Vehicle steering roll decoupling mechanism and active roll vehicle applying same

Abstract

The utility model relates to a vehicle steering side-tipping decoupling mechanism and an active side-tipping vehicle using the same, belongs to the technical field of vehicle chassis, and is applied to steering, side-tipping driving and control technologies of the active side-tipping vehicle. According to the technical scheme, a balancing rod is connected with two shock absorbers in series and a torsion rod spring is connected with double pull rods in series to jointly drive and control vehicle roll movement, so that roll angle response lag caused by spring damping systems of the shock absorbers is restrained, the vehicle roll response speed is increased, meanwhile, steering and roll movement decoupling conditions are determined, and the steering and roll movement stability is improved. Independent control over vehicle steering and roll movement is achieved so as to adapt to precise control over vehicle roll movement and parameter optimization, and the maneuverability and safety of an active roll vehicle are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of vehicle steering roll decoupling mechanism and active roll vehicle applying the mechanism, belong to vehicle chassis technical field, especially it is related to the steering, roll drive and control technical category of active roll vehicle. BACKGROUND

[0002] Active roll control system improves the stability, speed and safety of vehicle driving on curve by controlling the degree of vehicle inclination to inside of curve, for small wheelbase, narrow body vehicle, active roll technology can make vehicle automatically incline a certain angle when passing curve or driving on inclined road, generate a synchronous balance torque, to resist centrifugal force or rollover force received by vehicle, to keep the stable driving posture of vehicle.

[0003] If further improve driving speed in the process of active roll vehicle driving on curve, the centrifugal force generated increases, and the large roll angle required for vehicle stable driving, by controlling active roll vehicle suspension roll system, two wheels are relatively fast, large displacement movement relative to vehicle body, realize vehicle positive, large angle roll, which needs fast response of roll movement, and roll angle precision and positive realization;When active roll vehicle drives vehicle roll movement by balance bar series double shock absorber, one side shock absorber continues to compress, and the other side shock absorber releases, and the spring and damping system of shock absorber causes the response lag of vehicle roll angle, which affects the response speed of vehicle roll movement and the precision and positive control of roll angle;Adopt steering delay device, which can generate a synchronous balance torque to resist centrifugal force received by vehicle, is a passive remedial technical measure;Research shows that suppressing the nonlinearity of roll system can improve the response speed of vehicle roll, meet the decoupling of steering and roll movement, realize the precise control of roll angle, realize the synchronous control of steering and roll of active roll vehicle without steering delay device, and improve the driving stability of vehicle. SUMMARY

[0004] The utility model aims at providing a kind of vehicle steering roll decoupling mechanism, two shock absorbers and torsion bar spring series double pull rod are driven and controlled by balance bar series, to suppress the response lag of roll angle caused by spring and damping system of shock absorber, improve the response speed of vehicle roll, determine the decoupling condition of steering and roll movement simultaneously, realize the precise control of vehicle roll movement, so as to improve the active roll vehicle maneuverability.

[0005] In order to achieve the technical scheme adopted by the utility model comprises:

[0006] The vehicle roll decoupling mechanism comprises a vehicle body (10), a lower swing rod (11), a steering spindle (12), an upper swing rod (13) connected in sequence, the rotation axes of each rotation connection point A, B, C and D are parallel to each other and perpendicular to the vehicle body transverse plane, forming a quadrilateral closed kinematic chain ABCD with the same relative motion plane, a steering knuckle (14) is provided with a wheel shaft (141) and a steering knuckle arm (142), a front wheel (15) is rotationally connected around the wheel shaft (141) of the steering knuckle and adapted to vehicle driving, the steering knuckle (14) is rotationally connected around the axis BC of the steering spindle (12) to realize vehicle steering, forming a set of front wheel positioning mechanisms; two sets of front wheel positioning mechanisms with the same geometric parameters and performance parameters are arranged symmetrically left and right about the vehicle body median plane according to the given front wheel track and share the same vehicle body, the midpoint of a balance bar (16) is rotationally connected with the vehicle body (10) in the vehicle body transverse plane, the rotation axis is located in the vehicle body median plane, the balance bar (16) is rotationally connected with a front shock absorber (17) at each end, the other end of the two front shock absorbers is respectively rotationally connected with the lower swing rod (11) in the left and right front wheel positioning mechanisms, the two rotation connection points E and F are symmetric about the vehicle body median plane, and the rotation axes of each rotation connection point are perpendicular to the vehicle body transverse plane; a torsion bar spring (18) is rotationally connected with the balance bar (16) around its torsion axis L, the torsion axis L is perpendicular to the rotation axis of the balance bar (16) relative to the vehicle body (10) and parallel to the connecting line between the two ends of the balance bar (16), the two end points of the torsion bar spring (18) are symmetric about the vehicle body median plane, the two end points are respectively connected with a pull rod (19) by a ball hinge, the other ends of the two equal-length pull rods (19) are respectively connected with the ball hinges of the upper swing rods (13) in the left and right front wheel positioning mechanisms, the two connection points G and H are symmetric about the vehicle body median plane, a roll reducer (21) is fixedly installed on the vehicle body (10), a roll motor (20) drives the balance bar (16) to rotate through the roll reducer (21), and the balance bar is connected in series with two front shock absorbers and the torsion bar spring is connected in series with two pull rods to jointly drive and control the roll movement of the vehicle.

[0007] The turning rocker (22) connecting point is arranged in an isosceles triangle, the isosceles triangle vertex O on the turning rocker (22) is rotationally connected with the vehicle body (10) in the vehicle body horizontal plane, the rotation axis is located in the vehicle body median plane, the isosceles triangle base two end points P and Q on the turning rocker (22) are respectively connected with a connecting rod (23) through a spherical hinge, the other ends of the two equal-length connecting rods (23) are respectively connected with the steering knuckle arm (142) spherical hinge of the steering knuckle in the left and right front wheel positioning mechanism, the two connecting points I and J are symmetrical about the vehicle body median plane, the decoupling conditions of the turning and rolling motions are that when the isosceles triangle base PQ on the turning rocker is perpendicular to the vehicle body median plane, the left connecting rod and the lower link are parallel in the vehicle body transverse plane projection and have equal projection lengths, the right connecting rod and the lower link are parallel in the vehicle body transverse plane projection and have equal projection lengths; the steering gear (24) is fixedly installed on the vehicle body (10), the transmission arm (25) is rotationally connected with the vehicle body (10), the transmission rod (26) one end is connected with the transmission arm (25) spherical hinge, the other end is connected with the turning rocker (22) point spherical hinge, the drive rod (27) one end is connected with the output shaft spherical hinge of the steering gear, the other end is connected with the transmission arm (25) spherical hinge, the steering angle is input through the input shaft of the steering gear, the vehicle turning is realized, and the vehicle turning and rolling decoupling mechanism is formed.

[0008] Wherein: the roll motor is connected with the roll decelerator in series to drive the balance bar to rotate, the balance bar relative to the vehicle body rotation angle α is a roll actuating angle, the vehicle body horizontal plane relative to the ground angle β is a vehicle roll angle, when the roll actuating angle α=0, the vehicle roll angle β=0, and the vehicle is upright; when the roll actuating angle α≠0, the balance bar is connected with the two front shock absorbers and the torsion bar spring in series to drive and control the vehicle roll motion, the torsion deformation of the torsion bar spring around the torsion axis L is used to inhibit the roll angle response lag caused by the spring damping system of the shock absorber, the nonlinearity of the roll motion transmission system is reduced, and the vehicle roll response speed is improved; the torsion bar spring is self-rotated relative to the balance bar around the torsion axis L, the motion interference of the double-path drive is avoided, the roll function β=f(α) of the relationship between the vehicle roll angle β and the roll actuating angle α is obtained, and the vehicle rolls.

[0009] The steering angle φ is input through the input shaft of the steering gear, the turning rocker and the vehicle body median plane angle θ is a steering angle, the steering angle θ is used to control the directions of the two front wheels, when the steering angle θ=0, the vehicle travels in a straight line; when the steering angle θ≠0, the outer wheel deflection angle θe and the inner wheel deflection angle θi satisfy the Ackerman steering condition, the vehicle steering is realized; when θ=0 and α=0, the vehicle is upright and travels in a straight line, the vehicle turning and rolling decoupling mechanism is symmetrical about the vehicle body median plane; when θ≠0 and α≠0, the turning and rolling motions are decoupled, the vehicle turning and rolling motions are independently controlled, and the vehicle turns and rolls.

[0010] The rotation connection between the two components is connected by a rolling bearing or a sliding bearing, so that the two components can rotate relative to each other, and the ball hinge connection between the two components is selected from a rod end joint bearing or a radial joint bearing.

[0011] In the vehicle steering roll decoupling mechanism, the steering gear is a rack and pinion steering gear; when the steering gear is a recirculating ball type or a worm crank pin type steering gear, the transmission arm is connected with the output shaft of the steering gear through a spline, one end of the transmission rod is connected with the transmission arm through a ball hinge, and the other end is connected with a point on the steering arm through a ball hinge, so that the driving rod is omitted, the steering angle is input by the input shaft of the steering gear, and vehicle steering is realized.

[0012] In the vehicle steering roll decoupling mechanism, the roll motor is a permanent magnet synchronous AC motor, and the roll reducer is an RV reducer or a planetary gear reducer.

[0013] An active roll vehicle comprises: a set of vehicle steering roll decoupling mechanisms arranged in front, and single wheels arranged on the same vehicle body according to a given wheelbase, and sharing the same vertical plane in the vehicle body, the vehicle steering roll decoupling mechanisms control the steering and roll movements of the vehicle, the rear wheels drive the vehicle to run and adaptively roll with the vehicle body, and the active roll vehicle has the characteristics of single rear wheel driving and double front wheel steering, so that the running speed of the vehicle on a curve is improved, and the maneuverability of the vehicle is improved.

[0014] The vehicle steering roll decoupling mechanism and the active roll vehicle have the following beneficial effects: the balance rod is connected in series with two front shock absorbers and a torsion bar spring connected in series with double pull rods to drive and control the roll movement of the vehicle, so that the roll angle response lag caused by the spring damping system of the shock absorber is inhibited, the roll response speed of the vehicle is improved, the steering and roll movements are independently controlled, the precise control and parameter optimization of the roll movement of the vehicle are achieved, and the maneuverability and safety of the active roll vehicle are improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 The vehicle steering roll decoupling mechanism is a roll part composition diagram;

[0016] Figure 2 The vehicle steering roll decoupling mechanism is a roll part composition diagram;

[0017] Figure 3 The vehicle steering roll decoupling mechanism is a roll part composition diagram;

[0018] Figure 4 The vehicle steering roll decoupling mechanism is a roll part composition diagram;

[0019] Figure 5 The vehicle steering roll decoupling mechanism is a roll part composition diagram;

[0020] Figure 6 Steering, roll working principle diagram for vehicle roll decoupling mechanism;

[0021] Figure 7 Rear wheel drive mechanism in the body of the vehicle vertical plane projection principle diagram;

[0022] Figure 8 Active roll three-wheeled vehicle structure principle diagram;

[0023] In the figure: 10 - vehicle body, 11 - lower swing rod, 12 - steering spindle, 13 - upper swing rod, 14 - steering knuckle, 141 - wheel axle, 142 - steering knuckle arm, 15 - front wheel, 16 - balance bar, 17 - front shock absorber, 18 - torsion bar spring, 19 - pull rod, 20 - roll motor, 21 - roll reducer, 22 - steering rocker, 23 - connecting rod, 24 - steering gear, 25 - transmission arm, 26 - transmission rod, 27 - drive rod, 30 - rear fork, 31 - rear wheel, 32 - rear wheel axle, 33 - rear shock absorber, 34 - speed reduction motor, 35 - small pulley, 36 - large pulley, 37 - toothed belt. DETAILED DESCRIPTION

[0024] The embodiments of the present application are described below according to the accompanying drawings:

[0025] Figure 3The vehicle steering roll decoupling mechanism composition principle diagram, the right-hand coordinate system xyz is established on the vehicle body (10), the xy plane is the vehicle body horizontal plane, the yz plane is the vehicle body lateral vertical plane, and the xz plane is the vehicle body middle vertical plane; the vehicle steering roll decoupling mechanism includes: the vehicle body (10), the lower swing rod (11), the steering spindle (12), the upper swing rod (13) are sequentially connected in order, the rotation axes of the points A, B, C and D are parallel to each other and perpendicular to the vehicle body lateral vertical plane, forming a parallelogram closed kinematic chain ABCD with the same relative motion plane, the steering knuckle (14) is provided with a wheel shaft (141) and a steering knuckle arm (142), the front wheel (15) is rotationally connected around the wheel shaft (141) of the steering knuckle, and the vehicle is adapted to travel, the steering knuckle (14) is rotationally connected around the axis BC of the steering spindle (12), and the vehicle is adapted to steer, and the axis of the wheel shaft is perpendicular to the axis BC of the steering spindle (12), forming a set of front wheel positioning mechanisms; two sets of front wheel positioning mechanisms with the same geometric parameters and performance parameters are arranged symmetrically about the vehicle body middle vertical plane according to the given front wheel track, and share the same vehicle body, the midpoint of the balance bar (16) is rotationally connected with the vehicle body (10) in the vehicle body lateral vertical plane, the rotation axis is located in the vehicle body middle vertical plane, one front shock absorber (17) is rotationally connected to each end of the balance bar (16), the other ends of the two front shock absorbers are respectively rotationally connected with the lower swing rods (11) in the left and right front wheel positioning mechanisms, the two rotationally connected points E and F are symmetric about the vehicle body middle vertical plane, and the rotation axes of the rotationally connected points are perpendicular to the vehicle body lateral vertical plane; the torsion bar spring (18) is rotationally connected with the balance bar (16) around the torsion axis L, the torsion axis L is perpendicular to the rotation axis of the balance bar (16) relative to the vehicle body (10), and parallel to the connecting line between the two ends of the balance bar (16), the two ends of the torsion bar spring (18) are symmetric about the vehicle body middle vertical plane, the two ends are connected with one pull rod (19) through a spherical hinge respectively, the other ends of the two equal-length pull rods (19) are respectively connected with the spherical hinges of the upper swing rods (13) in the left and right front wheel positioning mechanisms, the two connection points G and H are symmetric about the vehicle body middle vertical plane, the roll reducer (21) is fixedly installed on the vehicle body (10), and the roll motor (20) drives the balance bar (16) to rotate through the roll reducer (21), the balance bar is connected in series with the two front shock absorbers and the torsion bar spring is connected in series with the double pull rods to drive and control the roll movement of the vehicle, as shown in Figure 1 as shown, Figure 1 the arrow in the direction of the vehicle speed V is transmitted out of the front view of the paper;

[0026] The turning rocker (22) connection points are arranged in an isosceles triangle, the isosceles triangle vertex O on the turning rocker (22) is rotationally connected to the vehicle body (10) in the vehicle body horizontal plane, the rotation axis is in the vehicle body median plane, the isosceles triangle base two end points P, Q are connected to one connecting rod (23) respectively by a spherical hinge, the other ends of the two equal length connecting rods (23) are connected to the steering knuckle arm (142) spherical hinge of the steering knuckle in the left and right side front wheel positioning mechanism respectively, the two connection points I, J are symmetrical about the vehicle body median plane, the decoupling conditions of the steering and roll motions are: when the isosceles triangle base PQ on the turning rocker is perpendicular to the vehicle body median plane, the left side connecting rod and the swing link are parallel in the vehicle body transverse plane projection, and the projection lengths are equal, the right side connecting rod and the swing link are parallel in the vehicle body transverse plane projection, and the projection lengths are equal; the steering gear (24) is fixedly installed on the vehicle body (10), the transmission arm (25) is rotationally connected to the vehicle body (10), the transmission rod (26) one end is connected to the transmission arm (25) spherical hinge, the other end is connected to the turning rocker (22) point spherical hinge, the drive rod (27) one end is connected to the output shaft spherical hinge of the steering gear, the other end is connected to the transmission arm (25) spherical hinge, the steering angle is input by the input shaft of the steering gear, and the vehicle steering is realized, as shown in Figure 2 The vehicle steering roll decoupling mechanism is formed.

[0027] Figure 4 In the roll principle diagram of the vehicle steering roll decoupling mechanism shown in Figure 4 The arrow in the direction of the vehicle speed V is transmitted out of the front view, wherein: the roll motor drives the balance bar to rotate in series with the roll decelerator, controls the balance bar relative to the vehicle body rotation angle α, α is the roll actuation angle, and the angle β between the vehicle body horizontal plane and the ground is the vehicle roll angle; when the roll actuation angle α=0, the vehicle roll angle β=0, and the vehicle is upright; when the roll actuation angle α≠0, the balance bar drives and controls the vehicle roll motion in series with the two front shock absorbers and the torsion bar spring in series with the double pull rod, the torsion deformation of the torsion bar spring around the torsion axis L suppresses the roll angle response lag caused by the spring damping system of the shock absorber, reduces the nonlinearity of the roll motion transmission system, and improves the vehicle roll response speed; the torsion bar spring rotates relative to the balance bar around the torsion axis L to avoid the motion interference of the double drive, obtain the roll function β=f(α) of the relationship between the vehicle roll angle β and the roll actuation angle α, and roll the vehicle.

[0028] Figure 5The vehicle steering roll decoupling mechanism steering principle diagram shows that V represents the vehicle speed, the input shaft of the steering gear inputs the angle φ, the angle θ between the steering rocker and the vertical plane of the vehicle body is the steering angle, the steering angle θ controls the direction of the two front wheels, when the steering angle θ = 0, the vehicle travels in a straight line; when the steering angle θ ≠ 0, the outer wheel deflection angle θe and the inner wheel deflection angle θi satisfy the Ackerman steering condition, realizing vehicle steering; when θ = 0, α = 0, the vehicle is upright and travels in a straight line, and the vehicle steering roll decoupling mechanism is symmetrical about the vertical plane of the vehicle body; when θ ≠ 0, α ≠ 0, the steering and roll movements are decoupled, realizing independent control of vehicle steering and roll movement, and the vehicle steers and rolls, as shown in Figure 6 .

[0029] Figure 3 The vehicle steering roll decoupling mechanism composition principle diagram shows that the rotational connection between the two components is connected by rolling bearings or self-lubricating sliding bearings, so that the two components can rotate relative to each other, the spherical hinge connection between the two components is selected from a rod end joint bearing GB / T 9161-2001 or a radial joint bearing GB / T 9163-2001, and the steering gear is a rack and pinion steering gear.

[0030] For the vehicle steering roll decoupling mechanism shown in Figure 2 , 3 , the steering gear is selected from a circulating ball type or a worm crank pin type, the transmission arm (25) is connected with the output shaft of the steering gear by a spline, one end of the transmission rod (26) is connected with the transmission arm (25) by a spherical hinge, and the other end is connected with a point on the steering rocker (22) by a spherical hinge, thus eliminating the need for a driving rod (27), the steering angle is input by the input shaft of the steering gear, and vehicle steering is realized.

[0031] For the vehicle steering roll decoupling mechanism shown in Figure 1 , 3 , the torsional stiffness of the torsion bar spring affects the response speed of the vehicle roll system, the greater the torsional stiffness of the torsion bar spring, the weaker the nonlinearity of the roll movement transmission system, the faster the roll response speed, and the higher the speed of the vehicle on a curve; the smaller the torsional stiffness of the torsion bar spring, the stronger the nonlinearity of the roll movement transmission system, the slower the roll response speed, and the better the driving comfort; the roll motor is selected from a permanent magnet synchronous AC motor, and the roll reducer is selected from an RV reducer or a planetary gear reducer.

[0032] An active roll vehicle comprises: a set of vehicle steering roll decoupling mechanisms are arranged in front of the vehicle, a single set of wheels are arranged on the same vehicle body according to a given wheelbase, and share the same vehicle body vertical plane, and motorcycle tires GB518-2007 with circular arc cross-section are selected for the front and rear wheels, the vehicle steering roll decoupling mechanisms control the steering and roll movements of the vehicle, the rear wheels are driven by the wheel hub motors to drive the vehicle to travel and adaptively roll with the vehicle body, and form an active roll vehicle with single rear wheel drive and double front wheel steering characteristics, which is beneficial to improve the vehicle speed on a curve and improve the vehicle maneuverability and safety.

[0033] Figure 8 The active roll tricycle shown in the schematic diagram is another active roll vehicle formed based on a vehicle steering roll decoupling mechanism, wherein: the xy plane is the horizontal plane of the vehicle body, the yz plane is the lateral vertical plane of the vehicle body, and the xz plane is the vertical plane of the vehicle body; a set of vehicle steering roll decoupling mechanisms are arranged in front of the vehicle, a single set of wheels are arranged on the same vehicle body according to a given wheelbase, and share the same vehicle body vertical plane, the vehicle steering roll decoupling mechanisms control the steering and roll movements of the vehicle, the rear wheel drive mechanism drives the vehicle to travel and adaptively rolls with the vehicle body, and forms an active roll vehicle with single rear wheel drive and double front wheel steering characteristics, which has the characteristics of good vehicle safety and comfort.

[0034] The rear wheel drive mechanism comprises: a rear fork (30) having one end rotatably connected to the vehicle body (10) and the other end rotatably connected to the rear wheel (31) through a rear wheel shaft (32), the middle plane of the rear wheel (31) being located in the vertical plane of the vehicle body, the rear wheel (31) rotating relative to the rear fork (30) at the connection point to drive the vehicle to travel, two rear shock absorbers (33) having one end rotatably connected to the vehicle body (10) on the same axis and the other end rotatably connected to the rear fork (30) on the same axis, the rotation axes of the respective rotatable connection points being parallel to each other and perpendicular to the vertical plane of the vehicle body; a reduction motor (34) is fixedly installed on the rear fork (30), the axis of the output shaft of the reduction motor (34) being perpendicular to the vertical plane of the vehicle body, a small pulley (35) is installed on the output shaft of the reduction motor (34) through a spline, a large pulley (36) is connected to the rear wheel (31) on the same axis through a flexible coupling, the rear wheel (31) and the large pulley (36) rotate together around the rear wheel shaft (32) relative to the rear fork (30), and a toothed belt (37) is engaged with the small pulley (35) and the large pulley (36) for transmission, the reduction motor (34) drives the rear wheel (31) to rotate to drive the vehicle to travel, as shown in Figure 7 .

[0035] The active roll tricycle described above, given the vehicle wheelbase d, when the vehicle is driving on a curve, the driving speed v and the steering angle θ are read in, the vehicle turning radius R = d / tan θ, and the centrifugal force balance condition of the active roll vehicle driving on a curve is: mg x tan β = mv 2 / R, the roll coefficient k is set, and tan β = kv2 (g x R) to solve the roll angle β, and the roll actuation angle α is obtained by the roll function β = f(α). The vehicle steering roll decoupling mechanism is driven to move, so as to realize vehicle roll and resist the centrifugal force during curve driving, so as to maintain the stability of the vehicle during curve driving; wherein: the gravitational acceleration g = 9.8 m / s 2 , the roll coefficient k < 1, and the balance part resists the centrifugal force and retains the curve driving experience.

Claims

1. A vehicle roll-steer decoupling mechanism, characterized by, The body, the lower swing rod, the steering spindle, and the upper swing rod are sequentially and rotationally connected, the rotation axes of the rotationally connected points are parallel to each other and are perpendicular to the lateral plane of the body, a quadrilateral closed kinematic chain with the same relative motion plane is formed, the steering knuckle is provided with a wheel shaft and a steering knuckle arm, the front wheel is rotationally connected around the wheel shaft of the steering knuckle to adapt to the driving of the vehicle, the steering knuckle is rotationally connected around the axis of the steering spindle to realize the steering of the vehicle, and a set of front wheel alignment mechanisms are formed; two sets of front wheel alignment mechanisms with the same geometric parameters and performance parameters are symmetrically arranged on the left and right sides of the body center plane according to a given front wheel track and share the same body, the midpoint of the balance rod is rotationally connected with the body in the lateral plane of the body, the rotation axis is located in the body center plane, one front shock absorber is rotationally connected to each end of the balance rod, the other ends of the two front shock absorbers are respectively rotationally connected with the lower swing rods of the left and right front wheel alignment mechanisms, the two connection points are symmetric about the body center plane, and the rotation axes of the rotationally connected points are all perpendicular to the lateral plane of the body; the torsion bar spring is rotationally connected with the balance rod around the torsion axis, the torsion axis is perpendicular to the rotation axis of the balance rod relative to the body and is parallel to the line connecting the two ends of the balance rod, the two ends of the torsion bar spring are symmetric about the body center plane, the two ends are respectively connected with a pull rod through a spherical hinge, the other ends of the two equal-length pull rods are respectively connected with the spherical hinges of the upper swing rods of the left and right front wheel alignment mechanisms, the two connection points are symmetric about the body center plane, the roll reducer is fixedly installed on the body, the roll motor drives the balance rod to rotate through the roll reducer, and the balance rod, the two front shock absorbers, and the double-pull rod connected with the torsion bar spring are jointly driven and controlled to control the roll movement of the vehicle. The steering rocker connecting points are arranged in an isosceles triangle, the top point of the isosceles triangle on the steering rocker is rotationally connected with the body in the horizontal plane of the body, the rotation axis is located in the body center plane, one connecting rod is respectively connected to each end point of the bottom side of the isosceles triangle on the steering rocker through a spherical hinge, the other ends of the two equal-length connecting rods are respectively connected with the steering knuckle arms of the steering knuckles of the left and right front wheel alignment mechanisms through spherical hinges, the two connection points are symmetric about the body center plane, and the decoupling conditions of the steering and roll movements are that, when the bottom side of the isosceles triangle on the steering rocker is perpendicular to the body center plane, the left connecting rod is parallel to the lower swing rod in the projection on the lateral plane of the body and has the same projection length, and the right connecting rod is parallel to the lower swing rod in the projection on the lateral plane of the body and has the same projection length; the steering gear is fixedly installed on the body, the transmission arm is rotationally connected with the body, one end of the transmission rod is connected with the spherical hinge of the transmission arm, the other end is connected with the spherical hinge of a point on the steering rocker, one end of the drive rod is connected with the spherical hinge of the output shaft of the steering gear, the other end is connected with the spherical hinge of the transmission arm, the input shaft of the steering gear inputs the steering angle to realize the steering of the vehicle. The spherical hinge connection between the two components is selected from a rod end joint bearing or a radial joint bearing.

2. The vehicle roll-steer decoupling mechanism of claim 1, wherein, The steering gear adopts a rack and pinion type steering gear.

3. The vehicle roll-steer decoupling mechanism of claim 1, wherein, When the steering gear is selected from a circulating ball type or a worm crank pin type steering gear, the transmission arm is spline-connected with the output shaft of the steering gear, and the drive rod is saved.

4. The vehicle roll-steer decoupling mechanism of claim 1, wherein, The roll motor is selected from a permanent magnet synchronous alternating current motor, and the reducer is selected from an RV reducer or a planetary gear reducer.

5. The vehicle roll-steer decoupling mechanism of claim 1, wherein, The body, the lower swing rod, the steering spindle, and the upper swing rod are sequentially and rotationally connected, the rotation axes of the rotationally connected points are parallel to each other and are perpendicular to the lateral plane of the body, a quadrilateral closed kinematic chain with the same relative motion plane is formed, the steering knuckle is provided with a wheel shaft and a steering knuckle arm, the front wheel is rotationally connected around the wheel shaft of the steering knuckle to adapt to the driving of the vehicle, the steering knuckle is rotationally connected around the axis of the steering spindle to realize the steering of the vehicle, and a set of front wheel alignment mechanisms are formed; two sets of front wheel alignment mechanisms with the same geometric parameters and performance parameters are symmetrically arranged on the left and right sides of the body center plane according to a given front wheel track and share the same body, the midpoint of the balance rod is rotationally connected with the body in the lateral plane of the body, the rotation axis is located in the body center plane, one front shock absorber is rotationally connected to each end of the balance rod, the other ends of the two front shock absorbers are respectively rotationally connected with the lower swing rods of the left and right front wheel alignment mechanisms, the two connection points are symmetric about the body center plane, and the rotation axes of the rotationally connected points are all perpendicular to the lateral plane of the body; the torsion bar spring is rotationally connected with the balance rod around the torsion axis, the torsion axis is perpendicular to the rotation axis of the balance rod relative to the body and is parallel to the line connecting the two ends of the balance rod, the two ends of the torsion bar spring are symmetric about the body center plane, the two ends are respectively connected with a pull rod through a spherical hinge, the other ends of the two equal-length pull rods are respectively connected with the spherical hinges of the upper swing rods of the left and right front wheel alignment mechanisms, the two connection points are symmetric about the body center plane, the roll reducer is fixedly installed on the body, the roll motor drives the balance rod to rotate through the roll reducer, and the balance rod, the two front shock absorbers, and the double-pull rod connected with the torsion bar spring are jointly driven and controlled to control the roll movement of the vehicle.

6. An active roll vehicle characterised in that, The steering rocker connecting points are arranged in an isosceles triangle, the top point of the isosceles triangle on the steering rocker is rotationally connected with the body in the horizontal plane of the body, the rotation axis is located in the body center plane, one connecting rod is respectively connected to each end point of the bottom side of the isosceles triangle on the steering rocker through a spherical hinge, the other ends of the two equal-length connecting rods are respectively connected with the steering knuckle arms of the steering knuckle A set of vehicle roll decoupling mechanisms according to claim 1, single wheels are placed behind the same vehicle body according to a given wheel base, sharing the same vertical plane of the vehicle body, the vehicle roll decoupling mechanisms control the steering and roll movements of the vehicle, the rear wheels drive the vehicle to run and adaptively roll with the vehicle body, forming an active roll vehicle with the characteristics of single rear wheel drive and double front wheel steering.

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