Linear displacement active suspension and vehicle using the same

Abstract

The present application relates to a kind of linear displacement active suspension and vehicle applying the suspension, belong to vehicle chassis technical field, especially to the side inclination driving control technology of active roll vehicle;Suspension driven single wheel large displacement amount, linear motion is formed by linear motion mechanism, two groups of linear displacement suspension independently control the opposite linear motion of two side wheels relative to vehicle body, realize vehicle roll, provide a new roll driving control method for narrow body active roll vehicle;Vehicle ground active profiling is realized by the independent motion of wheel relative to vehicle body driven by the suspension, form a kind of ground profiling vehicle, the surface of platform on vehicle body can be kept horizontal during vehicle driving, also can realize fixed roll angle or fixed pitch angle driving, benefit the target operation of mechanical hand and other components.

Description

TECHNICAL FIELD

[0001] The present application relates to a linear displacement active suspension and a vehicle using the same, and belongs to the technical field of vehicle chassis, in particular to the technical field of roll drive control of active roll vehicle. BACKGROUND

[0002] The active roll control system improves the stability, smoothness, speed and safety of the vehicle driving on a curve by controlling the degree of the vehicle tilting to the inside of the curve. For small wheelbase and narrow body vehicles, the active roll technology can make the vehicle automatically tilt a certain angle when driving on a curve or on an inclined road, generate a balance torque to resist the centrifugal force or rollover force on the vehicle's center of mass, and maintain stable driving of the vehicle.

[0003] If the driving speed of the active roll vehicle is further increased during the driving process on a curve, the centrifugal force generated will increase, and a larger roll angle is required for stable driving of the vehicle. The active roll vehicle uses a suspension roll system to make the two wheels move relative to the vehicle body with a large displacement, achieve a large angle roll of the vehicle, and require a fast response and fast roll to the position. The commonly used trailing arm suspension can achieve a large displacement of the two wheels relative to the vehicle body by rotating the wheel axis relative to the vehicle body, and achieve the roll of the vehicle. When the vehicle is driving on a curve, the wheel shaft is subjected to the centrifugal force and the tangential force, the tangential force achieves a fast response and fast roll to the position, and the centrifugal force of the roll movement acting on the wheel shaft causes the driving speed of the vehicle to fluctuate. A suspension formed by a linear motion mechanism is explored, two groups of independently controlled linear motion suspensions are arranged on both sides of the vehicle body, the two wheels on both sides are controlled to move linearly in opposite directions relative to the vehicle body, the vehicle is rolled, and a new roll drive control method is provided for the active roll vehicle. SUMMARY

[0004] The present application aims to provide a linear displacement active suspension and a vehicle using the suspension, a suspension formed by a linear motion mechanism drives a large displacement of a single wheel, two groups of linear displacement suspensions independently control the two wheels on both sides to move linearly in opposite directions relative to the vehicle body, and the vehicle is rolled.

[0005] The technical solutions adopted to achieve the purpose of the present application include:

[0006] The linear displacement active suspension comprises: two equal-length swing arms (11) having one end respectively connected with a vehicle body (10) in rotation, two connection points A and B, the other end of the two swing arms (11) respectively connected with a balance bar (12) in rotation, two connection points D and C, the rotation axes of the four connection points being parallel to each other and perpendicular to the median plane of the vehicle body, forming a parallelogram ABCD closed kinematic chain having the same relative motion plane, the relative motion plane being parallel to the median plane of the vehicle body; three equal-length connecting rods (14) having one end connected with the same axis in rotation, connection point F, the other end of the first connecting rod connected with the balance bar (12) in rotation, connection point E located on the extension line of DC, and EC=BC, the other end of the second connecting rod connected with the vehicle body (10) in rotation at point B, the other end of the third connecting rod connected with one end of a trailing arm (13) in rotation, connection point G, the other end of the trailing arm (13) connected with the balance bar (12) in rotation at point D, and a wheel (16) connected with the trailing arm (13) in rotation at point G to drive the vehicle to run, the rotation axes of the rotation connection points being perpendicular to the median plane of the vehicle body; in the same relative motion plane parallel to the median plane of the vehicle body, the geometric conditions are satisfied: AD=BC, FE=FB=FG=2BC, AB=DC=3BC, and DG=DE=4BC; a motor (17) is fixedly installed on the vehicle body (10) after a reducer (18) in series, the output shaft of the reducer (18) drives the swing arm AD to rotate relative to the vehicle body by an angle α, the angle α controls the center of the wheel to move along a straight line passing through point B and being perpendicular to AB, the balance bar (12) is located above the AB line segment of the vehicle body, and when α>0, a shock absorber (15) having the same connection mode and the same length as the connecting rod is used to replace the first connecting rod FE, forming the linear displacement active suspension.

[0007] Wherein: the swing arm AD rotates relative to the vehicle body (10), the wheel rotation axis moves along a straight line passing through point B and being perpendicular to AB, and the straight line is parallel to the median plane of the vehicle body, when the line segment AB is located in the horizontal plane of the vehicle body, the wheel rotation axis moves along a straight line passing through point B and being perpendicular to the horizontal plane of the vehicle body.

[0008] In the above linear displacement active suspension, when α<0, the balance bar (12) is located below the AB line segment of the vehicle body, the first connecting rod FE is retained, and a shock absorber (15) having the same connection mode and the same length as the connecting rod is used to replace the second connecting rod FB or the third connecting rod FG, the angle α controls the center of the wheel to move along a straight line passing through point B and being perpendicular to AB, forming another linear displacement active suspension, the distance H between the wheel rotation axis and the AB line segment of the vehicle body has a larger change range, so as to improve the passing performance of the vehicle on complex ground, and the vehicle is suitable for off-road.

[0009] In the above linear displacement active suspension, the output shaft of the reducer (18) drives the other swing arm BC to rotate relative to the vehicle body by an angle α, the angle α controls the center of the wheel to move along a straight line passing through point B and being perpendicular to AB, and the linear displacement active suspension has the same function.

[0010] In the above linear displacement active suspension, the motor (17) is selected as a brake motor, and the reducer (18) is selected as a planetary gear reducer or an RV reducer; when powered on, the brake is released, the motor is energized, the brake motor is connected in series with the planetary gear reducer or the RV reducer to drive the rocker arm to rotate, the center of the wheel moves along a straight line perpendicular to AB passing through point B, and the height of the vehicle body from the ground changes; when powered off, the motor stops energizing, and the brake motor shaft is braked, locking the height of the vehicle body relative to the ground.

[0011] In the above linear displacement active suspension, the motor (17) is selected as a brake motor, and the reducer (18) is selected as a planetary gear reducer or an RV reducer; when powered on, the brake is released, the motor is energized, the brake motor is connected in series with the planetary gear reducer or the RV reducer to drive the rocker arm to rotate, the center of the wheel moves along a straight line perpendicular to AB passing through point B, and the height of the vehicle body from the ground changes; when powered off, the motor stops energizing, and the brake motor shaft is braked, locking the height of the vehicle body relative to the ground.

[0012] An active roll vehicle includes: two groups of linear displacement active suspensions with the same structure and performance parameters arranged symmetrically left and right in the vehicle body median plane according to a given wheel pitch, sharing the same vehicle body, and single wheels are front-mounted on the same vehicle body median plane according to a given wheelbase, sharing the same vehicle body median plane; the front wheels are steered, the double rear wheels are driven, and the front and rear tires are selected as arc-shaped curve tires; the left and right motors drive the rockers of the two groups of linear displacement active suspensions to rotate in opposite directions relative to the vehicle body through the reducers, the double rear wheels move in opposite directions relative to the vehicle body, the vehicle rolls, and the single front wheel rolls with the vehicle body, forming an active roll three-wheeled vehicle with double rear wheel drive and front wheel steering to improve the maneuverability and driving stability of the narrow vehicle.

[0013] A ground profiling vehicle includes: four groups of linear displacement active suspensions with the same structure and performance parameters arranged symmetrically left and right in the vehicle body median plane according to a given wheel pitch and wheelbase, sharing the same vehicle body, and four wheels are independently driven and differentially steered, four groups of linear displacement active suspensions are independently controlled, and four wheels are independently profiled on the ground, forming an all-wheel drive and all-wheel active profiling all-terrain vehicle; since the four wheels move independently relative to the vehicle body to achieve active profiling of the vehicle on the ground, the platform surface on the vehicle body can be kept horizontal during driving, or a constant roll angle or pitch angle can be achieved, which is beneficial for target operation of mechanical hands and other components.

[0014] The beneficial effect of the present application is that the proposed linear displacement active suspension and the vehicle using the suspension provide a new roll drive control method for narrow-body active roll vehicle, and the suspension can be applied to rapid and large displacement contouring motion on non-road ground to improve the adaptability of the vehicle to complex ground. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 Mechanism motion principle diagram of linear displacement active suspension;

[0016] Figure 2 Configuration principle diagram of linear displacement active suspension in its relative motion plane;

[0017] Figure 3 Configuration principle diagram of linear displacement active suspension;

[0018] Figure 4 Configuration principle diagram of second linear displacement active suspension in its relative motion plane;

[0019] Figure 5 Configuration principle diagram of third linear displacement active suspension in its relative motion plane;

[0020] Figure 6 Another configuration principle diagram of linear displacement active suspension;

[0021] Figure 7 Configuration principle diagram of active roll three-wheeled vehicle;

[0022] Figure 8 Suspension motion principle diagram of active roll three-wheeled vehicle;

[0023] Figure 9 Roll principle diagram of active roll three-wheeled vehicle;

[0024] Figure 10 Configuration principle diagram of a ground contouring vehicle;

[0025] Figure 11 Non-road ground contouring principle diagram of a ground contouring vehicle;

[0026] In the figure: 10 - vehicle body, 11 - swing arm, 12 - balance bar, 13 - trailing arm, 14 - connecting rod, 15 - shock absorber, 16 - wheel, 17 - motor, 18 - speed reducer. DETAILED DESCRIPTION

[0027] The embodiments of the present application will be described below according to the drawings:

[0028] Figure 3The linear displacement active suspension composition principle diagram, linear displacement active suspension, comprising: two equal length swing arm (11) one end is respectively connected with the body (10) rotation, two connection points A, B, two swing arm (11) the other end is respectively connected with the balance bar (12) rotation, two connection points D, C, four connection points rotation axis parallel to each other, and all vertical to the body vertical plane, forming a parallelogram ABCD closed motion chain with the same relative motion plane, the relative motion plane is parallel to the body vertical plane; three equal length connecting rod (14) one end rotation connection around the same axis, connection point F, the other end of the first connecting rod and balance bar (12) rotation connection, connection point is located on the DC extension line E point, and EC=BC, the other end of the second connecting rod and body (10) rotation connection at B point, the second connecting rod and swing arm BC coaxial rotation relative to body (10) at B point, the other end of the third connecting rod and drag arm (13) one end rotation connection, connection point G, the other end of the drag arm (13) and balance bar (12) rotation connection at D point, the drag arm (13), balance bar (12) and swing arm AD coaxial rotation relative to D point, wheel (16) rotation connection with the drag arm (13) at G point, drive the vehicle running, wheel (16) coaxial rotation relative to the drag arm (13) and the third connecting rod at G point, the rotation axis of each rotation connection point is perpendicular to the body vertical plane, as shown in Figure 1 The same relative motion plane parallel to the body vertical plane, meet the geometric conditions: AD=BC, FE=FB=FG=2BC, AB=DC=3BC, DG=DE=4BC; motor (17) series reducer (18) is fixedly installed on the body (10), the output shaft of the reducer (18) drives the swing arm AD relative to the body rotation, the rotation angle α, α controls the wheel center along the vertical line of B point parallel to AB, the balance bar (12) is located above the AB line segment of the body, α>0, as shown in Figure 2 The shock absorber (15) of the same length is taken instead of the first connecting rod FE, the connection mode is the same, forming a linear displacement active suspension.

[0029] Among them: the mechanism motion principle of linear displacement active suspension is based on Kempe linear motion mechanism principle, as shown in Figure 1 The swing arm AD rotates relative to the body (10), the wheel center G moves along the vertical line of B point parallel to AB, and the straight line is parallel to the body vertical plane, when the line segment AB is located in the body horizontal plane, the wheel center G moves along the vertical line of B point parallel to the body horizontal plane.

[0030] Figure 4 、 5In the linear displacement active suspension shown, the balance bar (12) is located below the AB line segment of the vehicle body, and when α < 0, the first connecting rod FE and the third connecting rod FG are retained, and a shock absorber (15) with the same length as the connecting rod is used to replace the second connecting rod FB, and the connection mode is the same. α controls the center of the wheel to move along a straight line passing through point B perpendicular to AB, forming a second linear displacement active suspension, as shown in Figure 4 In the linear displacement active suspension shown, the balance bar (12) is located below the AB line segment of the vehicle body, and when α < 0, the first connecting rod FE and the third connecting rod FG are retained, and a shock absorber (15) with the same length as the connecting rod is used to replace the second connecting rod FB, and the connection mode is the same. α controls the center of the wheel to move along a straight line passing through point B perpendicular to AB, forming a second linear displacement active suspension, as shown in Figure 5 The distance H between the wheel rotation axis and the AB line segment of the vehicle body has a larger change range, so as to improve the passing performance of the vehicle on complex ground, and is suitable for off-road vehicles.

[0031] Figure 2 、 4 In the linear displacement active suspension shown in 5, the output shaft of the speed reducer (18) drives another rocker arm BC to rotate relative to the vehicle body by an angle α, and α controls the center of the wheel to move along a straight line passing through point B perpendicular to AB, which has the same linear displacement active suspension function, and facilitates the installation of the motor (17) and the speed reducer (18) on the vehicle body (10) and the longitudinal arrangement of the vehicle's center of gravity.

[0032] Figure 3 In the linear displacement active suspension assembly principle diagram shown, the motor (17) is a brake motor, and the speed reducer (18) is a planetary gear speed reducer or an RV speed reducer; when powered on, the brake is released, the motor is energized, the brake motor is connected in series with the planetary gear speed reducer or the RV speed reducer to drive the rocker arm to rotate, the center of the wheel moves along a straight line passing through point B perpendicular to AB, the height of the vehicle body from the ground changes, and when the height of the vehicle body increases, the passing performance of the vehicle improves; after power-off, the motor stops energizing, the brake brakes the motor shaft, and the height of the vehicle body relative to the ground is locked.

[0033] Figure 6 In another configuration principle diagram of the linear displacement active suspension shown, the motor (17) is a permanent magnet synchronous motor, and the speed reducer (18) is a worm reducer with reverse self-locking function; when the motor is energized, the worm pair reduces the transmission, and the motor is connected in series with the worm reducer to drive the rocker arm to rotate, the center of the wheel moves along a straight line passing through point B perpendicular to AB, the height of the vehicle body from the ground changes, and when the height of the vehicle body decreases, the high-speed driving stability of the vehicle improves; when the lead angle of the worm is less than the equivalent friction angle between the meshing teeth of the worm wheel, the worm pair reversely drives and self-locks, and the formed worm reducer has self-locking performance; when the motor stops energizing, the worm pair reversely drives and self-locks, and the height of the vehicle body relative to the ground is locked.

[0034] Figure 7The shown active roll three-wheeled vehicle composition principle diagram, an active roll vehicle, comprising: two groups of structure and performance parameters of the same linear displacement active suspension according to the given wheel pitch S with the body vertical plane left and right symmetrical arrangement, share the same body, on the same body according to the given wheelbase single wheel front, share the same body vertical plane, front wheel steering, double rear wheel hub motor drive, front and rear wheel tires are selected with section for arc curve motorcycle tire GB 518-2007; left and right two motor through the reducer respectively drive the rocker arm in two groups of linear displacement active suspension relative to the body opposite rotation, double rear wheel relative to the body opposite linear motion, vehicle roll, single front wheel with the body together with adaptive roll, constitute with double rear wheel drive, front wheel steering characteristics of active roll three-wheeled vehicle, to improve the narrow body vehicle maneuverability and driving stability, defined as light, urban life car.

[0035] Wherein: the right motor through the reducer drive the rocker arm in right linear displacement active suspension relative to the body rotation, angle alpha 1, right wheel rotation axis and the AB line segment between the body distance H1, left motor through the reducer drive the rocker arm in left linear displacement active suspension relative to the body rotation, angle alpha 2, left wheel rotation axis and the AB line segment between the body distance H2, two rear wheel rotation axis distance delta H = H1-H2, as shown in Figure 8 The shown vehicle roll angle beta, tan beta = delta H / S, as shown in Figure 9 The given vehicle wheelbase L, set vehicle speed v, gravity acceleration g, vehicle mass m, vehicle in curve driving, by single wheel steering to give steering angle theta, turning radius R = L / tan theta, meet the turning force balance condition: mg x tan beta = mv 2 / R, namely active roll vehicle curve driving stability condition: tan beta = v 2 / (g x R).

[0036] Figure 10 The shown ground profiling vehicle composition principle diagram, a ground profiling vehicle, comprising: four groups of structure and performance parameters of the same linear displacement active suspension according to the given wheel pitch and wheelbase with the body vertical plane left and right symmetrical arrangement, share the same body, four wheel hub motor independent drive, inside and outside wheel differential steering, four groups of linear displacement active suspension independent control, four wheels independent ground profiling, form all-wheel drive, all-wheel active profiling of all terrain off-road vehicle.

[0037] Wherein: four groups of linear displacement active suspension, four motors through the reducer independent drive the rocker arm connected to each other relative to the body rotation, each wheel rotation axis along the linear trajectory movement to realize the vehicle active profiling, as shown in Figure 11The four wheel centers move along straight lines, and the positions of the four wheel centers relative to the vehicle body are unchanged. The wheel track and the wheel base of the vehicle are unchanged during the tracing driving. The four wheel centers move independently along straight lines to realize the active tracing of the vehicle to the ground. The platform surface on the vehicle body can be kept horizontal, or the vehicle can be driven at a constant roll angle or a constant pitch angle, which is beneficial to the target operation of the mechanical hand and other components.

Claims

1. A linear displacement active suspension, characterized in that, include: Two rocker arms of equal length are connected at one end to the vehicle body at points A and B, respectively. The other ends of the two rocker arms are connected at points D and C, respectively, to the stabilizer bar. The rotation axes at these four connection points are parallel to each other and perpendicular to the vehicle's vertical plane, forming a parallelogram ABCD closed motion chain with the same relative motion plane, which is parallel to the vehicle's vertical plane. Three connecting rods of equal length are connected at one end to the same axis at point F. The other end of the first connecting rod is connected to the stabilizer bar at point E on the extension of DC, where EC=BC. The other end of the second connecting rod is connected to the vehicle body at point B. The other end of the third connecting rod is connected to one end of the trailing arm at point G. The other end is rotatably connected to the stabilizer bar at point D, and the wheel is rotatably connected to the trailing arm at point G to drive the vehicle. The rotation axis at each rotation connection point is perpendicular to the vertical plane of the vehicle body. In the same relative motion plane parallel to the vertical plane of the vehicle body, the geometric conditions are satisfied: AD=BC, FE=FB=FG=2BC, AB=DC=3BC, DG=DE=4BC. The motor is fixedly installed on the vehicle body after being connected in series with the reducer. The output shaft of the reducer drives the rocker arm AD to rotate relative to the vehicle body by an angle α. α controls the center of the wheel to move along a straight line perpendicular to AB through point B. The stabilizer bar is located above the AB line segment of the vehicle body. When α>0, a shock absorber of the same length as the connecting rod is used to replace the first connecting rod FE, and the connection method is the same.

2. The linear displacement active suspension according to claim 1, characterized in that, When the stabilizer bar is located below the AB line segment of the vehicle body and α < 0, the first link FE is retained, and a shock absorber of the same length as the link is used to replace the second link FB or the third link FG, with the same connection method. α controls the center of the wheel to move along a straight line perpendicular to AB passing through point B.

3. The linear displacement active suspension according to claim 1 or 2, characterized in that, The output shaft of the reducer drives another rocker arm BC to rotate relative to the vehicle body by an angle α. α controls the center of the wheel to move along a straight line perpendicular to AB passing through point B.

4. The linear displacement active suspension according to claim 1, 2, or 3, characterized in that, The motor is a brake motor, and the reducer is a planetary gear reducer or an RV reducer. When the power is on, the brake is released, the motor is powered, and the brake motor is connected in series with the planetary gear reducer or RV reducer to drive the rocker arm to rotate. The center of the wheel moves along a straight line perpendicular to AB through point B, and the height of the vehicle body from the ground changes. When the power is off, the motor stops powering, the brake brakes the motor shaft, and the height of the vehicle body relative to the ground is locked.

5. The linear displacement active suspension according to claim 1, 2, or 3, characterized in that, The motor is a permanent magnet synchronous motor, and the reducer is a worm gear reducer with reverse self-locking function. When the motor is powered, the worm gear pair reduces the speed, and the motor is connected in series with the worm gear reducer to drive the rocker arm to rotate. The center of the wheel moves along a straight line perpendicular to AB through point B, and the height of the vehicle body from the ground changes. When the motor stops powering, the worm gear pair reverses the speed and locks itself, and the height of the vehicle body relative to the ground is locked.

6. An active tilting vehicle, characterized in that, include: According to claim 1, 2 or 3, the two sets of linear displacement active suspensions with the same structure and performance parameters are arranged symmetrically on the left and right sides of the vehicle body's vertical plane based on the given wheelbase. On the same vehicle body, according to the given wheelbase, each wheel is positioned at the front and shares the same vehicle body vertical plane. The front wheels are for steering, and the dual rear wheels are for drive. Both the front and rear wheels are equipped with tires with an arc-shaped cross section. The left and right motors drive the rocker arms in the two sets of linear displacement active suspensions to rotate in opposite directions relative to the vehicle body through reducers. The dual rear wheels move in opposite directions in a straight line relative to the vehicle body, causing vehicle tilt. The single front wheel and the vehicle body adaptively tilt together.

7. A ground-based contour-following vehicle, characterized in that, include: According to claim 1, 2 or 3, the four sets of linear displacement active suspensions with the same structure and performance parameters are arranged symmetrically on the left and right sides of the vehicle body vertical plane based on the given wheelbase and track width, sharing the same vehicle body, with four wheels driven independently, differential steering of the inner and outer wheels, and four sets of linear displacement active suspensions controlled independently, with four wheels independently conforming to the ground.

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