阅读说明：本技术 冗余驱动机构及主动侧倾三轮车 (Redundant driving mechanism and active side-tipping tricycle ) 是由 王亚 魏文军 李海涛 于 2021-08-19 设计创作，主要内容包括：本发明涉及车辆底盘技术领域,公开了一种冗余驱动机构及主动侧倾三轮车,特别涉及主动侧倾车辆的侧倾驱动、控制技术,冗余驱动机构包括：两个输入齿轮同时与输出齿轮啮合,第一电机直接驱动一个输入齿轮、第二电机通过弹性联轴器驱动另一个输入齿轮,传动过程中输入转速波动引起的转速同步差异,由弹性联轴器补偿,避免齿轮啮合运动干涉,保持各输入齿轮与输出齿轮始终正确啮合传动,实现双动力冗余驱动车辆侧倾运动,以提高主动侧倾车辆的安全性。(The invention relates to the technical field of vehicle chassis, discloses a redundant driving mechanism and an active side-tipping tricycle, in particular to a side-tipping driving and controlling technology of an active side-tipping vehicle, wherein the redundant driving mechanism comprises: the two input gears are meshed with the output gear simultaneously, the first motor directly drives one input gear, the second motor drives the other input gear through the elastic coupling, the synchronous difference of the rotating speeds caused by the fluctuation of the input rotating speeds in the transmission process is compensated by the elastic coupling, the interference of meshing motion of the gears is avoided, the input gears and the output gear are always in correct meshing transmission, the double-power redundant driving vehicle roll motion is realized, and the safety of the active roll vehicle is improved.)

1. A redundant drive mechanism, comprising: the first cylindrical gear, the second cylindrical gear and the central cylindrical gear are respectively connected with the box body in a rotating mode around respective axes, the rotating axes of the cylindrical gears are parallel to each other, the central cylindrical gear is respectively in correct meshing transmission with the first cylindrical gear and the second cylindrical gear, the second motor drives the second cylindrical gear through the elastic coupling, the first motor directly drives the first cylindrical gear, and the first cylindrical gear and the second cylindrical gear simultaneously drive the central cylindrical gear to rotate;

wherein: number of first spur gear teeth Z₁Input torque N₁Input rotational speed M₁Number of second spur gear teeth Z₂Input torque N₂Input rotational speed M₂Synchronization condition M of two gear input rotation speeds₁Z₁＝M₂Z₂，M₁、M₂Number of equidirectional, central cylindrical gear teeth Z_OOutput rotational speed M_O＝M₁Z₁/Z_OOutput torque N_O＝Z_O(N₁/Z₁+N₂/Z₂) And the synchronous difference of the rotating speed caused by the input rotating speed fluctuation in the transmission process is compensated by the elastic coupling, so that the gear meshing motion interference is avoided, and the dual-motor redundant drive is realized.

2. The redundant drive according to claim 1 wherein the first motor, the second motor are selected from a servo motor or a servo motor.

3. The redundant drive of claim 1 wherein the first spur gear and the second spur gear are spur external gears and the central spur gear is a spur internal gear; or the first cylindrical gear and the second cylindrical gear are helical cylindrical external gears, and the central cylindrical gear is a helical cylindrical internal gear; forming an internal-meshing redundant driving mechanism, and outputting the rotating speed M by the central cylindrical gear_O＝M₁Z₁/Z_O、M_OAnd M₁In the same direction.

4. The redundant drive according to claim 1 wherein the first spur gear, the second spur gear, and the central spur gear are all spur cylindrical external gears, or the first spur gear, the second spur gear, and the central spur gear are all helical cylindrical external gears, forming an external-engagement redundant drive, and the central spur gear outputs a rotation speed M_O＝M₁Z₁/Z_O、M_OAnd M₁And reversing.

5. The redundant drive according to claim 1 wherein said first motor directly drives said first cylindrical gear, replacing it with: the first motor drives the first cylindrical gear through another elastic coupling, and double-motor redundant driving is achieved.

6. A vehicle roll drive mechanism comprised of a set of redundant drive mechanisms according to claim 1 and a set of roll mechanisms, wherein:

the roll mechanism comprises; the vehicle body, the lower swing rod, the positioning rod and the upper swing rod are sequentially and rotatably connected, the rotating axis at each rotating connection point is perpendicular to the transverse plane of the vehicle body, the wheels are rotatably connected with the positioning rod, and the rotating axes of the wheels are perpendicular to the positioning rod and parallel to the transverse plane of the vehicle body to form a group of wheel positioning mechanisms; two groups of same wheel positioning mechanisms are symmetrically arranged in a left-right mode on a vertical plane of a vehicle body according to a given wheel track and share the same vehicle body, the middle point of a balance rod in the vertical plane of the vehicle body is rotationally connected with the vehicle body, a rotating axis is positioned in the vertical plane of the vehicle body, two ends of the balance rod are respectively rotationally connected with a shock absorber, the other ends of the two shock absorbers are respectively rotationally connected with lower swing rods in the left-side wheel positioning mechanism and the right-side wheel positioning mechanism, the two rotating connection points are symmetrical about the vertical plane of the vehicle body, and the rotating axis at each rotating connection point is vertical to the vertical plane of the vehicle body;

the central cylindrical gear of the redundant driving mechanism is fixedly connected with the balancing rod of the roll mechanism, the axis of the central cylindrical gear passes through the midpoint of the balancing rod and is perpendicular to the transverse plane of the vehicle body, and the box body of the redundant driving mechanism is fixedly installed on the vehicle body of the roll mechanism to form the roll driving mechanism of the vehicle.

7. Active side-tipping tricycle, characterized by comprising: the active-roll tricycle is formed by a group of the vehicle roll driving mechanisms according to claim 6, wherein a single wheel is arranged in front of the same vehicle body according to a given wheel base, the same vehicle body vertical plane is shared, the front wheel is used for steering, the double rear wheel is used for driving, the vehicle roll driving mechanisms control the roll of the vehicle body, and the single front wheel and the vehicle body are used for self-adaptively rolling.

Technical Field

The invention relates to a redundant driving mechanism and an active side-tipping tricycle, belongs to the technical field of vehicle chassis, and particularly relates to a side-tipping driving and controlling technology of an active side-tipping vehicle.

Background

The active roll control system improves the operation stability, smoothness, traffic speed and safety of the vehicle during turning by controlling the degree of the vehicle inclining towards the inner side of the curve during turning, and the vehicle active roll technology can enable the vehicle to automatically incline for a certain angle during passing a curve or driving on an inclined road surface to generate a balance moment to resist the centrifugal force or the side overturning force applied to the vehicle so as to keep the stable driving posture of the vehicle.

The active roll technology of the vehicle is usually implemented by two modes of independent roll of the vehicle body and linkage roll of the vehicle body and wheels, wherein the independent roll mode of the vehicle body is usually realized by a servo motor which is connected with a speed reducer in series for reducing speed and increasing torque and then driving the vehicle body to rotate relative to the vehicle frame, and the active roll technology of the vehicle has simple structure and low manufacturing cost, but causes poor stability, smoothness and safety and reliability of the vehicle in curve running; the latter vehicle body and wheel linkage roll mode, usually drive the vehicle roll mechanism after the speed reduction of the speed-increasing torsion by the servomotor series retarder, or drive the vehicle roll mechanism directly, realize the vehicle roll through the suspension motion, its structure is complicated, the fabrication cost is high, the stability, smoothness and safety that the vehicle curve goes are better, suitable for the high-end vehicle; the research on the roll driving and controlling technology of the active roll vehicle has theoretical significance and practical value for improving the running safety performance of the vehicle.

Disclosure of Invention

The invention aims to provide a redundant driving mechanism and an active side-tipping tricycle, wherein two input gears are meshed with an output gear simultaneously, a first motor directly drives one input gear, a second motor drives the other input gear through an elastic coupling, and the synchronous difference of the rotating speeds caused by the fluctuation of the input rotating speeds in the transmission process is compensated by the elastic coupling, so that the meshing movement interference of the gears is avoided, and the dual-power redundant driving is realized.

The technical scheme adopted for achieving the purpose of the invention is as follows:

the redundant drive mechanism includes: the first cylindrical gear (12), the second cylindrical gear (13) and the central cylindrical gear (11) are respectively connected with the box body (10) in a rotating mode around respective axes, the rotating axes of the cylindrical gears are parallel to each other, the central cylindrical gear (11) is respectively in correct meshing transmission with the first cylindrical gear (12) and the second cylindrical gear (13), the second motor (14) drives the second cylindrical gear (13) through the elastic coupling (15), the first motor (16) directly drives the first cylindrical gear (12), and the first cylindrical gear (12) and the second cylindrical gear (13) simultaneously drive the central cylindrical gear (11) to rotate;

wherein: number of first spur gear teeth Z₁Input torque N₁Input rotational speed M₁Number of second spur gear teeth Z₂Input torque N₂Input rotational speed M₂Synchronization condition M of two gear input rotation speeds₁Z₁＝M₂Z₂，M₁、M₂Number of equidirectional, central cylindrical gear teeth Z_OOutput rotational speed M_O＝M₁Z₁/Z_OOutput torque N_O＝Z_O(N₁/Z₁+N₂/Z₂) And the synchronous difference of the rotating speed caused by the input rotating speed fluctuation in the transmission process is compensated by the elastic coupling, so that the gear meshing motion interference is avoided, and the dual-motor redundant drive is realized.

In the working process of the redundant driving mechanism: when N is present₁Not equal to 0 and N₂When not equal to 0, the central cylindrical gear outputs a torque N_O＝Z_O(N₁/Z₁+N₂/Z₂) The double motors drive the central cylindrical gear to rotate together; when N is present₂When the rotation speed is 0, the second cylindrical gear rotates at the rotation speed M₂Idling, first spur gear input torque N₁Central cylindrical gear output torque N_O＝N₁Z_O/Z₁The first motor drives the central cylindrical gear to output rotation; when N is present₁When equal to 0, the first cylindrical gear rotates at a rotating speed M₁Idling, second spur gear input torque N₂Central cylindrical gear output torque N_O＝N₂Z_O/Z₂And the second motor drives the central cylindrical gear to output rotation, so that dual-motor redundant drive is realized.

In the redundant driving mechanism, the first motor and the second motor are servo motors or servo speed reducing motors.

In the redundant driving mechanism, the first cylindrical gear and the second cylindrical gear are both straight-tooth cylindrical external gears, and the central cylindrical gear is a straight-tooth cylindrical internal gear; or the first cylindrical gear and the second cylindrical gear are helical cylindrical external gears, and the central cylindrical gear is a helical circleA post inner gear; forming an internal-meshing redundant driving mechanism, and outputting the rotating speed M by the central cylindrical gear_O＝M₁Z_J/Z_O、M_OAnd M₁In the same direction.

In the redundant driving mechanism, the first cylindrical gear, the second cylindrical gear and the central cylindrical gear are all straight-tooth cylindrical external gears, or the first cylindrical gear, the second cylindrical gear and the central cylindrical gear are all helical cylindrical external gears to form an external-meshing redundant driving mechanism, and the central cylindrical gear outputs the rotating speed M_O＝M₁Z₁/Z_O、M_OAnd M₁And reversing.

In the redundant driving mechanism, the first motor directly drives the first cylindrical gear, and the first cylindrical gear is replaced by: the first motor drives the first cylindrical gear through another elastic coupling to form a dual-coupling redundant driving mechanism, and the input rotating speed M is input in the transmission process₁、M₂The rotating speed synchronous difference caused by fluctuation is compensated by the double-elastic coupling, so that the requirement on the rotating speed synchronous control precision of the double motors can be reduced, and the redundant driving of the double motors is realized.

The vehicle roll driving mechanism consists of a redundant driving mechanism and a roll mechanism:

the roll mechanism includes: the vehicle body (20), the lower swing rod (21), the positioning rod (22) and the upper swing rod (23) are sequentially and rotatably connected, the rotating axis at each rotating connection point A, B, C, D is perpendicular to the transverse plane of the vehicle body, the wheels (24) are rotatably connected with the positioning rod (22), and the rotating axes of the wheels are perpendicular to the positioning rod BC and parallel to the transverse plane of the vehicle body to form a group of wheel positioning mechanisms; two groups of same wheel positioning mechanisms are symmetrically arranged left and right on the vertical plane of the vehicle body according to a given wheel track and share the same vehicle body (20), the center point O of a balance rod (25) in the transverse plane of the vehicle body is rotationally connected with the vehicle body (20), the rotation axis is positioned in the vertical plane of the vehicle body, two ends of the balance rod (25) are respectively rotationally connected with a shock absorber (26), the other ends of the two shock absorbers (26) are respectively rotationally connected with lower swing rods in the left and right wheel positioning mechanisms, two rotation connecting points E, F are symmetric about the vertical plane of the vehicle body, and the rotation axis of each rotation connecting point is perpendicular to the transverse plane of the vehicle body to form a roll mechanism.

A central cylindrical gear (11) of the redundant driving mechanism is fixedly connected with a balance rod (25) of the roll mechanism, the axis of the central cylindrical gear crosses the midpoint of the balance rod and is perpendicular to the transverse plane of the vehicle body, a box body (10) of the redundant driving mechanism is fixedly installed on the vehicle body (20) of the roll mechanism, and the central cylindrical gear (11) and the balance rod (26) rotate around the axis of the central cylindrical gear together relative to the vehicle body (20) to form the roll driving mechanism of the vehicle.

During the working process of the vehicle roll driving mechanism: when N is present₁Not equal to 0 and N₂When not equal to 0, the central cylindrical gear outputs a torque N_O＝Z_O(N₁/Z₁+N₂/Z₂) The balance rod drives the roll mechanism to move and the vehicle body to roll when N is₂When the rotation speed is 0, the second cylindrical gear rotates at the rotation speed M₂Idling, first spur gear input torque N₁Central cylindrical gear output torque N_O＝N₁Z_O/Z₁The first motor drives the roll mechanism to move and the vehicle body to roll when N is₁When equal to 0, the first cylindrical gear rotates at a rotating speed M₁Idling, second spur gear input torque N₂Central cylindrical gear output torque N_O＝N₂Z_O/Z₂And the second motor drives the roll mechanism to move and the vehicle body to roll, so that double-power redundant drive of the roll movement of the vehicle is realized.

The active roll tricycle includes: the active side-tipping tricycle with the characteristics of double rear wheel drive and front wheel steering is formed by arranging a group of vehicle side-tipping drive mechanisms at the back, arranging single wheels at the front part of the same vehicle body according to a given wheel base, sharing the same vehicle body vertical plane, turning the front wheels, and driving double rear wheels; the vehicle has the characteristics of large driving torque, high bearing capacity and good vehicle safety.

The invention has the advantages that the two input gears are meshed with the output gear simultaneously, the first motor directly drives one input gear, the second motor drives the other input gear through the elastic coupling, the synchronous difference of the rotating speeds caused by the fluctuation of the input rotating speeds in the transmission process is compensated by the elastic coupling, the interference of the meshing motion of the gears is avoided, the input gears and the output gears are always in correct meshing transmission, the double-power redundant driving vehicle rolling motion is realized, and the safety of the active rolling vehicle is improved.

Drawings

FIG. 1(_a) A redundant driving mechanism diagram, and (b) a redundant driving mechanism composition schematic diagram;

FIG. 2 is a schematic diagram of (a) an external-engagement redundant drive mechanism and (b) an external-engagement redundant drive mechanism;

fig. 3(a) is a schematic diagram of the dual-coupling internal meshing redundant driving mechanism composition, and (b) is a schematic diagram of the dual-coupling external meshing redundant driving mechanism composition;

FIG. 4 is a schematic diagram of the roll mechanism assembly;

FIG. 5 is a schematic diagram of the vehicle roll drive mechanism assembly;

FIG. 6 is a schematic diagram of the components of an active side-tipping tricycle;

in the figure: 10-a box body, 11-a central cylindrical gear, 12-a first cylindrical gear, 13-a second cylindrical gear, 14-a second motor, 15-an elastic coupling, 16-a first motor, 20-a vehicle body, 21-a lower swing rod, 22-a positioning rod, 23-an upper swing rod, 24-a wheel, 25-a balancing rod and 26-a shock absorber.

Detailed Description

Embodiments of the invention are described below with reference to the accompanying drawings:

the redundant drive mechanism shown in fig. 1(b) constitutes a schematic diagram, and includes: the first cylindrical gear (12), the second cylindrical gear (13) and the central cylindrical gear (11) are respectively connected with the box body (10) in a rotating mode around respective axes, the rotating axes of the cylindrical gears are parallel to each other, the central cylindrical gear (11) is respectively in correct meshing transmission with the first cylindrical gear (12) and the second cylindrical gear (13), the second motor (14) drives the second cylindrical gear (13) through the elastic coupling (15), the second motor (14), the elastic coupling (15) and the second cylindrical gear (13) have a common rotating axis, the first motor (16) directly drives the first cylindrical gear (12), the first motor (16) and the first cylindrical gear (12) have a common rotating axis, and the first cylindrical gear (12) and the second cylindrical gear (13) simultaneously drive the central cylindrical gear (11) to rotate;

wherein: number of first spur gear teeth Z₁Second number of spur gears Z₂Central cylindrical gear tooth number Z_OThe first servo motor directly drives the first cylindrical gear to input torque N₁Input rotational speed M₁The second servo motor drives the second cylindrical gear to input torque N through the elastic coupling₂Input rotational speed M₂Satisfy the condition M of synchronous input rotation speed of two gears₁Z₁＝M₂Z₂，M₁、M₂In the same direction, as shown in FIG. 1(a), the central cylindrical gear outputs a rotation speed M_O＝M₁Z₁/Z_OOutput torque N_O＝Z_O(N₁/Z₁+N₂/Z₂) Input rotational speed M in the course of transmission₁、M₂The synchronous difference of the rotating speed caused by the fluctuation is compensated by the elastic coupling, the gear meshing motion interference is avoided, and the dual-motor redundant driving is realized.

The right meshing transmission conditions of the straight spur gear are as follows: the first cylindrical gear, the second cylindrical gear and the central cylindrical gear have the same module m and pressure angle alpha, and the center distance OP (Z) of the internal meshing transmission of the first cylindrical gear and the central cylindrical gear is m_O-Z₁) The center distance OQ of the second cylindrical gear and the central cylindrical gear in internal meshing transmission is m (Z)_O-Z₂) [ 2 ] the condition PQ > m (Z) is that the rotation of the first and second cylindrical gears does not interfere with each other₁+Z₂) 2+2m, as shown in FIG. 1 (a); the first cylindrical gear and the central cylindrical gear are externally engaged with each other to drive the central distance OP (Z) to m₁+Z_O) The external meshing transmission center distance OQ between the second cylindrical gear and the central cylindrical gear is m (Z)₂+Z_O) [ 2 ] the condition PQ > m (Z) is that the rotation of the first and second cylindrical gears does not interfere with each other₁+Z₂) 2+2m, as shown in FIG. 2 (a).

In the working process of the redundant driving mechanism: when N is present₁Not equal to 0 and N₂When not equal to 0, the central cylindrical gear outputs a torque N_O＝Z_O(N₁/Z₁+N₂/Z₂) Double servo motorsThe central cylindrical gear is driven to rotate in a same way; when N is present₂When the rotation speed is 0, the second cylindrical gear rotates at the rotation speed M₂Idling, first spur gear input torque N₁Central cylindrical gear output torque N_O＝N₁Z_O/Z₁The first servo motor drives the central cylindrical gear to output rotation; when N is present₁When equal to 0, the first cylindrical gear rotates at a rotating speed M₁Idling, second spur gear input torque N₂Central cylindrical gear output torque N_O＝N₂Z_O/Z₂And the second servo motor drives the central cylindrical gear to output rotation, so that dual-motor redundant driving is realized.

In the redundant driving mechanism, when the first motor and the second motor select servo motors, elastic couplings with small torque and large corner deformation are correspondingly configured, so that the synchronous control of the rotating speed of the double motors is facilitated; when the first motor and the second motor adopt servo reducing motors, the requirement of the rotating speed synchronous control precision of the double motors can be reduced, and the elastic coupling of the medium torque is correspondingly configured.

In the redundant driving mechanism, a first cylindrical gear and a second cylindrical gear are both straight-tooth cylindrical external gears, and a central cylindrical gear is a straight-tooth cylindrical internal gear; or the first cylindrical gear and the second cylindrical gear are helical cylindrical external gears, and the central cylindrical gear is a helical cylindrical internal gear; the internal-meshing redundant driving mechanism is formed, and as shown in (a) and (b) of figure 1, the central cylindrical gear outputs a rotating speed M_O＝M₁Z₁/Z_O、M_OAnd M₁In the same direction.

In the redundant driving mechanism, the first cylindrical gear, the second cylindrical gear and the central cylindrical gear are all straight-tooth cylindrical external gears, or the first cylindrical gear, the second cylindrical gear and the central cylindrical gear are all helical-tooth cylindrical external gears, so as to form an external-meshing redundant driving mechanism, as shown in fig. 2(a) and (b), the central cylindrical gear outputs a rotating speed M_O＝M₁Z₁/Z_O、M_OAnd M₁And reversing. The helical gear transmission has the advantages of high bearing capacity and stable motion.

In the redundant drive mechanism, willA motor directly drives the first cylindrical gear, and the replacement is as follows: the first motor drives the first cylindrical gear through another elastic coupling to form a dual-coupling redundant driving mechanism, and as shown in fig. 3(a) and (b), dual-motor redundant driving is realized. The redundant driving mechanism of the double-coupling device is correspondingly divided into: the dual-coupling internal-meshing redundant driving mechanism shown in fig. 3(a) and the dual-coupling external-meshing redundant driving mechanism shown in fig. 3(b) input the rotating speed M in the transmission process₁、M₂The rotating speed synchronization difference caused by fluctuation is compensated by the double-elastic coupling, so that the requirement on the rotating speed synchronization control precision of the double motors can be reduced.

In the redundant drive mechanism, the number of first spur gear teeth Z₁Input rotational speed M₁Number of second spur gear teeth Z₂Input rotational speed M₂When Z is₂＝Z₁In time, the synchronous conditions of the input rotating speeds of the two gears are as follows: m₂＝M₁，M₂、M₁In the same direction; when Z is₂≠Z₁In time, the synchronous conditions of the input rotating speeds of the two gears are as follows: m₂＝M₁Z₁/Z₂，M₂、M₁In the same direction.

The vehicle roll drive mechanism shown in fig. 5 constitutes a schematic diagram, and is composed of a redundant drive mechanism and a roll mechanism:

the roll mechanism includes: the vehicle body (20), the lower swing rod (21), the positioning rod (22) and the upper swing rod (23) are sequentially and rotatably connected, the rotating axes at the rotating connection points A, B, C, D are perpendicular to the transverse plane of the vehicle body to form a quadrilateral closed kinematic chain ABCD with the same relative motion plane, the wheels (24) are rotatably connected with the positioning rod (22), and the rotating axes of the wheels are perpendicular to the positioning rod BC and parallel to the transverse plane of the vehicle body to form a group of wheel positioning mechanisms; two groups of same wheel positioning mechanisms are symmetrically arranged left and right on the vertical plane of the vehicle body according to a given wheel track and share the same vehicle body (20), the center point O of a balance rod (25) in the transverse plane of the vehicle body is rotationally connected with the vehicle body (20), the rotation axis is positioned in the vertical plane of the vehicle body, two ends of the balance rod (25) are respectively rotationally connected with a shock absorber (26), the other ends of the two shock absorbers (26) are respectively rotationally connected with a lower swing rod in the left and right wheel positioning mechanisms, two rotation connecting points E, F are symmetric about the vertical plane of the vehicle body, and the rotation axis of each rotation connecting point is perpendicular to the transverse plane of the vehicle body to form a roll mechanism (as shown in figure 4).

A central cylindrical gear (11) of the redundant driving mechanism is fixedly connected with a balance rod (25) of the roll mechanism, the axis of the central cylindrical gear crosses the midpoint of the balance rod and is perpendicular to the transverse plane of the vehicle body, a box body (10) of the redundant driving mechanism is fixedly installed on the vehicle body (20) of the roll mechanism, and the central cylindrical gear (11) and the balance rod (26) rotate around the axis of the central cylindrical gear together relative to the vehicle body (20) to form the roll driving mechanism of the vehicle (as shown in figure 5).

During the working process of the vehicle roll driving mechanism: when N is present₁Not equal to 0 and N₂When not equal to 0, the central cylindrical gear outputs a torque N_O＝Z_O(N₁/Z₁+N₂/Z₂) The balance rod drives the roll mechanism to move and the vehicle body to roll when N is₂When the rotation speed is 0, the second cylindrical gear rotates at the rotation speed M₂Idling, first spur gear input torque N₁Central cylindrical gear output torque N_O＝N₁Z_O/Z₁The first servo motor drives the roll mechanism to move and the vehicle body to roll when N is₁When equal to 0, the first cylindrical gear rotates at a rotating speed M₁Idling, second spur gear input torque N₂Central cylindrical gear output torque N_O＝N₂Z_O/Z₂And the second servo motor drives the roll mechanism to move and the vehicle body to roll, so that the double-motor redundant drive vehicle roll movement is realized (as shown in figure 5).

Fig. 6 shows a schematic diagram of an active-roll tricycle, which includes: the active tricycle with the double rear wheel driving and front wheel steering characteristics is formed by arranging a group of vehicle side-tipping driving mechanisms at the rear, arranging single wheels at the front part of the same tricycle body according to a given wheel base, sharing a vertical plane in the same tricycle body, steering a front wheel, driving a double rear wheel hub motor, controlling the side tipping of the tricycle body by the vehicle side-tipping driving mechanisms, and adaptively tipping the single front wheel and the tricycle body together; the vehicle has the characteristics of large driving torque, high bearing capacity and good vehicle safety.

Through the embodiment, the two input gears are meshed with the output gear simultaneously, the first motor directly drives one input gear, the second motor drives the other input gear through the elastic coupling, the synchronous difference of the rotating speeds caused by the fluctuation of the input rotating speeds in the transmission process is compensated by the elastic coupling, the interference of gear meshing motion is avoided, the input gears and the output gears are always kept in correct meshing transmission, the double-power redundant driving vehicle rolling motion is realized, and the safety of the active rolling vehicle is improved.