Body roll drive mechanism and active roll vehicle applying the same

Abstract

The application relates to the technical field of vehicle chassis, and discloses a body roll driving mechanism of a vehicle and an active roll vehicle applying the same, in particular to the body roll driving and control technology of the active roll vehicle. The body roll driving mechanism comprises a vehicle frame, a vehicle body, a center cylindrical gear, a first cylindrical gear, a second cylindrical gear, a rigid connecting rod and an elastic connecting rod. The elastic connecting rod is used to connect two input gears which are independently engaged with an output gear. The speed synchronization difference caused by the input speed fluctuation in the transmission process is compensated by the length change of the elastic connecting rod, the gear engagement movement interference is avoided, the correct engagement transmission of each input gear and the output gear is maintained, the double-power hybrid driving body roll movement is realized, and the stability and reliability of the active roll vehicle are improved.

Description

Technical Field

[0001] This invention relates to a vehicle body roll drive mechanism and an active roll vehicle using the mechanism, belonging to the field of vehicle chassis technology, and particularly to the field of vehicle body roll drive and control technology. Background Technology

[0002] Active roll control systems improve vehicle handling stability, smoothness, speed, and safety by controlling the degree to which the vehicle tilts towards the inside of the turn. Active roll technology allows the vehicle to automatically tilt at a certain angle when cornering or driving over sloping surfaces, generating a balancing torque to resist centrifugal or rollover forces and maintain a stable driving posture.

[0003] Active roll technology for vehicles is typically implemented through two methods: independent body roll and body-wheel linked roll. In the body-wheel linked roll method, body roll and vehicle steering motion influence each other, resulting in good handling stability, smoothness, and safety during cornering. This method requires two-wheel or four-wheel independent steering, or a vehicle steering-roll linkage device composed of a roll mechanism and a steering mechanism linked together. However, it is complex and expensive, suitable only for high-end vehicles. In the independent body roll method, body roll and vehicle steering motion occur independently and do not interfere with each other. Any steering mechanism can be used, resulting in a simple structure and low cost. This method typically uses a servo motor connected in series with a reducer to reduce torque and drive the body rotation relative to the frame, or directly drives the body rotation relative to the frame. However, this method results in poor handling stability, smoothness, and safety reliability during cornering. Exploring independent body roll drive methods and researching independent body roll transmission and control methods has theoretical significance and practical value for improving the safety performance of vehicles with independent body roll. Summary of the Invention

[0004] The purpose of this invention is to provide a vehicle body roll drive mechanism and an active roll vehicle using the mechanism. The mechanism uses an elastic link to connect two input gears that mesh independently with the output gear. During transmission, the speed synchronization difference caused by the fluctuation of the input speed is compensated by the change in the length of the elastic link, avoiding interference of gear meshing motion and realizing dual-power hybrid drive for vehicle body roll motion.

[0005] The technical solution adopted to achieve the purpose of this invention is as follows:

[0006] The vehicle body roll drive mechanism includes: a central cylindrical gear (3) fixedly mounted on the vehicle body (2), the axis of the central cylindrical gear (3) located on the line of symmetry of the vehicle body (2), the vehicle body (2) and the frame (1) being rotatably connected around the axis of the central cylindrical gear (3), the connection point O being located on the centerline of the frame (1), the central cylindrical gear (3) and the vehicle body (2) rotating together around the axis of the central cylindrical gear (3) relative to the frame (1), the first cylindrical gear (4) being rotatably connected to the frame (1) around its axis, and the first cylindrical gear (4) being correctly meshed with the central cylindrical gear (3). In the transmission, one end of the rigid connecting rod (6) is rotatably connected to the frame (1) around the axis of the central cylindrical gear (3), and the other end is rotatably connected to the second cylindrical gear (5) around its axis. The second cylindrical gear (5) and the central cylindrical gear (3) are correctly meshed and transmitted. One end of the elastic connecting rod (7) is rotatably connected to the frame (1) around the axis of the first cylindrical gear (4), and the other end is rotatably connected to the second cylindrical gear (5) around its axis. The elastic connecting rod (7) keeps the second cylindrical gear (5) and the central cylindrical gear (3) correctly meshed and transmitted. The rotation axes of each cylindrical gear are parallel to each other.

[0007] Wherein: the number of teeth of the first cylindrical gear Z1, the input torque N1, and the input speed M1; the number of teeth of the second cylindrical gear Z2, the input torque N2, and the input speed M2; the synchronization condition of the input speeds of the two gears M1Z1=M2Z2; M1 and M2 are in the same direction; and the number of teeth of the central cylindrical gear Z... O Output speed M O =M1Z1 / Z O Output torque N O =Z O (N1 / Z1+N2 / Z2) drives the body to tilt. The speed synchronization difference caused by the input speed fluctuation during the transmission process is compensated by the change in the length of the elastic link to avoid interference of gear meshing. When the length of the elastic link changes, the center distance between the first and second cylindrical gears and the central cylindrical gear remains unchanged, realizing the dual-power hybrid drive of the body to tilt.

[0008] During the operation of the vehicle body roll drive mechanism: when N1≠0 and N2≠0, the output torque N of the central cylindrical gear is... O =Z O (N1 / Z1+N2 / Z2) achieves dual-power synthesis to drive the vehicle body's tilting motion; when N2=0, the second cylindrical gear idles at a speed of M2, the first cylindrical gear inputs torque N1, and the central cylindrical gear outputs torque N. O =N1Z O / Z1, the body roll drive mechanism is working normally. When N1 = 0, the first cylindrical gear rotates at a speed of M1, the second cylindrical gear inputs torque N2, and the center cylindrical gear outputs torque N. O =N2Z O / Z2, the body roll drive mechanism continues to work, realizing dual-power redundant drive for body roll movement.

[0009] In the aforementioned vehicle body roll drive mechanism, the elastic link is an elastic two-force link that generates a small amount of tensile or compressive displacement under the action of external force. It is made of elastic material to form a straight elastic link with equal diameter, or it can be made of elastic material to form a C-shaped or S-shaped elastic link. The spring stiffness of the elastic link is proportional to each input torque.

[0010] In the aforementioned vehicle body roll drive mechanism, the first cylindrical gear has Z1 teeth and an input speed M1, and the second cylindrical gear has Z2 teeth and an input speed M2. When Z2 = Z1, the synchronization condition for the input speeds of the two gears is: M2 = M1, and M2 and M1 are in the same direction; when Z2 ≠ Z1, the synchronization condition for the input speeds of the two gears is: M2 = M1Z1 / Z2, and M2 and M1 are in the same direction.

[0011] In the aforementioned vehicle body roll drive mechanism, both the first and second cylindrical gears are spur external cylindrical gears. When the central cylindrical gear is selected as a spur external cylindrical gear, an external meshing vehicle body roll drive mechanism is formed, and the output speed M of the central cylindrical gear is... O =M1Z1 / Z O M O Opposite to M1; when a spur internal gear is selected for the central cylindrical gear, an internal meshing body tilting drive mechanism is formed, and the output speed of the central cylindrical gear is M. O =M1Z1 / Z O M O Same direction as M1.

[0012] In the aforementioned vehicle body roll drive mechanism, both the first and second cylindrical gears are helical external cylindrical gears. When the central cylindrical gear is selected as a helical external cylindrical gear, an external meshing vehicle body roll drive mechanism is formed, and the output speed M of the central cylindrical gear is... O =M1Z1 / Z O M O Opposite to M1; when a helical internal cylindrical gear is selected for the central cylindrical gear, an internal meshing body tilting drive mechanism is formed, and the output speed of the central cylindrical gear is M. O =M1Z1 / Z O M O In the same direction as M1, helical cylindrical gear transmission has the advantages of high load capacity and smooth operation.

[0013] The active body roll four-wheel vehicle includes a body roll drive mechanism in which the frame is connected to the left front wheel, right front wheel, left rear wheel, and right rear wheel respectively through four sets of suspensions and shock absorbers according to a given wheelbase and track width. During the body roll process, the wheels do not roll. All four wheels use common passenger car tires. It has dual front wheel steering and dual rear wheel drive, thus forming a four-wheel vehicle with front wheel steering, rear wheel drive, and active body roll characteristics.

[0014] The active body tilt tricycle includes: a body tilt drive mechanism in which the frame is connected to the left and right rear wheels respectively through two sets of suspensions and shock absorbers according to a given wheelbase, providing dual rear-wheel drive. The two rear wheels use common passenger car tires. The body is connected to a front wheel through a steering arm and shock absorber according to a given wheelbase, providing front wheel steering. The front wheel uses a curved tire with an arc cross-section. The body tilt drive mechanism controls the body tilt, and the individual front wheel and the body adaptively tilt together, forming a tricycle with dual rear-wheel drive, front wheel steering, and active body tilt characteristics. It has the characteristics of large load-bearing capacity, small turning radius, and good ground adaptability.

[0015] The active tilting tricycle includes a tilting drive mechanism in which the frame is connected to the left and right front wheels respectively through two sets of suspensions and shock absorbers according to a given wheelbase. It features dual front wheel steering and uses common passenger car tires. The body is connected to a rear wheel through a swing arm and shock absorber according to a given wheelbase. The rear wheel is driven and uses curved tires with an arc cross-section. The tilting drive mechanism controls the body tilt, and the single rear wheel tilts adaptively with the body. This constitutes a tricycle with dual front wheel steering, single rear wheel drive, and active tilting characteristics, featuring small size, maneuverability, and flexibility.

[0016] The beneficial effects of this invention are that the proposed vehicle body roll drive mechanism and the active roll vehicle using this mechanism employ an elastic link to connect two input gears that mesh independently with the output gear. During the transmission process, the speed synchronization difference caused by the fluctuation of the input speed is compensated by the change in the length of the elastic link, avoiding interference in the gear meshing motion, and maintaining the correct meshing transmission between each input gear and the output gear at all times. This achieves dual-power hybrid drive of vehicle body roll motion, thereby improving the stability and reliability of the active roll vehicle. Attached Figure Description

[0017] Figure 1 A simplified diagram of the vehicle body roll drive mechanism;

[0018] Figure 2 A simplified diagram of an internal meshing vehicle body roll drive mechanism;

[0019] Figure 3 This is a schematic diagram of the roll drive mechanism for the vehicle body.

[0020] Figure 4(a) is a schematic diagram of a C-shaped elastic link configuration, and (b) is a schematic diagram of an S-shaped elastic link configuration.

[0021] Figure 5 A schematic diagram illustrating the principle of a four-wheeled vehicle with active body tilting.

[0022] Figure 6 Schematic diagram of the active tilting tricycle.

[0023] Figure 7 Schematic diagram of the active tilting tricycle;

[0024] In the diagram: 1--frame, 2--body, 3--central cylindrical gear, 4--first cylindrical gear, 5--second cylindrical gear, 6--rigid connecting rod, 7--elastic connecting rod. Detailed Implementation

[0025] The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0026] Figure 1 The diagram shows a simplified view of the vehicle body roll drive mechanism. The vehicle body roll drive mechanism includes: a frame (1), a body (2), a central cylindrical gear (3), a first cylindrical gear (4), a second cylindrical gear (5), a rigid connecting rod (6), and an elastic connecting rod (7). The central cylindrical gear (3) is fixedly mounted on the body (2), and the axis of the central cylindrical gear (3) is located on the line of symmetry of the body (2). The body (2) and the frame (1) are rotatably connected around the axis of the central cylindrical gear (3), and the connection point O is located on the centerline of the frame (1). The central cylindrical gear (3) and the body (2) rotate together around the axis of the central cylindrical gear (3) relative to the frame (1). The first cylindrical gear (4) rotates around its axis. The axis is rotatably connected to the frame (1), the first cylindrical gear (4) meshes correctly with the central cylindrical gear (3) for transmission, one end of the rigid connecting rod (6) is rotatably connected to the frame (1) around the axis of the central cylindrical gear (3), and the other end is rotatably connected to the second cylindrical gear (5) around its axis, the second cylindrical gear (5) meshes correctly with the central cylindrical gear (3) for transmission, one end of the elastic connecting rod (7) is rotatably connected to the frame (1) around the axis of the first cylindrical gear (4), and the other end is rotatably connected to the second cylindrical gear (5) around its axis, the elastic connecting rod (7) keeps the second cylindrical gear (5) meshing correctly with the central cylindrical gear (3) for transmission, and the rotation axes of each cylindrical gear are parallel to each other;

[0027] Wherein: the number of teeth of the first cylindrical gear Z1, the number of teeth of the second cylindrical gear Z2, and the number of teeth of the central cylindrical gear Z... O Servo motor one drives the first cylindrical gear with input torque N1 and input speed M1, while servo motor two drives the second cylindrical gear with input torque N2 and input speed M2. The two gears are synchronized under the condition M1Z1 = M2Z2, with M1 and M2 rotating in the same direction. Figure 1 As shown, during the transmission process, when the upward fluctuation of M2 increases, the elastic connecting rod is under tension, and the rod length AB increases. Since AO is fixed, ∠AOB increases, avoiding interference in the gear meshing motion. When the downward fluctuation of M2 decreases, the elastic connecting rod is under compression, and the rod length AB shortens, so ∠AOB decreases, avoiding interference in the gear meshing motion. When the length of the elastic connecting rod changes, the length of the rigid connecting rod remains unchanged. The center distances OA and OB between the first and second cylindrical gears and the central cylindrical gear remain unchanged, and the output torque N of the central cylindrical gear remains constant. O =Z O (N1 / Z1+N2 / Z2), Output speed M O =M1Z1 / Z O This enables dual-power hybrid drive for vehicle body roll movement;

[0028] The correct meshing transmission conditions for spur gears are: the first spur gear, the second spur gear, and the central spur gear have the same module m and pressure angle α; the center distance OA of the external meshing transmission between the first spur gear and the central spur gear is OA = m(Z1 + Z). O ) / 2, the center distance OB of the external meshing transmission between the second cylindrical gear and the central cylindrical gear is m(Z2+Z O ) / 2, the length of the rigid link is equal to OB, and the length of the elastic link AB is greater than m(Z1+Z2) / 2+2m, such as Figure 1 As shown; the center distance OA of the internal meshing transmission between the first cylindrical gear and the central cylindrical gear is m (Z). O -Z1) / 2, the center distance OB of the internal meshing transmission between the second cylindrical gear and the central cylindrical gear is m(Z1) / 2. O -Z2) / 2, the length of the rigid link is equal to OB, and the length of the elastic link AB is greater than m(Z1+Z2) / 2+2m. Figure 2 As shown.

[0029] Figure 3 The diagram shown illustrates the roll principle of the vehicle body roll drive mechanism. During operation, when N1≠0 and N2≠0, the output torque N of the central cylindrical gear is... O =Z O (N1 / Z1+N2 / Z2) achieves dual-power synthesis to drive the vehicle body's tilting motion; when N2=0, the second cylindrical gear idles at a speed of M2, the first cylindrical gear inputs torque N1, and the central cylindrical gear outputs torque N. O =N1Z O / Z1, the body roll drive mechanism is working normally. When N1 = 0, the first cylindrical gear rotates at a speed of M1, the second cylindrical gear inputs torque N2, and the center cylindrical gear outputs torque N. O =N2Z O / Z2, the body roll drive mechanism continues to work, realizing dual-power redundancy to drive the body roll movement, so as to maintain the vehicle's driving stability and safety under any conditions.

[0030] In the aforementioned vehicle body roll drive mechanism, the elastic link is an elastic two-force link that generates a small tensile or compressive displacement under external force. It is made of an elastic material and is a straight elastic link with a constant diameter; alternatively, it can be made of an elastic material and be a C-shaped elastic link (such as...). Figure 4 (a) shown), or an S-shaped elastic link (such as...) Figure 4 (b) As shown, the spring stiffness of the elastic link is proportional to each input torque.

[0031] In the aforementioned vehicle body roll drive mechanism, the first cylindrical gear has Z1 teeth and an input speed M1, and the second cylindrical gear has Z2 teeth and an input speed M2. When Z2 = Z1, the synchronization condition for the input speeds of the two gears is: M2 = M1, and M2 and M1 are in the same direction; when Z2 ≠ Z1, the synchronization condition for the input speeds of the two gears is: M2 = M1Z1 / Z2, and M2 and M1 are in the same direction.

[0032] In the aforementioned vehicle body roll drive mechanism, both the first and second cylindrical gears are spur external cylindrical gears, satisfying the synchronization condition of the two gear input speeds: M1Z1 = M2Z2, with M1 and M2 moving in the same direction. When the central cylindrical gear is selected as a spur external cylindrical gear, an external meshing vehicle body roll drive mechanism is formed, and the output speed M of the central cylindrical gear... O =M1Z1 / Z O M O In the opposite direction of M1, such as Figure 1 As shown; when a spur internal gear is selected as the central cylindrical gear, an internal meshing body tilting drive mechanism is formed, and the output speed of the central cylindrical gear is M. O =M1Z1 / Z O M O Same direction as M1, such as Figure 2 As shown.

[0033] In the aforementioned vehicle body roll drive mechanism, both the first and second cylindrical gears are helical external cylindrical gears, satisfying the synchronization condition of the two gear input speeds: M1Z1 = M2Z2, M1 and M2 are in the same direction. When the central cylindrical gear is selected as a helical external cylindrical gear, an external meshing vehicle body roll drive mechanism is formed, and the output speed M of the central cylindrical gear is... O =M1Z1 / Z O M O Opposite to M1; when a helical internal cylindrical gear is selected for the central cylindrical gear, an internal meshing body tilting drive mechanism is formed, and the output speed of the central cylindrical gear is M. O =M1Z1 / ZO, M OIn the same direction as M1, helical cylindrical gear transmission has the advantages of high load capacity and smooth operation.

[0034] Figure 5 The diagram shown illustrates the principle of an active roll four-wheel vehicle. This vehicle includes a roll drive mechanism where the frame, via four suspensions and shock absorbers, connects the left front wheel, right front wheel, left rear wheel, and right rear wheel according to a given wheelbase and track width. During roll, the wheels do not tilt. All four wheels use standard passenger car tires (GB9743-2007). The two front suspensions are identical, and an isosceles trapezoidal steering mechanism links the two front wheels for steering. The two rear suspensions are identical, and both rear wheel hub motors drive the wheels, thus forming a four-wheel vehicle with front-wheel steering, rear-wheel drive, and active roll characteristics.

[0035] Figure 6 The diagram shown illustrates the principle of an active tilting tricycle. The active tilting tricycle includes a tilting drive mechanism. The frame is connected to the left and right rear wheels via two identical suspensions and shock absorbers according to a given wheelbase. Both rear wheels are driven by dual-rear-wheel hub motors and use standard passenger car tires (GB 9743-2007). The chassis is connected to a front wheel via a steering arm and shock absorber according to a given wheelbase. The front wheel steers and uses a motorcycle tire (GB 518-2007) with a circular cross-section. The tilting drive mechanism controls the vehicle's tilt, with each front wheel and chassis adaptively tilting. This constitutes a tricycle with dual rear-wheel drive, front-wheel steering, and active tilting characteristics, offering high load-bearing capacity, a small turning radius, and good terrain adaptability.

[0036] Figure 7 The diagram shown illustrates the principle of an active tilting tricycle. This tricycle includes a tilting drive mechanism where the frame is connected to the left and right front wheels via two identical suspensions and shock absorbers according to a given wheelbase. An isosceles trapezoidal steering mechanism links the steering of both front wheels, which use standard passenger car tires (GB 9743-2007). The chassis is connected to a rear wheel via a swing arm and shock absorber, also according to a given wheelbase. The rear wheel is driven by a hub motor and uses motorcycle tires (GB 518-2007) with a circular cross-section. The tilting drive mechanism controls the vehicle's tilt, and the individual rear wheel tilts adaptively along with the chassis. This constitutes a tricycle with dual front wheel steering, a single rear wheel drive, and active tilting characteristics, offering advantages such as small size, maneuverability, and flexibility.

[0037] Through the above embodiments, the proposed vehicle body roll drive mechanism and the active roll vehicle using the mechanism employ an elastic link to connect two input gears that mesh independently with the output gear. During transmission, the speed synchronization difference caused by the input speed fluctuation is compensated by the change in the length of the elastic link, avoiding interference in gear meshing motion, and maintaining the correct meshing transmission between each input gear and the output gear. This achieves dual-power hybrid drive for vehicle body roll motion, thereby improving the stability and reliability of the active roll vehicle.

Claims

1. A vehicle body roll drive mechanism, characterized in that, include: The central cylindrical gear is fixedly mounted on the vehicle body, with its axis located on the line of symmetry of the vehicle body. The vehicle body and the frame are rotatably connected around the axis of the central cylindrical gear, with the connection point located on the center line of the frame. The first cylindrical gear is rotatably connected to the frame around its axis, and the first cylindrical gear meshes correctly with the central cylindrical gear for transmission. One end of the rigid connecting rod is rotatably connected to the frame around the axis of the central cylindrical gear, and the other end is rotatably connected to the second cylindrical gear around its axis, and the second cylindrical gear meshes correctly with the central cylindrical gear for transmission. One end of the elastic connecting rod is rotatably connected to the frame around the axis of the first cylindrical gear, and the other end is rotatably connected to the second cylindrical gear around its axis, and the elastic connecting rod maintains the correct meshing transmission between the second cylindrical gear and the central cylindrical gear. The rotation axes of each cylindrical gear are parallel to each other. Wherein: the number of teeth of the first cylindrical gear Z1, the input torque N1, and the input speed M1; the number of teeth of the second cylindrical gear Z2, the input torque N2, and the input speed M2; the synchronization condition of the input speeds of the two gears M1Z1=M2Z2; M1 and M2 are in the same direction; and the number of teeth of the central cylindrical gear Z... O Output speed M O =M1Z1 / Z O Output torque N O =Z O (N1 / Z1+N2 / Z2) drives the body to tilt. The speed synchronization difference caused by the input speed fluctuation during the transmission process is compensated by the change in the length of the elastic link to avoid interference of gear meshing. When the length of the elastic link changes, the center distance between the first and second cylindrical gears and the central cylindrical gear remains unchanged, realizing the dual-power hybrid drive of the body to tilt.

2. The vehicle body roll drive mechanism according to claim 1, characterized in that, The elastic link is an elastic two-force link that generates a small amount of tensile or compressive displacement under the action of external force. It is made of elastic material to form a straight elastic link with equal diameter, or a C-shaped or S-shaped elastic link made of elastic material.

3. The vehicle body roll drive mechanism according to claim 1, characterized in that, Both the first and second cylindrical gears are spur external cylindrical gears. When the central cylindrical gear is a spur external cylindrical gear, it forms an external meshing vehicle body tilting drive mechanism; when the central cylindrical gear is a spur internal cylindrical gear, it forms an internal meshing vehicle body tilting drive mechanism.

4. The vehicle body roll drive mechanism according to claim 1, characterized in that, Both the first and second cylindrical gears are helical external cylindrical gears. When the central cylindrical gear is a helical external cylindrical gear, an external meshing vehicle body tilting drive mechanism is formed; when the central cylindrical gear is a helical internal cylindrical gear, an internal meshing vehicle body tilting drive mechanism is formed.

5. A four-wheeled vehicle with active body tilting, characterized in that: include: The vehicle body roll drive mechanism of claim 1 consists of a frame connected to the left front wheel, right front wheel, left rear wheel, and right rear wheel respectively through four sets of suspensions and shock absorbers according to a given wheelbase and track width. It features dual front wheel steering and dual rear wheel drive, thus forming a four-wheeled vehicle with front wheel steering, rear wheel drive, and active body roll characteristics.

6. A three-wheeled vehicle with active body tilting, characterized in that: include: The vehicle body roll drive mechanism of claim 1 consists of a frame connected to the left and right rear wheels respectively via two sets of suspensions and shock absorbers according to a given wheelbase, providing dual rear-wheel drive. The vehicle body is connected to a front wheel via a steering arm and shock absorber according to a given wheelbase, providing front wheel steering. The vehicle body roll drive mechanism controls the vehicle body roll, and the single front wheel and the vehicle body adaptively roll together, forming a tricycle with dual rear-wheel drive, front wheel steering, and active vehicle body roll characteristics.

7. A three-wheeled vehicle with active side-tilting capability, characterized in that: include: The vehicle body roll drive mechanism of claim 1 consists of a frame connected to the left front wheel and the right front wheel respectively through two sets of suspensions and shock absorbers according to a given wheelbase, with dual front wheel steering. The vehicle body is connected to a rear wheel through a swing arm and shock absorber according to a given wheelbase, with the rear wheel driving. The vehicle body roll drive mechanism controls the vehicle body roll, and the single rear wheel rolls adaptively with the vehicle body, thus forming a reverse tricycle with dual front wheel steering, single rear wheel drive, and active vehicle body roll characteristics.

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