CN213322544U - Active side-tipping system - Google Patents
Active side-tipping system Download PDFInfo
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- CN213322544U CN213322544U CN202021955264.XU CN202021955264U CN213322544U CN 213322544 U CN213322544 U CN 213322544U CN 202021955264 U CN202021955264 U CN 202021955264U CN 213322544 U CN213322544 U CN 213322544U
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- 239000006096 absorbing agent Substances 0.000 claims abstract description 26
- 230000035939 shock Effects 0.000 claims abstract description 26
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 19
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 abstract 4
- 239000000725 suspension Substances 0.000 description 12
- 230000007246 mechanism Effects 0.000 description 11
- 238000005452 bending Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Abstract
一种主动侧倾系统，包括对称设于车架两侧、连接车架与车轮转向节的第一、第二上摆臂或下摆臂；侧倾主轴，安装于车架左右对称中心面上呈前后方向设置；侧倾摇臂，为扇形齿轮，其下部设于侧倾主轴上；固定板，竖直设于车架上，与侧倾摇臂平行，固定板上部设轴孔；驱动电机及减速器，设于固定板内侧面，其输出轴穿过固定板轴孔；驱动齿轮，设于减速器输出轴端部，与侧倾摇臂啮合；第一、第二弹簧减震器，对称设于侧倾主轴两侧，其一端分别枢轴连接于侧倾摇臂下部两侧，另一端连接第一、第二上、下摆臂；转向传感器，水平设于车架下部；轮速传感器，设于车轮转向节上；车载电脑，安装于车架上，驱动电机、转向传感器、轮速传感器均电性连接车载电脑。
An active roll system includes first and second upper swing arms or lower swing arms symmetrically arranged on both sides of the frame and connecting the frame and wheel steering knuckles; The front and rear directions are arranged; the rolling rocker arm is a fan-shaped gear, and its lower part is set on the rolling spindle; the fixed plate is vertically set on the frame, parallel to the rolling rocker arm, and the upper part of the fixed plate is provided with a shaft hole; the driving motor and The reducer is arranged on the inner side of the fixed plate, and its output shaft passes through the shaft hole of the fixed plate; the driving gear is arranged at the end of the output shaft of the reducer and meshes with the rolling rocker arm; the first and second spring shock absorbers are symmetrical It is arranged on both sides of the roll main shaft, one end of which is pivotally connected to both sides of the lower part of the roll arm, and the other end is connected to the first, second upper and lower swing arms; the steering sensor is horizontally arranged on the lower part of the frame; the wheel speed sensor, It is located on the steering knuckle of the wheel; the on-board computer is installed on the frame, and the drive motor, steering sensor and wheel speed sensor are all electrically connected to the on-board computer.
Description
Technical Field
The utility model belongs to the vehicle field, in particular to initiative heeling system.
Background
During the turning driving process of the vehicle, centrifugal force is generated.
For vehicles or mobile robot chassis (such as four-wheel vehicles, three-wheel motorcycles, etc.) with wheels distributed on the left and right, if the speed is too fast or the turning radius is too small during turning running, the vehicle exceeds the rollover limit and rollover may occur as long as the resultant force of the centrifugal force and the gravity generated by turning exceeds the contact central point of the outermost wheels and the road surface according to the centrifugal force F ═ a × m ^ V ^2/r × m.
The vehicle with large width and height has small rollover risk; however, in vehicles with a small width-height ratio (width-height ratio < 1), such as large trucks, low-speed electric vehicles, four-wheel motorcycles, three-wheel motorcycles, etc., there is a possibility that the vehicle may roll over during a sharp turn. On the other hand, under the environment of traffic jam and parking difficulty common in the current city, the development of a vehicle with a small vehicle body width is a solution, but because the side turning limit is low after the vehicle body width is too small, the side turning is easy to happen. The problem of rollover therefore also restricts the vehicle from moving in the narrow direction.
For vehicles with wheels arranged on the same plane (such as two-wheeled motorcycles and two-wheeled bicycles), the driver or the vehicle needs to incline towards the inner side of a curve during turning, so that the resultant force of gravity and centrifugal force passes through the contact surface of the wheels and the ground, and the balance of the vehicle is kept. In this process, the faster the vehicle speed and the smaller the turning radius, the larger the inclination angle is required.
There are few models in which the wheels are symmetrically distributed (such as three-wheel, reverse three-wheel and four-wheel motorcycles), but the vehicle can roll left and right. The vehicle type has the safety and low-speed running stability of the non-heeling vehicle, and also has the narrow body, flexibility and high-speed stability of the vehicle arranged on the same plane. However, most of the motorcycle models are passively tilted, i.e. like two-wheeled motorcycles, the tilting can be realized only by the bending operation of the driver, and therefore, a closed carriage cannot be adopted, and the wind and rain cannot be shielded.
Only few vehicle types adopt active roll, namely, the driver does not need to carry out bending operation, and roll of different angles of the vehicle according to the vehicle speed and the turning condition is realized through automatic control and operation of the vehicle. For the application field of manned driving, the carriage can be sealed, and the comfort is improved; for the field of unmanned mobile robots, the over-bending limit of the mobile robot can be improved. Currently, only two vehicles, namely, French Lumeneo Smera and Toyota iRoad, adopt active side tipping for a long time research and understanding by the inventor.
Wherein the French Lumeneo Smera is arranged in four wheels, and the front wheels are turned. The front suspension adopts double cross arms and does not have an active side-tipping function; the rear suspension adopts an independent single longitudinal arm structure, the left and right swing arms and the vehicle body are restrained and fixed through a Y-direction shaft (for a vehicle, the front and back direction is generally defined as the X direction, the left and right direction is the Y direction, and the up and down direction is the Z direction), the long ends of the swing arms point to the tail of the vehicle, and the swing arms can independently rotate around the Y-direction shaft center to realize the up and down arc jumping of the wheels; a certain point in the middle of the swing arm is connected with one point at the upper end of a rotary disc which is arranged approximately along a YZ plane through a shock absorber, the rotary axis of the rotary disc is coaxially connected with a motor rotor, the rotary disc synchronously rotates through the rotation of the motor rotor to push the shock absorber to do up-and-down arc motion, further push the swing arm to do up-and-down motion, realize the reverse up-and-down motion of the swing arm at the other side due to the linkage of a left shock absorber and a right shock absorber, and finally realize the side.
Wherein the Toyota iRoad is arranged in a reverse three-wheel mode, and the rear wheel turns. The front suspension is similar to Lumeneo Smera in France, is a single-trailing-arm mechanism, and also realizes active roll through a similar principle, but the arrangement direction of the swing arm is opposite to that of the swing arm, and the long end of the swing arm points to the head of the vehicle. In addition, since the single trailing arm suspension structure does not facilitate the arrangement of a steering mechanism, the vehicle does not employ a front wheel steering system, which is commonly used in motor vehicles, but employs a rear wheel steering system. This causes great challenges in the stability of the vehicle at high speeds and the difficulty in controlling the steering of the rear wheels is also very high.
Disclosure of Invention
The utility model aims to design an active roll system which can be compatible with a conventional steering mechanism and can be suitable for active roll systems with conventional suspension structures such as double transverse arms, single transverse arms and the like; the method can be applied to vehicles or mobile robots which are only provided with a pair of wheels (or running mechanisms such as crawler belts and sledges), and the effects of reducing the width of the vehicle, reducing the turning radius or improving the turning speed are achieved.
In order to achieve the above purpose, the technical scheme of the utility model is that:
an active roll system comprises a first upper swing arm and a second upper swing arm or a first lower swing arm and a second lower swing arm which are symmetrically arranged at two sides of a whole vehicle frame and are used for connecting the vehicle frame and a wheel steering knuckle; it still includes: the main shaft of heeling, install on the bilateral symmetry central plane of the whole car frame through the front, back backup pad, take the form of the fore-and-aft direction and set up; the lower part of the side-tilting rocker arm is sleeved on the side-tilting main shaft through a shaft, so that the side-tilting rocker arm is movably connected with the side-tilting main shaft; the fixing plate is vertically arranged on the frame, is positioned at the rear side of the side-tipping rocker arm and is parallel to the side-tipping rocker arm, and an axle hole is formed in the upper part of the fixing plate; the driving motor and the speed reducer are fixed on the inner side surface of the fixing plate, and an output shaft of the speed reducer penetrates through a shaft hole in the upper part of the fixing plate; the driving gear is arranged at the end part of the output shaft of the speed reducer penetrating through the fixed plate and is meshed with the side-tipping rocker arm; the first spring shock absorber and the second spring shock absorber are symmetrically arranged on two sides of the tilting main shaft on the frame, one ends of the first spring shock absorber and the second spring shock absorber are respectively pivoted on two sides of the lower part of the tilting rocker arm, and the other ends of the first spring shock absorber and the second spring shock absorber are connected with the first upper swing arm and the second upper swing arm or the first lower swing arm and the second lower swing arm; the steering sensor is horizontally arranged at the lower part of the frame; a wheel speed sensor disposed on the wheel knuckle; and the vehicle-mounted computer is arranged on the frame, and the driving motor, the steering sensor and the wheel speed sensor are all electrically connected with the vehicle-mounted computer.
Preferably, the driving gear is disposed on the frame above the roll rocker arm through a bracket and an axle, and the driving gear is engaged with the roll rocker arm.
Furthermore, the output shaft of the speed reducer is connected with the wheel shaft of the driving gear through a coupler.
The driving motor, the speed reducer and the gear are combined into a whole and fixedly connected with the frame, the structure is simple, the installation is convenient, radial thrust in the normal direction of the gear shaft can be received in the process of size work, and the output shaft of the reduction gearbox can be subjected to bending moment. Therefore, the driving gear can be independently taken out and is not directly connected with the output shaft of the reducer of the driving motor, the driving gear is directly connected and fixed with the frame, the driving gear is connected with the output shaft of the reducer of the motor through the coupler, and the problem that the output shaft of the reducer is subjected to bending moment can be effectively solved by the center.
Preferably, the coupling is a flexible coupling, a universal joint cross or a constant velocity universal joint.
Preferably, the tilting rocker arm is a detachable split structure and comprises a base and a gear sector connected to one side surface of the base through a bolt, and one ends of the first spring shock absorber and the second spring shock absorber are respectively pivoted to two sides of the base.
Preferably, the roll main shaft is a frame upper side rail.
The utility model discloses a vehicle-mounted computer VCU receives fast signal of wheel and corner signal, reachs the required roll angle degree of vehicle through calculating, then the rotatory corresponding angle of control motor, and then promotes the rotation of the mechanism that heels, and the relative automobile body of wheel carries out the opposite motion from top to bottom about realizing, finally realizes heeling of vehicle.
In the active roll system of the utility model, the driving motor, the speed reducer and the driving gear are combined into a whole and are fixedly connected with the frame; the speed reducer and the driving gear are connected with the side-tipping rocker arm through a gear pair; the roll rocker arm is connected with the roll spindle through a rotating pair; the side-tipping main shaft is fixedly connected with the frame; the side-tipping rocker arm is connected with the left spring shock absorber and the right spring shock absorber through a rotating pair or a spherical pair; the left spring shock absorber and the right spring shock absorber are respectively connected with the left suspension swing arm and the right suspension swing arm through a revolute pair or a spherical pair; wherein the main shaft of heeling is placed in the front-back direction and is positioned on the bilateral symmetry central plane of the whole vehicle frame.
The initiative heeling system has following several aspects characteristics:
1) the vehicle-mounted computer VCU is used for controlling the vehicle roll angle, has very wide adaptability to different vehicle types and different working conditions, is convenient for expanding and deriving the vehicle types, and is less influenced by the gravity center, the wheel track and the load change; more importantly, the method can be suitable for unmanned scenes and can be applied to automatic driving chassis or mobile robot chassis;
2) simple structure, the function is independent: the active roll mechanism is not directly connected with the steering mechanism, and compared with certain schemes that the roll function needs to be linked with the steering mechanism, the active roll mechanism is greatly simplified in structure, independent in function and convenient to calibrate and debug according to different working conditions;
3) the control precision is high: the motor performs speed reduction and torque increase through self speed reduction, outputs motion to the tilting rocker arm through gear meshing, and further decelerates according to the transmission principle of the large driving gear, so that the tilting angle of the chassis can be accurately controlled;
4) can be suitable for various suspensions: the suspension structure can be suitable for various suspension structures such as double cross arms, single cross arms, multiple connecting rods, single longitudinal arms, double longitudinal arms and the like;
5) the supportable steering system: because of applicable in multiple suspension structure, as long as the suspension structure who is suitable for can support a steering system, then the utility model discloses can support a steering system.
The utility model has the advantages that:
the utility model discloses simple structure, the transmission is direct. After the side-tipping power is transmitted out from the speed reducer, the side-tipping power is transmitted to the spring shock absorber only through an intermediate link of the side-tipping rocker arm, the structure is simple, the transmission is direct, and the efficiency is high.
The utility model discloses compact structure saves space. The tilting rocker arm structure has strong innovativeness, a split structure is adopted, the upper portion of the tilting rocker arm structure is used for executing a gear sector connected with a motor output driving gear, and the lower portion of the tilting rocker arm structure is used for connecting a tilting spindle and a shock absorber, and the tilting rocker arm structure and the main rocker arm body are connected through bolts and can be detached. The roll rocker arm can be arranged in the vehicle frame, and the vehicle frame upper longitudinal beam can penetrate through the middle of the rocker arm, so that the space is greatly saved, and the maintainability is improved.
The utility model discloses filled the domestic blank that does not have automatically controlled initiative heeling system, can satisfy and want to reduce vehicle width, improve the vehicle and stabilize turning speed, reduce the vehicle and stabilize turning radius, increase user demands such as vehicle upper portion bearing capacity, but wide application in trades such as multi-wheel motorcycle (> 2 wheels), multi-wheel bicycle (> 2 wheels), microminiature car, ATV, UTV, sandy beach car, unmanned vehicle, mobile robot, have very great industrialization value.
Drawings
Fig. 1 is a perspective view 1 of embodiment 1 of the present invention;
fig. 2 is a perspective view 2 of embodiment 1 of the present invention;
fig. 3 is a schematic view of the working state of embodiment 1 of the present invention;
fig. 4 is a perspective view of embodiment 2 of the present invention;
fig. 5 is a perspective view of embodiment 3 of the present invention.
Detailed Description
Referring to fig. 1 to 3, the active roll system of the present invention includes first and second lower swing arms 1 and 2 symmetrically disposed at both sides of a vehicle frame 100 and connecting the vehicle frame 100 and a wheel knuckle 200; it still includes:
the main shaft 3 is arranged on the symmetrical center plane of the whole vehicle frame 100 through the front and the rear supporting plates and is arranged in the front and the rear direction;
the tilting rocker arm 4 is a sector gear, and the lower part of the tilting rocker arm is sleeved on the tilting spindle 3 through an axle so as to be movably connected with the tilting spindle 3;
the fixed plate 5 is vertically arranged on the frame 100, is positioned at the rear side of the tilting rocker arm 4 and is parallel to the tilting rocker arm 4, and the upper part of the fixed plate 5 is provided with a shaft hole;
the driving motor 6 and the speed reducer 7 are fixed on the inner side surface of the fixed plate 5, and an output shaft of the speed reducer 7 penetrates through a shaft hole in the upper part of the fixed plate 5;
a drive gear 8 provided at an output shaft end of the decelerator 7 penetrating the fixed plate 5 and engaged with the roll rocker arm 4;
a first spring damper 9 and a second spring damper 10 symmetrically arranged on both sides of the roll main shaft 3 on the frame 100, wherein one end of the first spring damper 9 and one end of the second spring damper 10 are respectively pivoted to both sides of the lower part of the roll rocker 4, and the other end is connected with the first lower swing arm 1 and the second lower swing arm 2 (in the embodiment, the first spring damper 9 and the second spring damper 10 are connected with the first lower swing arm 1 and the second lower swing arm 2);
a steering sensor 11 horizontally disposed at a lower portion of the frame 100;
a wheel speed sensor 12 provided on the wheel knuckle 200;
and the vehicle-mounted computer 13 is mounted on the frame 100, and the driving motor 6, the steering sensor 11 and the wheel speed sensor 12 are all electrically connected with the vehicle-mounted computer 13.
Referring to fig. 5, the driving gear 8 is mounted on the carriage 100 above the roll rocker 4 via a bracket 14 and an axle, the driving gear 8 engaging with the roll rocker 4.
Above-mentioned structure is split type structure owing to the rocking arm that heels, can dismantle, and this kind of structure can fuse with the automobile body, saves space, nevertheless heels rocking arm structure itself comparatively complicated, consequently, through making certain change with the automobile body, bypasses the rocking arm that heels from the top, with including whole mechanism parcel that heels, so, the rocking arm that heels then need not carry out the split, and can regard as a whole part, convenient processing and assembly.
Referring to fig. 4, the output shaft of the speed reducer 7 is coupled with the axle of the driving gear 8 through a coupling 15.
Preferably, the coupling 15 is a flexible coupling, a universal joint cross or a constant velocity universal joint.
Preferably, the roll rocker arm 4 is a detachable split structure, and includes a base 41 and a gear sector 42 connected to one side surface thereof by bolts, and one ends of the first and second spring dampers 9 and 10 are pivotally connected to both sides of the base 41, respectively.
The utility model transmits steering travel signals (steering engine rotation angle or steering engine Y direction travel) and wheel speed signals (or motor rotation speed signals) to the vehicle-mounted computer VCU through a steering sensor (or a self-contained corner sensor in EPS) and a wheel speed sensor (or a self-contained rotation speed sensor of a wheel driving motor); the vehicle-mounted computer VCU obtains a required roll angle of the vehicle through calculation, converts the required roll angle into a selection angle of the execution motor, and transmits an instruction to the execution motor; the executing motor rotates by a corresponding angle according to the instruction, and then pushes the side-tipping mechanism to rotate around the side-tipping main shaft, and further pushes the spring shock absorber to move up and down, so that the left wheel and the right wheel move up and down oppositely relative to the vehicle body, and finally the side tipping of the vehicle is realized.
Claims (5)
1. An active roll system comprises a first upper swing arm and a second upper swing arm or a first lower swing arm and a second lower swing arm which are symmetrically arranged at two sides of a whole vehicle frame and are used for connecting the vehicle frame and a wheel steering knuckle; it is characterized by also comprising:
the main shaft of heeling, install on the bilateral symmetry central plane of the whole car frame through the front, back backup pad, take the form of the fore-and-aft direction and set up;
the lower part of the side-tilting rocker arm is sleeved on the side-tilting main shaft through a shaft, so that the side-tilting rocker arm is movably connected with the side-tilting main shaft;
the fixing plate is vertically arranged on the frame, is positioned at the rear side of the side-tipping rocker arm and is parallel to the side-tipping rocker arm, and an axle hole is formed in the upper part of the fixing plate;
the driving motor and the speed reducer are fixed on the inner side surface of the fixing plate, and an output shaft of the speed reducer penetrates through a shaft hole in the upper part of the fixing plate;
the driving gear is arranged at the end part of the output shaft of the speed reducer penetrating through the fixed plate and is meshed with the side-tipping rocker arm;
the first spring shock absorber and the second spring shock absorber are symmetrically arranged on two sides of the tilting main shaft on the frame, one ends of the first spring shock absorber and the second spring shock absorber are respectively pivoted on two sides of the lower part of the tilting rocker arm, and the other ends of the first spring shock absorber and the second spring shock absorber are connected with the first upper swing arm and the second upper swing arm or the first lower swing arm and the second lower swing arm;
the steering sensor is horizontally arranged at the lower part of the frame;
a wheel speed sensor disposed on the wheel knuckle;
and the vehicle-mounted computer is arranged on the frame, and the driving motor, the steering sensor and the wheel speed sensor are all electrically connected with the vehicle-mounted computer.
2. The active roll system of claim 1 wherein the drive gear is disposed on the frame above the roll rocker arm by a bracket and an axle, the drive gear engaging the roll rocker arm.
3. The active roll system as claimed in claim 1 or 2, wherein the retarder output shaft is coupled to the axle of the drive gear by a coupling.
4. The active roll system of claim 3 wherein the coupling is a flexible coupling, a cross-pin joint, or a constant velocity joint.
5. The active roll system of claim 1 or 2 wherein the roll rocker arm is a detachable split structure including a base and a gear sector bolted to one side thereof, and the first and second spring dampers are pivotally connected at one end to either side of the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021955264.XU CN213322544U (en) | 2020-09-09 | 2020-09-09 | Active side-tipping system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021955264.XU CN213322544U (en) | 2020-09-09 | 2020-09-09 | Active side-tipping system |
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| CN213322544U true CN213322544U (en) | 2021-06-01 |
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| CN202021955264.XU Active CN213322544U (en) | 2020-09-09 | 2020-09-09 | Active side-tipping system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113955000A (en) * | 2021-10-18 | 2022-01-21 | 常州工程职业技术学院 | A rolling swing device suitable for a dynamic balance car |
| WO2023279408A1 (en) * | 2021-07-07 | 2023-01-12 | 深圳骑士模型有限公司 | Remote control snowfield motorcycle having steering auxiliary structure |
| CN115782486A (en) * | 2022-12-20 | 2023-03-14 | 吉林大学 | All-terrain vehicle suspension system, all-terrain vehicle and attitude control method of all-terrain vehicle |
-
2020
- 2020-09-09 CN CN202021955264.XU patent/CN213322544U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023279408A1 (en) * | 2021-07-07 | 2023-01-12 | 深圳骑士模型有限公司 | Remote control snowfield motorcycle having steering auxiliary structure |
| CN113955000A (en) * | 2021-10-18 | 2022-01-21 | 常州工程职业技术学院 | A rolling swing device suitable for a dynamic balance car |
| CN115782486A (en) * | 2022-12-20 | 2023-03-14 | 吉林大学 | All-terrain vehicle suspension system, all-terrain vehicle and attitude control method of all-terrain vehicle |
| CN115782486B (en) * | 2022-12-20 | 2024-10-11 | 吉林大学 | All-terrain vehicle suspension system, all-terrain vehicle and attitude control method of all-terrain vehicle |
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Effective date of registration: 20241016 Address after: Building 5, No. 1508 Luoning Road, Baoshan District, Shanghai, 200949 Patentee after: SHANGHAI DAXILUN MATERIAL TECHNOLOGY (SHANGHAI) CO.,LTD. Country or region after: China Address before: 201400 1st floor, No. 281-289 (single), Lixin Road, Fengxian District, Shanghai Patentee before: Shanghai hangzao Technology Co.,Ltd. Country or region before: China |