Active suspension mechanism, system and vehicle

Abstract

The present application relates to a kind of active suspension mechanism, system and vehicle, the active suspension mechanism described above includes detection device, control device, driving device, transmission device and linkage device;Wherein, detection device can detect the acceleration and angular acceleration of the vertical motion of vehicle body, and send motion parameters to control device, control device judges and outputs corresponding control instruction to driving device, driving device is arranged parallel to frame, can output vertical direction rotation, transmission device can convert vertical direction rotation into horizontal direction linear motion, and accelerate motion to increase output thrust, simultaneously drive linkage device to do vertical motion, since linkage device is connected with wheel, thus can realize the linear motion of wheel in vertical direction, at this time, driving device can simultaneously realize suspension spring function and damper two functions.

Description

Technical Field

[0001] This invention relates to the field of automotive suspension technology, and more particularly to an active suspension mechanism, system, and vehicle. Background Technology

[0002] The suspension system is a collective term for all force-transmitting connections between the vehicle frame and the axles or wheels. Its function is to transmit the forces and torques acting between the wheels and the frame, buffer the impact forces transmitted from uneven road surfaces to the frame or body, and dampen the resulting vibrations to ensure a smooth ride. A typical suspension system consists of elastic elements, guiding mechanisms, and shock absorbers; some systems also include bump stops and stabilizer bars.

[0003] Active suspension systems are a new type of computer-controlled suspension system that has been developed in the last decade or so. Active suspension systems have the function of controlling vehicle body movement. When the inertia of a car during braking or cornering causes the springs to deform, the active suspension system generates a force that counteracts the inertia, reducing changes in vehicle body position.

[0004] In some cars equipped with active suspension systems, the central hub of the suspension system is a microcomputer. Sensors on the suspension system transmit data to the microcomputer, including vehicle speed, front wheel braking pressure, accelerator pedal depressor speed, vertical vibration amplitude and frequency of the vehicle body, steering wheel angle, and steering speed. The computer continuously receives this data and compares it with pre-set thresholds, selecting the appropriate suspension system state. Simultaneously, the microcomputer independently controls the actuators on each wheel, generating pulsations by controlling changes in the hydraulic pressure within the shock absorbers, thus enabling the suspension system to produce the required movements at any time and on any wheel.

[0005] Existing active suspension systems mainly include air spring suspension, magnetorheological fluid suspension, and electromagnetic suspension, each with its own advantages and disadvantages. Taking air spring suspension as an example, although it can adjust the damping and spring coefficients in real time, air spring adjustment is complex, requiring complex mechanisms such as solenoid valves, air pumps, and pipelines, resulting in high system costs. Furthermore, air suspension has a relatively slow response. Magnetorheological fluid suspension, for example, can only adjust the system's damping coefficient, not its spring coefficient. Other electromagnetic force-based suspension systems can only perform the function of a spring and still require additional dampers.

[0006] Therefore, a new suspension structure needs to be designed to solve the above problems. Summary of the Invention

[0007] This invention discloses an active suspension mechanism, system, and vehicle, aiming to solve the technical problems existing in the prior art.

[0008] The present invention adopts the following technical solution:

[0009] In a first aspect, embodiments of the present invention provide an active suspension mechanism, comprising:

[0010] - Detection device, which is installed at multiple locations on the vehicle body, is used to detect the motion parameters of the vehicle body;

[0011] - Control device, which is connected to the detection device by signal, is used to receive vertical motion parameters and output control commands according to the motion parameters;

[0012] - Drive unit, which is horizontally set and fixedly connected to the frame, can receive control commands from the control unit and output rotational motion;

[0013] - Transmission device, which is horizontally set and connected to drive device, is able to make horizontal linear motion under the drive of drive device;

[0014] - Linkage device, which includes a rocker arm and a fork arm. One end of the rocker arm is connected to the transmission device, and the other end includes a first fixed rotating shaft. The rocker arm can rotate around the first fixed rotating shaft under the drive of the transmission device. The two ends of the fork arm are connected to the rocker arm and the wheel respectively. The fork arm can drive the wheel to move vertically under the linkage of the rocker arm.

[0015] As a preferred technical solution, the fork arm includes an upper fork arm and a lower fork arm arranged in parallel, and both the upper fork arm and the lower fork arm have an inner end and an outer end.

[0016] The inner end of the lower fork arm is fixedly connected to the rocker arm, and the outer end of the lower fork arm is connected to the wheel.

[0017] The inner end of the upper fork arm includes a second fixed pivot, and the outer end of the upper fork arm is connected to the wheel. The upper fork arm can rotate around the second fixed pivot under the drive of the lower fork arm.

[0018] As a preferred technical solution, a shock-absorbing spring is provided between the upper and lower forks. The upper end of the shock-absorbing spring is connected to the second fixed pivot, and the lower end of the shock-absorbing spring is connected to the lower fork via a third fixed pivot.

[0019] As a preferred technical solution, the rocker arm is L-shaped, including a vertical section and a horizontal section. The horizontal section coincides with the plane of the lower fork arm, and the horizontal section is fixedly connected to the lower fork arm.

[0020] As a preferred technical solution, the drive device includes a servo motor, and the output shaft of the servo motor is connected to the transmission device through a coupling for outputting vertical rotational motion.

[0021] As a preferred technical solution, the transmission device includes a lead screw, a lead screw nut, and a push rod;

[0022] One end of the lead screw is fixedly connected to the coupling and is used to transmit rotational motion in the vertical direction;

[0023] One end of the push rod is connected to the lead screw via a lead screw nut, and the other end of the lead screw is connected to the linkage device. The push rod is driven to make a horizontal linear motion through the lead screw nut.

[0024] As a preferred technical solution, one end of the push rod is connected to the rocker arm via a fourth fixed pivot.

[0025] As a preferred technical solution, the drive unit is connected to the vehicle frame via a fifth fixed rotating shaft, which is arranged parallel to the fourth fixed rotating shaft.

[0026] Secondly, embodiments of the present invention provide an active suspension system, including at least one pair of active suspension mechanisms as described in any of the preceding claims, wherein each pair of active suspension structures is symmetrically arranged along the longitudinal axis of the vehicle.

[0027] Thirdly, embodiments of the present invention provide a vehicle, the vehicle including a frame, wheels, and an active suspension mechanism as described in any of the preceding claims.

[0028] One embodiment of the above invention has the following advantages or beneficial effects:

[0029] This invention mainly provides an active suspension mechanism, which includes a detection device, a control device, a drive device, a transmission device, and a linkage device. The detection device can detect the acceleration and angular acceleration of the vehicle body's vertical movement and send the motion parameters to the control device. After judgment, the control device outputs corresponding control commands to the drive device. The drive device is set parallel to the vehicle frame and can output vertical rotational motion. The transmission device can convert the vertical rotational motion into horizontal linear motion and accelerate the motion to increase the output thrust. At the same time, it drives the linkage device to perform vertical motion. Since the linkage device is connected to the wheel, it can realize the linear motion of the wheel in the vertical direction. At this time, the drive device can simultaneously perform the functions of a suspension spring and a damper.

[0030] Specifically, the linkage device is equipped with a shock-absorbing spring, which can provide static support, reducing the output power and output torque requirements of the drive device and reducing costs.

[0031] The active suspension mechanism in this invention has a simple structure and low cost. Because it requires little modification to the existing suspension structure, it is easy to modify the existing chassis by adding parts to the existing suspension structure. By setting multiple active suspension mechanisms, the vehicle can be equipped with active suspension function. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below, forming part of the present invention. The illustrative embodiments of the present invention and their descriptions explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0033] Figure 1 This is a perspective view of an active suspension mechanism provided in one embodiment of the present invention.

[0034] Servo motor 1, coupling 2, lead screw 3, push rod 4, rocker arm 5, upper fork arm 6, lower fork arm 7, shock absorber spring 8, first fixed shaft 9, second fixed shaft 10, third fixed shaft 11, fourth fixed shaft 12, fifth fixed shaft 13, wheel 14, frame 15. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. In the description of this invention, it should be noted that the term "or" is generally used to include the meaning of "and / or," unless otherwise expressly indicated.

[0036] Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0037] This invention provides an active suspension mechanism that can dynamically and adaptively adjust the stiffness and damping of the suspension according to changes in parameters such as the vehicle's motion state, road conditions, and load, so that the vehicle can actively adapt to road conditions and driving status.

[0038] refer to Figure 1The active suspension mechanism includes a detection device, a control device, a drive device, a transmission device, and a linkage device. The detection device includes various sensors installed on the vehicle body to detect the vehicle's motion parameters and send them to the control device. The control device analyzes the signals input from each sensor and outputs a control signal to control the drive device to perform corresponding actions. The drive device is horizontally mounted on the frame 15 and is connected to the control device, enabling it to output vertical rotational motion according to the relevant instructions from the control device. The transmission device is connected to the drive device and can perform horizontal linear motion under the drive of the drive device. The linkage device includes a rocker arm 5 and a fork arm. One end of the rocker arm 5 is connected to the transmission device, and the other end includes a first fixed rotating shaft 9. The rocker arm 5 can rotate around the first fixed rotating shaft 9 under the drive of the transmission device. The two ends of the fork arm are connected to the rocker arm 5 and the wheel 14, respectively. The fork arm can drive the wheel 14 to move vertically under the linkage of the rocker arm 5. When the drive unit drives the linkage device to move closer to the drive unit, the rocker arm 5 rotates upward around the first fixed pivot 9. At this time, the fork arm moves upward, driving the wheel 14 to move upward, which enables the wheel 14 to cross obstacles and improves the stability of the car when driving. When the drive unit drives the linkage device to move away from the drive unit, the rocker arm 5 rotates downward around the first fixed pivot 9. At this time, the fork arm moves downward, driving the wheel 14 to move downward, thereby increasing the driving force of the wheel 14.

[0039] In a preferred embodiment, the linkage device is further provided with a shock-absorbing spring 8, which can provide static support. Therefore, the drive device does not need to output a static torque to support the vehicle body, thereby reducing the output power and output torque requirements of the drive device.

[0040] Preferably, the detection device includes several sensors for real-time or timed acquisition of various motion states of the vehicle body, and sends the acquired motion parameters to the control device.

[0041] Preferably, the detection device includes a vehicle body acceleration sensor, a vehicle body height sensor, a vehicle speed sensor, a steering wheel angle sensor, etc.; wherein, the vehicle body acceleration sensor is used to detect the vertical vibration of the vehicle body, indirectly reflecting the road conditions on which the vehicle is traveling; the vehicle body height sensor is used to detect the displacement of the vehicle body relative to the axle, reflecting the ride comfort and vehicle height; the vehicle speed sensor obtains vehicle speed information by detecting the rotational speed of the wheels 14, and is used to calculate the possible degree of body roll.

[0042] Furthermore, the placement of each sensor can be referenced from the placement of sensors in existing active suspension systems. Since vehicles from different manufacturers have different models, the actual placement of the sensors varies, and will not be listed here.

[0043] Preferably, the control device includes an input circuit, a microprocessor, an output circuit, a power supply circuit, and program software. The microprocessor is an ECU. The ECU can output a control signal after processing the signals input from each sensor to control the drive device to output a specific power. Through the transmission device and linkage device, it adjusts the stiffness, damping, and vehicle height of the active suspension mechanism to ensure the handling stability and ride comfort of the vehicle during driving.

[0044] In a preferred embodiment, the control command output by the control device includes the magnitude and direction of the output power of the drive device. By adjusting these two parameters, the stiffness and damping of the active suspension mechanism can be adjusted.

[0045] In a preferred embodiment, the control device automatically outputs control commands to the drive device based on the signal from the detection device, thereby realizing the automatic adjustment of the stiffness and damping of the active suspension mechanism.

[0046] In another preferred embodiment, the control device further includes a mode selection switch to manually control the stiffness and damping of the active suspension mechanism.

[0047] In a preferred embodiment, the control device can simultaneously provide automatic or manual control of the drive device, allowing the driver to choose according to the actual driving situation.

[0048] Preferably, the drive device includes a servo motor 1, which is fixedly mounted on the frame 15 and horizontally arranged to ensure that the rotation direction of its output shaft is the output rotation. More preferably, a fifth fixed rotating shaft 13 is provided below the servo motor 1. The fifth fixed rotating shaft 13 is arranged parallel to the first fixed rotating shaft 9 in the linkage device. When the rocker arm 5 rotates around the first fixed rotating shaft 9, the servo motor 1 can also rotate around the fifth fixed rotating shaft 13 to a certain extent. On the one hand, this can ensure that the rocker arm 5 rotates normally around the first fixed rotating shaft 9, and prevent the transmission device from bending and deforming because the two ends are not in the same straight line. On the other hand, it can ensure that the wheel 14 can only move in a straight line in the vertical direction, so as not to produce skew.

[0049] Preferably, the transmission device includes a lead screw 3, a lead screw 3 nut, and a push rod 4. The output shaft of the servo motor 1 is connected to the lead screw 3 via a coupling 2, which is used to output vertical rotational motion and drive the lead screw 3 to rotate. The lead screw 3 nut is screwed to the lead screw 3. As the lead screw 3 rotates, the lead screw 3 nut moves linearly on the lead screw 3, which can reduce the motion of the motor and increase the thrust, thus acting as a speed reducer. One end of the push rod 4 is connected to the lead screw 3 nut, and the other end of the push rod 4 is connected to the linkage device. The lead screw 3 drives the push rod 4 to move linearly in the horizontal direction through the lead screw 3 nut, so as to further drive the linkage device to achieve vertical movement.

[0050] Preferably, the rocker arm 5 is L-shaped, including a vertical section and a horizontal section; preferably, the fork arm includes an upper fork arm 6 and a lower fork arm 7 arranged in parallel, the horizontal section of the rocker arm 5 is fixedly connected to the lower fork arm 7, and the horizontal section of the rocker arm 5 not only coincides with the plane of the lower fork arm 7, but is also arranged in parallel with the upper fork arm 6.

[0051] Preferably, both the upper fork arm 6 and the lower fork arm 7 have inner and outer ends. The outer ends of the upper fork arm 6 and the lower fork arm 7 are connected to the wheel 14. The inner end of the upper fork arm 6 includes a second fixed rotating shaft 10. The inner end of the lower fork arm 7 is fixedly connected to the transverse section of the rocker arm 5. Since the rocker arm 5 can rotate under the drive of the push rod 4, the lower fork arm 7 can rotate with the rotation of the rocker arm 5. The upper fork arm 6 can rotate around the second fixed rotating shaft 10 under the drive of the lower fork arm 7, and finally realize the linear motion of the wheel 14 in the vertical direction.

[0052] Preferably, a fourth fixed rotating shaft 12 is provided at the connection between the rocker arm 5 and the push rod 4. The fourth fixed rotating shaft 12 is parallel to the first fixed rotating shaft 9, the second fixed rotating shaft 10, and the fifth fixed rotating shaft 13. When the push rod 4 drives the rocker arm 5 to rotate, the included angle between the push rod 4 and the rocker arm 5 will also change accordingly. At this time, when the rocker arm 5 rotates around the first fixed rotating shaft 9, it also rotates relative to the push rod 4 through the fourth fixed rotating shaft 12 to maintain the parallel state of the push rod 4 and ensure that the rocker arm 5 can rotate normally.

[0053] Since the upper fork arm 6 and the lower fork arm 7 are parallel, and the outer ends of the upper fork arm 6 and the lower fork arm 7 are connected to the inner side of the wheel 14, the side length of the inner side of the wheel 14 is constant. That is, the upper fork arm 6, the lower fork arm 7, the rocker arm 5 and the wheel 14 form a stable parallelogram structure. When the rocker arm 5 rotates around the first fixed pivot 9, it will only affect the angle between the upper fork arm 6 and the lower fork arm 7 and the plane (the two always remain parallel), and will not affect the vertical state of the wheel 14. Under the limit of the upper fork arm 6 and the lower fork arm 7, the wheel 14 can achieve linear motion in the vertical direction, ensuring the stability during driving.

[0054] Preferably, a shock-absorbing spring 8 is provided between the upper fork arm 6 and the lower fork arm 7. The upper end of the shock-absorbing spring 8 is connected to the second fixed rotating shaft 10, and the lower end of the shock-absorbing spring 8 is connected to the lower fork arm 7 through the third fixed rotating shaft 11.

[0055] On the one hand, when the vehicle is stationary or in a power-off state, the shock absorber spring 8 can maintain the vertical position of the vehicle body to prevent the vehicle body from becoming stuck and damaging the chassis after the active suspension system loses power. On the other hand, the shock absorber spring 8 can provide a basic elastic force to support the vehicle body, so there is no need for the servo motor 1 to output a static torque to support the vehicle body, saving the output power and output torque of the servo motor 1. The servo motor 1 is only responsible for the torque output under dynamic conditions. Therefore, a smaller power servo motor 1 can be selected to achieve the same control effect.

[0056] In this embodiment, the detection device can measure the vertical speed and acceleration of the vehicle body and send the collected parameters to the control device. The control device judges the data according to the control algorithm and outputs control commands to the servo motor 1. The servo motor 1 is placed horizontally and can output a certain power. The output shaft of the servo motor 1 is connected to the lead screw 3 by the coupling 2. The lead screw 3 converts the rotational motion of the servo motor 1 into the linear motion of the lead screw 3 nut and the push rod 4. The push rod 4 pushes the rocker arm 5 to rotate, and the rocker arm 5 pushes the lower fork arm 7 to swing. The swinging lower fork arm 7 and the upper fork arm 6 cooperate to realize the linkage between the rotational motion of the servo motor 1 and the vertical motion of the wheel 14. The servo motor 1 can actively buffer the impact force caused by ground bumps, so that the vehicle does not bounce up and down significantly, thereby realizing the vibration suppression function of the vehicle body.

[0057] In one embodiment of the present invention, an active suspension system is provided, the active suspension system including a pair of the above-described active suspension structures, each pair of active suspension structures being symmetrically arranged along the longitudinal axis of the vehicle to connect the wheels 14 on both sides respectively.

[0058] In one embodiment of the present invention, a vehicle is also provided, the vehicle including a frame 15, wheels 14 and the aforementioned active suspension mechanism. All active suspension mechanisms are fixed on the chassis frame 15, and each active suspension structure is connected to a wheel 14. At this time, each pair of active suspension mechanisms arranged symmetrically along the longitudinal axis of the vehicle constitutes an active suspension system. The control device can automatically adjust the power of the corresponding servo motor 1 according to the changes in vehicle speed and road surface. On the one hand, it can realize the control of the stiffness (elastic coefficient) and damping of each active suspension mechanism, and on the other hand, it can realize the control of the vehicle body (chassis) height.

[0059] For example, when the vehicle is turning, the elastic coefficients of the inner and outer suspensions of the chassis are adjusted in real time, with the inner elastic coefficient decreasing and the outer elastic coefficient increasing, to solve the problem of vehicle roll during cornering. When braking, the elastic coefficient of the front suspension is increased to solve the problem of the front of the vehicle sinking during braking. At the same time, the servo motor 1 also acts as a damper, absorbing the vibration energy of the wheel 14 and the upper and lower forks 6 and 7, so that the vertical vibration of the wheel 14 converges quickly, achieving the purpose of vibration reduction and improving ride comfort.

[0060] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of this application. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of this application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

[0061] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0062] Similarly, it should be understood that, in order to streamline this application and aid in understanding one or more of the various inventive aspects, features of this application may sometimes be grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of this application. However, this approach should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as reflected in the corresponding claims, its inventive point lies in solving the corresponding technical problem with features fewer than all features of a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0063] Those skilled in the art will understand that, apart from the mutual exclusion of features, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or elements of any method or apparatus so disclosed can be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature serving the same, equivalent, or similar purpose.

Claims

1. An active suspension mechanism, characterized in that, include: - A detection device, which is installed at multiple locations on the vehicle body, is used to detect the motion parameters of the vehicle body; - A control device, which is signal-connected to the detection device, is used to receive vertical motion parameters and output control commands based on the motion parameters; - A drive unit, which is horizontally positioned and fixedly connected to the vehicle frame, is capable of receiving control commands from the control unit and outputting rotational motion; - A transmission device, which is horizontally arranged and connected to the drive device, and is capable of horizontal linear motion under the drive of the drive device; - A linkage device, comprising a rocker arm and a fork arm. One end of the rocker arm is connected to the transmission device via a fourth fixed pivot, and the other end includes a first fixed pivot. The first fixed pivot is mounted on the frame and is parallel to the fourth fixed pivot. The rocker arm can rotate around the first fixed pivot under the drive of the transmission device, and rotate relative to the transmission device via the fourth fixed pivot to maintain the horizontal state of the transmission device while ensuring that the rocker arm can rotate normally. The two ends of the fork arm are respectively connected to the rocker arm and the wheel, and the fork arm can drive the wheel to move vertically under the linkage of the rocker arm.

2. The active suspension mechanism according to claim 1, characterized in that, The fork arm includes an upper fork arm and a lower fork arm arranged in parallel, and both the upper fork arm and the lower fork arm have an inner end and an outer end; The inner end of the lower fork arm is fixedly connected to the rocker arm, and the outer end of the lower fork arm is connected to the wheel. The inner end of the upper fork arm includes a second fixed pivot, and the outer end of the upper fork arm is connected to the wheel. The upper fork arm can rotate around the second fixed pivot under the drive of the lower fork arm.

3. The active suspension mechanism according to claim 2, characterized in that, A shock-absorbing spring is provided between the upper fork arm and the lower fork arm. The upper end of the shock-absorbing spring is connected to the second fixed rotating shaft, and the lower end of the shock-absorbing spring is connected to the lower fork arm through a third fixed rotating shaft.

4. The active suspension mechanism according to claim 2, characterized in that, The rocker arm is L-shaped and includes a vertical section and a horizontal section. The horizontal section coincides with the plane of the lower fork arm and is fixedly connected to the lower fork arm.

5. The active suspension mechanism according to claim 1, characterized in that, The drive device includes a servo motor, and the output shaft of the servo motor is connected to the transmission device via a coupling for outputting rotational motion in the vertical direction.

6. The active suspension mechanism according to claim 5, characterized in that, The transmission device includes a lead screw, a lead screw nut, and a push rod; One end of the lead screw is fixedly connected to the coupling and is used to transmit rotational motion in the vertical direction; One end of the push rod is connected to the lead screw via a lead screw nut, and the other end of the push rod is connected to the linkage device. The lead screw drives the push rod to make a horizontal linear motion through the lead screw nut.

7. The active suspension mechanism according to claim 6, characterized in that, One end of the push rod is connected to the rocker arm via a fourth fixed pivot.

8. The active suspension mechanism according to claim 7, characterized in that, The drive unit is connected to the vehicle frame via a fifth fixed rotating shaft, which is arranged parallel to the fourth fixed rotating shaft.

9. An active suspension system, characterized in that, The active suspension system includes at least one pair of active suspension mechanisms as described in any one of claims 1-8, with each pair of active suspension mechanisms arranged symmetrically along the longitudinal axis of the vehicle.

10. A vehicle, characterized in that, The vehicle includes a frame, wheels, and an active suspension system as described in any one of claims 1-8.

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