vehicle, and the frame upper connecting point A, B is respectively symmetrical to E, F about the central vertical plane of the vehicle; the vehicle body is rotationally connected with the vehicle frame, a connecting point W is positioned in a vehicle body vertical plane, meanwhile, W is positioned in a vehicle central vertical plane, the middle point of a balancing rod is rotationally connected with the vehicle body, a connecting point U is positioned in the vehicle body vertical plane, two ends of the balancing rod are respectively rotationally connected with one end L of a right shock absorber and one end J of a left shock absorber, the other end of the right shock absorber is rotationally connected with a point K of a right upper pull rod, the other end of the left shock absorber is rotationally connected with a point I of the left upper pull rod, relative rotation axes at the connecting point W, U, K, L, I, J are parallel and perpendicular to a vehicle transverse plane, the right shock absorber and the left shock absorber have the same length and the same performance, a point KL is IJ, a point WK is UL UJ, one end of a restraint rod is rotationally connected with a point X of the vehicle frame, the other end of the restraint rod is rotationally connected with a point Z of the balancing rod, a point WU is XZ, a point UZ is WX is equal in length, a right lower pull rod is equal to a left pull rod, a, the length of the right upper pull rod is equal to that of the left upper pull rod;
the included angle between a vehicle body and a vehicle frame is an actuating angle α, the included angle between a vertical plane in the vehicle body and a central vertical plane of the vehicle is a vehicle body roll angle β, the roll attitude of the vehicle body is controlled by the actuating angle β 0, when α is 0, β is 0, the vehicle body does not roll, when α is 0, β is 0 and the vehicle body rolls, a roll function β of the relationship between the vehicle body roll angle β and the actuating angle α of the non-steering wheel vehicle body roll mechanism is f (α), and wheels do not roll in the roll process of the vehicle body.
7. The non-steerable wheel roll mechanism according to claim 6, wherein the roll center W is located in the vertical plane of the vehicle center, the height of the roll center W from the ground is determined by the relative position of W and BF, when the distance h between W and BF is set to 0, W coincides with BF, when h < 0, W is located below BF, when h > 0, W is located above BF, both ends of the stabilizer bar are rotatably connected to the right damper end L and the left damper end J, respectively, when h is larger, the right damper end is rotatably connected to the K point of the right upper link, the left damper end is rotatably connected to the I point of the left upper link, when h is smaller, the right damper end is rotatably connected to the K point of the right lower link, the left damper end is rotatably connected to the I point of the left lower link, and when WU is smaller, the same roll function W β and WK is not satisfied in the roll function α.
8. A front wheel steering active roll four-wheel vehicle is characterized in that a group of vehicle body roll linkage mechanisms according to claim 1 and a group of non-steering wheel vehicle body roll mechanisms according to claim 6 are arranged in front and back of the same vehicle body according to a given axle distance, share the same frame and have the same vehicle center vertical plane, double front wheel steering and double rear wheel driving are adopted, the vehicle body roll linkage mechanisms control vehicle body roll, an actuating angle α in the non-steering wheel vehicle body roll mechanisms is changed in an adaptive mode, and the non-steering wheel vehicle body roll mechanisms roll in an adaptive mode, so that the four-wheel vehicle with the characteristics of front wheel steering, rear wheel driving and active roll is formed.
9. A tricycle with front wheel steering and active side-tipping is characterized in that a group of tricycle body side-tipping linkage mechanisms according to claim 1 are arranged in front, a single wheel is arranged behind the same tricycle body according to a given wheel base and shares the same central vertical plane of the tricycle, the tricycle body side-tipping linkage mechanisms control the vehicle body to tip, and the single rear wheel and the tricycle body side-tipping are arranged together to form the active side-tipping tricycle with the characteristics of front wheel steering, rear wheel driving and three-wheel tipping.
10. A front wheel steering active roll positive tricycle, characterized in that, a set of non-steering wheel vehicle body roll mechanism of claim 6 is arranged at the rear, a single wheel is arranged at the front according to a given wheel base on the same vehicle body and shares the same vehicle central vertical plane, the double rear wheel drive and the front wheel steering, the non-steering wheel vehicle body roll mechanism controls the vehicle body roll, the single front wheel rolls with the vehicle body, and the active roll vehicle with the characteristics of front wheel steering, rear wheel drive and positive tricycle is formed.
11. A tricycle with rear wheel steering and active roll-over, characterized in that, a set of non-steered wheel body roll mechanisms according to claim 6 is arranged in front, a single wheel is arranged at the back of the same tricycle body according to a given wheel base and shares the same central vertical plane of the tricycle, the tricycle is driven by double front wheels, the rear wheel is steered, the non-steered wheel body roll mechanism controls the roll of the tricycle body, the single rear wheel rolls with the tricycle body, and the active roll-over tricycle with the characteristics of front wheel driving, rear wheel steering and reverse tricycle is formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911224025.9A CN110936783B (en) | 2019-12-04 | 2019-12-04 | Car body side-tipping linkage mechanism and active side-tipping vehicle using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911224025.9A CN110936783B (en) | 2019-12-04 | 2019-12-04 | Car body side-tipping linkage mechanism and active side-tipping vehicle using same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110936783A true CN110936783A (en) | 2020-03-31 |
| CN110936783B CN110936783B (en) | 2021-07-02 |
Family
ID=69909473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911224025.9A Active CN110936783B (en) | 2019-12-04 | 2019-12-04 | Car body side-tipping linkage mechanism and active side-tipping vehicle using same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110936783B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509994A (en) * | 2019-09-10 | 2019-11-29 | 王亚 | Vehicular turn rolls the active roll vehicle of combined mechanism and the application mechanism |
| CN112172921A (en) * | 2020-08-31 | 2021-01-05 | 河南坐骑科技有限公司 | Vehicle side-tipping driving mechanism and active side-tipping vehicle using same |
| CN112172919A (en) * | 2020-08-31 | 2021-01-05 | 河南坐骑科技有限公司 | Vehicle roll driving device and active roll vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19542108A1 (en) * | 1994-11-22 | 1996-05-30 | Volkswagen Ag | Individual wheel mount for vehicle |
| US20020113399A1 (en) * | 2001-02-16 | 2002-08-22 | Fehler Marcus Shawn | S. S. suspension |
| CN102343781A (en) * | 2010-07-21 | 2012-02-08 | 福特全球技术公司 | Device for reducing roll motion in motor vehicles |
| CN104487324A (en) * | 2012-10-25 | 2015-04-01 | 雅马哈发动机株式会社 | Vehicle |
| CN108137095A (en) * | 2015-07-20 | 2018-06-08 | 科尔夫汽车有限责任公司 | For the transfer of tilting vehicle |
| CN110294032A (en) * | 2019-07-09 | 2019-10-01 | 王亚 | The vehicle of body roll driving device and the application device |
| CN110509994A (en) * | 2019-09-10 | 2019-11-29 | 王亚 | Vehicular turn rolls the active roll vehicle of combined mechanism and the application mechanism |
-
2019
- 2019-12-04 CN CN201911224025.9A patent/CN110936783B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19542108A1 (en) * | 1994-11-22 | 1996-05-30 | Volkswagen Ag | Individual wheel mount for vehicle |
| US20020113399A1 (en) * | 2001-02-16 | 2002-08-22 | Fehler Marcus Shawn | S. S. suspension |
| CN102343781A (en) * | 2010-07-21 | 2012-02-08 | 福特全球技术公司 | Device for reducing roll motion in motor vehicles |
| CN104487324A (en) * | 2012-10-25 | 2015-04-01 | 雅马哈发动机株式会社 | Vehicle |
| CN108137095A (en) * | 2015-07-20 | 2018-06-08 | 科尔夫汽车有限责任公司 | For the transfer of tilting vehicle |
| CN110294032A (en) * | 2019-07-09 | 2019-10-01 | 王亚 | The vehicle of body roll driving device and the application device |
| CN110509994A (en) * | 2019-09-10 | 2019-11-29 | 王亚 | Vehicular turn rolls the active roll vehicle of combined mechanism and the application mechanism |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509994A (en) * | 2019-09-10 | 2019-11-29 | 王亚 | Vehicular turn rolls the active roll vehicle of combined mechanism and the application mechanism |
| CN110509994B (en) * | 2019-09-10 | 2021-12-21 | 河南坐骑科技有限公司 | Vehicle steering and roll combination mechanism and active roll vehicle using same |
| CN112172921A (en) * | 2020-08-31 | 2021-01-05 | 河南坐骑科技有限公司 | Vehicle side-tipping driving mechanism and active side-tipping vehicle using same |
| CN112172919A (en) * | 2020-08-31 | 2021-01-05 | 河南坐骑科技有限公司 | Vehicle roll driving device and active roll vehicle |
| CN112172921B (en) * | 2020-08-31 | 2022-03-15 | 河南坐骑科技有限公司 | Vehicle side-tipping driving mechanism and active side-tipping vehicle using same |
| CN112172919B (en) * | 2020-08-31 | 2022-03-15 | 河南坐骑科技有限公司 | Vehicle roll driving device and active roll vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110936783B (en) | 2021-07-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110936785B (en) | Vehicle body tilting mechanism and active tilting vehicle applying same | |
| CN109353405B (en) | Vehicle steering and roll linkage mechanism and roll control method | |
| CN112172921B (en) | Vehicle side-tipping driving mechanism and active side-tipping vehicle using same | |
| CN109353406B (en) | Vehicle turning and rolling device and rolling control method | |
| CN110509994B (en) | Vehicle steering and roll combination mechanism and active roll vehicle using same | |
| CN105882741B (en) | A kind of independent vehicular modular wheel set and rear-axle steering control method driven with turning to | |
| CN109625088B (en) | Vehicle steering and roll linkage mechanism and active roll vehicle | |
| CN109625089B (en) | Vehicle steering and side-tipping linkage device and vehicle applying same | |
| CN109625086B (en) | Vehicle steering and roll linkage device and active roll vehicle | |
| CN110936783B (en) | Car body side-tipping linkage mechanism and active side-tipping vehicle using same | |
| CN110936784B (en) | Vehicle body roll control mechanism and active roll vehicle using same | |
| CN112172919B (en) | Vehicle roll driving device and active roll vehicle | |
| CN109625087B (en) | Vehicle steering and tilting linkage device and active tilting chassis | |
| CN103124668A (en) | Vehicle having variable track | |
| CN110294032B (en) | Vehicle body side-tipping driving device and vehicle using same | |
| CN110509993A (en) | The side-tipping tricycle of the mechanism of non-steered wheel active roll mechanism and application | |
| CN111688428B (en) | Vehicle side-tipping driving mechanism and design method | |
| CN110294033B (en) | Car body side-tipping limiting mechanism and vehicle using same | |
| CN111688812A (en) | Vehicle body side-tipping driving mechanism and design method | |
| CN213322544U (en) | Active side-tipping system | |
| CN108297930B (en) | Steering and suspension system | |
| CN111703529A (en) | Positive tricycle with steering wheel controlling rear wheel steering and synchronous controlling vehicle body side-tipping | |
| CN114771713A (en) | All-wheel drive active side-tipping positive three-wheel chassis | |
| CN114802575A (en) | All-wheel drive active side-tipping positive tricycle | |
| CN113212549B (en) | Active side-tipping vehicle double-wheel steering time-delay transmission device and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |