Rear axle for a two-track vehicle and two-track vehicle having such a rear axle
阅读说明：本技术 用于双轨车辆的后桥和具有该后桥的双轨车辆 (Rear axle for a two-track vehicle and two-track vehicle having such a rear axle ) 是由 托比亚斯·尼辛 方向凡 蒂莫·施利希廷 于 2020-05-04 设计创作，主要内容包括：用于双轨车辆的后桥(100)具有：第一拖曳臂(102)、具有第一轮中心(106)的第一轮架(104)和第一纵向支柱(110),它们形成在车辆的纵向和/或车辆的竖直方向上有效的第一联接机构；第二拖曳臂、具有第二轮中心的第二轮架和第二纵向支柱,它们形成在车辆的纵向和/或车辆的竖直方向上有效的第二联接机构；以及横梁(114),该横梁与第一拖曳臂(102)和第二拖曳臂牢固连接并具有剪切中心,其中,第一联接机构具有位于前侧和第一轮中心(106)上方的第一瞬时旋转中心(124),并且第二联接机构具有位于前侧和第二轮中心上方的第二瞬时旋转中心,以及一种双轨车辆具有底盘或车底,其中该车辆具有布置在底盘或车底的这种后桥(100)。(A rear axle (100) for a two-rail vehicle has: a first trailing arm (102), a first wheel carrier (104) having a first wheel centre (106) and a first longitudinal strut (110) forming a first coupling mechanism effective in the longitudinal direction of the vehicle and/or the vertical direction of the vehicle; a second trailing arm, a second wheel carrier with a second wheel centre and a second longitudinal strut forming a second coupling mechanism effective in the longitudinal direction of the vehicle and/or in the vertical direction of the vehicle; and a cross beam (114) firmly connected with the first trailing arm (102) and the second trailing arm and having a shear center, wherein the first coupling mechanism has a first instantaneous center of rotation (124) above the front side and the first wheel center (106) and the second coupling mechanism has a second instantaneous center of rotation above the front side and the second wheel center, and a two-track vehicle having a chassis or underbody, wherein the vehicle has such a rear axle (100) arranged at the chassis or underbody.)
1. Rear axle (100, 200, 300, 400) for a two-rail vehicle, rear axle (100, 200, 300, 400) having: a first trailing arm (102, 210, 402, 506, 606), a first wheel carriage (104, 212, 410, 508, 608, 704) having a first wheel center (106) and a first longitudinal strut (110, 312, 414), the first trailing arm, the first wheel carriage and the first longitudinal strut forming a first coupling mechanism effective in a longitudinal direction of the vehicle and/or a vertical direction of the vehicle; a second trailing arm, a second wheel carrier having a second wheel centre (418) and a second longitudinal strut, the second trailing arm, the second wheel carrier and the second longitudinal strut forming a second coupling mechanism effective in the longitudinal direction of the vehicle and/or the vertical direction of the vehicle; and a cross-beam (114, 406) securely connected with the first trailing arm (102, 210, 402, 506, 606) and the second trailing arm and having a shear center (432), wherein the first coupling mechanism has a first instantaneous center of rotation (124, 420) located above the front side and the first wheel center (106), and the second coupling mechanism has a second instantaneous center of rotation located above the front side and the second wheel center (418).
2. Rear axle (100, 200, 300, 400) according to claim 1, characterized in that the shear center (432) of the cross beam (114, 406) is arranged above the rear side and the wheel center (106, 418).
3. Rear axle (100, 200, 300, 400) according to at least one of claims 1 to 2, characterized in that each of the trailing arms (102, 210, 402, 506, 606) is connectable to the chassis or underbody by means of a first joint (116, 404), that the trailing arms (102, 210, 402, 506, 606) and the wheel carriers (104, 212, 410, 508, 608, 704) are each connected to each other by means of a second joint (118, 204, 304, 408, 500, 600, 700, 802, 900), that the wheel carriers (104, 212, 410, 508, 608, 704) and the longitudinal struts (110, 312, 414) are each connected to each other by means of a third joint (120, 202, 302, 412, 702, 804, 908), that the longitudinal struts (110, 312, 414) are each connected to the chassis or underbody by means of a fourth joint (122, 416), and that the joints (116, 118, 120, 122, 202, 204, 302, 304, 404, 408, 500, 600, 700, 702, 802, 804, 900, 908) has such degrees of freedom: considering that the shear center (432) of the cross beam (114, 406) is a mechanically idealized rotary slide joint (128), the degree of freedom f of the rear axle (100, 200, 300, 400) is 2.
4. The rear axle (100, 400) according to claim 3, characterized in that the first joint (116, 404), the third joint (120, 412) and the fourth joint (122, 416) each have a degree of freedom f-3 and the second joint (118, 408) each have a degree of freedom f-1.
5. The rear axle (200, 300) according to claim 3, characterized in that the first, second and fourth joints (204, 304) each have a degree of freedom f-3 and the third joints (202, 302) each have a degree of freedom f-1, and the rear axle (200, 300) has at least one first and at least one second additional link.
6. The rear axle according to claim 5, characterized in that the additional link is designed as a torque support with an integrated link (206, 208, 306, 308).
7. The rear axle according to claim 3, characterized in that the first joint, the third joint (908) and the fourth joint each have a degree of freedom f-3 and the second joint (900) each have a degree of freedom f-2, such that the rear axle has a steering axis (910) and is steerable.
8. Rear axle (100, 200, 300, 400) according to at least one of claims 4 to 7, characterized in that the joint with degree of freedom f-3 is designed as a ball joint, in particular as a rubber metal bearing, the joint with degree of freedom f-2 is designed as a composite joint with two axes of rotation or by means of two ball joints, and the joint with degree of freedom f-1 is designed as a swivel joint, as a roller bearing or as a plain bearing or by means of a rubber element or by means of at least two rubber elements.
9. Rear axle according to at least one of claims 4 to 8, characterized in that the second joint (700) and the third joint (702) are each arranged offset from one another in the transverse direction in order to reduce a resulting change in the camber angle of the wheel carrier (704) outside the curve caused by lateral forces.
10. Rear axle according to at least one of claims 4 to 9, characterized in that the second joint (802) and the third joint (804) are each arranged offset to one another in the longitudinal direction, so that a predetermined caster angle (800) can be set.
11. Rear axle (100, 200, 300, 400) according to at least one of claims 1 to 10, characterized in that the trailing arm (102, 210, 402, 506, 606) is designed to be rigid and torsionally rigid.
12. Rear axle (100, 200, 300, 400) according to at least one of claims 1 to 11, characterized in that the longitudinal struts (110, 312, 414) are designed to be flexible, torsionally flexible and torsionally stiff.
13. Rear axle (100, 200, 300, 400) according to at least one of claims 1 to 12, characterized in that the fourth joint (122, 416) is less rigid in all directions than the first joint (116, 404), the second joint (118, 204, 304, 408, 500, 600, 700, 802, 900) and/or the third joint (120, 202, 302, 412, 702, 804, 908).
14. Rear axle (100, 200, 300, 400) according to at least one of claims 4 to 13, characterized in that the shear centers (432) of the first joints (116, 404) and the cross beams (114, 406) are arranged such that the approximately instantaneous rolling axis has a larger torsion component (434) and a smaller camber component (436).
15. Two-rail vehicle having a chassis or underbody, characterized in that the vehicle has a rear axle (100, 200, 300, 400) according to at least one of claims 1 to 14, which is arranged at the chassis or underbody.
Technical Field
The invention relates to a rear axle for a two-rail vehicle, comprising: a first trailing arm, a first wheel carrier having a first wheel centre and a first longitudinal strut forming a first coupling mechanism effective in the longitudinal direction of the vehicle; a second trailing arm, a second wheel carrier with a second wheel centre and a second longitudinal strut, which form a second coupling mechanism effective in the vehicle longitudinal direction. The invention also relates to a double-track vehicle having a chassis or underbody and such a rear axle.
Background
Passenger car rear axles can be designed as rigid axles, semi-rigid axles and axles with independent wheel suspensions. The semi-rigid axle includes a torsional crank axle and a torsion beam axle.
In the case of a semi-rigid axle, the two wheels on the rear axle are physically connected to each other by means of an elastically deformable cross-member. In the case of a torsional crank axle belonging to this group, the cross-beam is located in the wheel centre, is designed to be torsionally flexible, and effectively connects the two wheels in between in a torsionally flexible, and therefore semi-rigid, manner by means of the respective wheel carrier. The wheel carrier is linked to the crossbeam in the form of a fixed connection. The transverse beam is connected to the vehicle body, in particular the vehicle body structure, by means of flexible and torsionally flexible trailing arms on the left and right side of the vehicle. This design allows free wheel travel movement, especially equilateral compression/rebound during cornering, with very little change in wheel position, especially changes in toe and camber angles. In the case of a reversing wheel travel movement, in particular an alternating compression/rebound (in which the lateral forces generated also cause torsional moments about the longitudinal and transverse axes of the vehicle), the wheel position can vary greatly, since the trailing arms are usually designed to be flexible and torsionally flexible. In order to specifically adjust the wheel position changes, different transverse supports are introduced, for example panhard rods.
In contrast to a torsional crank axle, a torsion beam axle has two rigid and torsionally rigid trailing arms. Like a torsional crank shaft, the cross beam is designed to be rigid and torsionally flexible. However, the cross member is not directly located at the wheel center, but is located near the body mount. Thus, the coupling of the two wheels with unilateral excitation is smaller than that of the torsional crankshaft.
In practice, the torsional flexibility and rigidity properties are usually achieved by the transverse beams having an open profile shape, for example a U or C shape, which extends over a large part of the length, which is spliced into a closed profile in the edge region. The profile is usually closed by an additional welded metal plate. This means that different cross sections can be realized on the cross beam. Alternatively, they can also be realized by reshaping the tubular profile.
Rigid and torsionally rigid trailing arms establish a connection from the wheel to the body, wherein the connection of the wheel carrier to the trailing arms is usually fixed and the connection to the body is effected in an articulated manner by means of elastic rubber bearings. In this case, the axle is designed such that the body mount is located in front of the wheel center in the traveling direction, so that the wheel is pulled.
One of the fundamental advantages of the axle in terms of steering dynamics is the different wheel positions that are produced during symmetrical, equilateral and antisymmetric, reciprocating compression/rebound. In the case of an equilateral wheel travel, for example, due to changes in the load, the wheel spins about the body bearing, forming an instantaneous pivot point, i.e., an instantaneous center of rotation. The wheel centre is thus connected in a direct physical connection to the instantaneous centre of rotation of the equilateral deflection by the trailing arm. The position of the instantaneous centre of rotation substantially determines the pitch and pitch suspension behaviour of the vehicle.
The equilateral travel movement results in a wheel position that is substantially constant over the spring deflection due to the rotation of the trailing arm about the body bearing. Conversely, when the vehicle body rolls, for example, due to cornering, the wheel angle may change significantly. This is due to the fact that the wheel now performs approximately a rotational movement about a rotational axis which is formed by the shear centre of the body bearing and cross-member profile associated with the wheel. Therefore, the rolling center, which is the rotation center of the rolling movement, is affected by the vehicle body bearing and the shear center position. The change in wheel angle can thus be influenced by the positioning of the cross beam relative to the trailing arm and the profile shape of the cross beam (in particular the position of the shear centre), which results in an ideal, usually slightly understeered driving behaviour. This self-steering behavior of the rear axle is essentially determined by the change in wheel position.
Since both the cross member and the trailing arm are elastically deformable, the outer wheels experience a negative toe angle during cornering, resulting in a tendency to oversteer. Further, the lateral force of the vehicle body is supported by a rubber bearing. The flexibility of the rubber bearing also causes the shaft to twist, which results in a further increase in the negative toe angle.
One possibility to reduce this negative toe tendency is the rigid design of the trailing arm and its support on the cross beam by means of additional components (e.g. spring damper mounts) which are usually welded on one side to the trailing arm and on the other side to the cross beam, thus providing a highly rigid support for the trailing arm. This improves toe-in, camber and lateral stiffness of the shaft.
Another possibility to counteract the natural negative toe-in tendency of the torsion beam axle is to increase the radial rubber spring rate in the longitudinal direction of the vehicle, corresponding to a high spring constant kx. However, this is in conflict with the maximum possible longitudinal comfort, which requires a lower radial stiffness, corresponding to a smaller spring constant kx. To resolve such a conflict of goals, for example, a rubber bearing for track correction or adjustment is introduced.
Camber and toe stiffness, as well as lateral stiffness (reflecting the axle's flexibility in the lateral direction of the vehicle), are therefore core attributes of the twist beam axle.
Hereinafter, the installation space condition of the rear compartment of the small vehicle equipped with the torsion beam axle will also be discussed. Such vehicles typically have a drive concept with a front engine and a front drive. In this case, the installation space in front of the wheel center is substantially delimited by the fuel tank and, behind the wheel center, by components of the exhaust system. The placement of the spare tire should not play a role in this consideration as it can now also be replaced by a space-saving repair kit.
In the case of an electric vehicle, the oil tank and all components associated with the exhaust system may be omitted. The central region of the vehicle floor can be used to accommodate a battery, which usually requires a large, tightly fitting, regularly shaped installation space. In the case of a conventional torsion beam axle, this installation space ends in front of the cross beam. However, the installation space of the battery is limited to a small extent laterally by the trailing arm and the body bearing.
To solve these problems, a concept of a reverse torsion beam axle is proposed and disclosed in document CN 105365543 a. The concept involves relocating the connection of the axle to the body in the direction of travel towards the rear of the end of the body. In this way, the trailing arm is positioned behind the center of the wheel as a direct physical connection between the wheel and the vehicle body. The cross beam at this connection is thus moved behind the centre of the wheel. Due to this reversal, the pull torsion beam axle becomes a push torsion beam axle. According to the document CN 105365543 a, such a reverse torsion beam axle has the following advantages: a.) there is a conventional installation space of 300 to 450 mm in the longitudinal direction of the vehicle to accommodate a drive battery of the electric vehicle. The battery can be placed behind the wheel center and in front of the cross beam; b.) the cross-beam and the trailing arm are made of a high-strength material, wherein the cross-beam has a high flexural rigidity and the trailing arm has not only a high compression and bending strength but also a high energy absorption in the axial direction. Therefore, the drive battery is not damaged by the axle beam in both rear and side collisions; c.) describes reinforcement measures in the body to accommodate such reversed torsion beam axles in the body; d.) the natural negative toe tendency of a conventional torsion beam axle when subjected to lateral forces or when turning is twisted into the positive toe tendency of the outside wheels of the curve. This automatically results in a positive self-steering action.
There is also the possibility of further improvement in the repositioning of the body bearings behind the wheel centre. Since they represent the centers of rotation of the equilateral wheel strokes, the instantaneous centers of rotation of the equilateral deflections also move behind the wheels. Thus, the braking process may result in negative braking support, resulting in a substantial increase in vehicle pitch. This may be considered particularly unpleasant by the vehicle occupants. The location of the instant center of rotation need not be determined by the physical location of the link connection on the vehicle body structure, as is the case with the torsion beam axle. In the case of a multi-link shaft, the position of the instantaneous center of rotation can also be determined in practice by the interaction of a plurality of spatially arranged links. For example, the instantaneous center of rotation of a front axle with upper and lower double transverse links can be determined by the position of the two links.
In this case, the two rotational axes of the upper and lower transverse links extend obliquely to each other in a side view of the vehicle, intersecting around bearings inside the vehicle, which pass through a ball joint outside the vehicle at a point behind the wheel center of the front wheel. This ensures the required braking support of the front wheels.
The instant centre of rotation is decoupled from the connecting rods by means of physical bearings, in fact defined by their spatial position relative to each other, and can therefore also be varied over a wide range by means of the orientation of the connecting rods. Thus, the braking support may be altered according to requirements or customer desires.
The object of the present invention is to obtain the advantages of the counter torsion beam axle known in document CN 105365543 a while making up for its disadvantages, in particular the instantaneous centre of rotation and the position of the brake support that can be improved. For this purpose, the instantaneous center of rotation should be decoupled spatially from the position of the body bearings and moved in front of the wheel center. This object is achieved by using a virtual instantaneous center of rotation by means of a plurality of spatially arranged links. Since the design of the two connecting rods and the corresponding bearings requires the possibility of further improvements in the lateral and camber stiffness and the transverse dynamics of the shaft, a watt linkage consisting of a plurality of connecting rods and bearings is designed so that, in addition to the freedom of the entire system of the multi-link torsion shaft, the required high lateral and camber stiffness can be restored.
DE 102007007439 a1 discloses a composite axle for a two-track vehicle, comprising a trailing arm which is articulated to the vehicle body and which extends essentially in the longitudinal direction of the vehicle, and which guides a so-called wheel carrier for two wheels, which wheel carrier is torsionally flexible in the transverse direction of the vehicle and/or is elastically supported in the transverse direction; further comprising a torsion beam connected to the two wheel carriers, resistant to bending, at least partly torsionally flexible, and also forming a torsion shaft extending in the transverse direction of the vehicle, said trailing arms being connected to the torsion beam by means of a torsionally rigid connection at least in relation to the transverse axis of the vehicle, whereby in side view the torsion shaft and the trailing arms of the torsion beam are arranged on opposite sides with respect to the wheel centre; and further including lateral force directing elements which are ultimately supported between the torsion beam or wheel frame and the vehicle body; and a suspension loop associated with the wheel of the axle and tensioned between said wheel and the body, wherein the torsion beam is substantially U-shaped when viewed in a horizontal plane and comprises branches connected to the wheel carrier below the horizontal wheel centre plane and is embodied such that the ratio of the horizontal distance between said torsion axle and the wheel centre when viewed from the side to the horizontal distance between the body-side articulation point of the trailing arm and the wheel centre is substantially greater than 0.25.
According to document DE 102007007439 a1, the trailing arm is flexible in the transverse direction and rigid in the vertical direction; a lateral guide element is required for lateral guidance; in addition to the negative influence on the installation space, there is a further disadvantage when using side guide elements; a trailing arm which extends from the wheel frame in the front direction of the vehicle and is connected with the chassis or the vehicle bottom at the front part is connected with the torsion beam through torsional rigid connection; the trailing arms which extend in the direction of the rear or front of the vehicle and are connected to the chassis or to the vehicle bottom on the rear or front side, starting from the wheel carrier, are not directly connected to one another; the distance in the longitudinal direction of the associated front body bearing and shear center is in each case Δ x ═ a + b, where a corresponds to the distance between the body-side articulation point of the trailing arm and the wheel center, and b corresponds to the distance between the torsion axis of the torsion beam and the wheel center; the ratio of the distance between the torsion axis of the torsion beam and the wheel center to the distance between the articulation point and the wheel center, corresponding to the transmission ratio variation of b/a or camber angle and roll angle, is greater than 0.25; the torsion beam is arranged below the center of the wheel; parallel and identical toe angle changes occur on both wheels, left and right; the basic concept primarily relates to the offset of the torsion beam behind the wheel center due to camber behavior; the second trailing arm is arranged on the other side of the first arm with respect to the wheel center; the torsion beam is bent and directly connected to the wheel carrier; the torsion beam is always connected to the front trailing arm below the wheel center; for lateral force support, a lateral support element is required; the two wheels are linked by a rigid torsion beam and supported below the wheel center by a panhard rod; the panhard rod has a negative impact on the equilateral stroke, since it can cause lateral wheel deflections; the basic concept mainly involves a negative camber of the curve outer wheel and the same variation of the curve inner wheel, inevitably resulting in a negative camber of the curve outer wheel; the freedom of the body side articulation point, the bearing of the upper trailing arm and the pivot bearing between the wheel carrier and the upper trailing arm are not defined.
Disclosure of Invention
The problem addressed by the present invention is to structurally and/or functionally improve a rear axle of the type initially described. The problem addressed by the present invention is also to structurally and/or functionally improve a vehicle of the type initially described.
This problem is solved by a rear axle having the features of claim 1. This problem is also solved by a vehicle having the features of claim 15. Advantageous embodiments and/or developments are the subject matter of the dependent claims.
Unless otherwise stated or the context does not indicate, the specifications "longitudinal", "lateral", "vertical", "rear side" and "front side" refer to a vehicle using a rear axle or a vehicle having a rear axle.
The rear axle may be an axle to be attached or already attached behind the center of gravity of the vehicle. The rear axle may be used to accommodate the rear wheels.
The trailing arm may be arranged with its longitudinal axis at least approximately in the longitudinal direction of the vehicle. The trailing arm can be used to guide the wheel carrier at least approximately vertically and longitudinally and supports longitudinal forces and braking response moments as well as lateral forces on the chassis or underbody.
The wheel carrier can be arranged with its longitudinal axis at least approximately in the vertical direction of the vehicle. The wheel carriage may be connected to the chassis or underbody by trailing arms, longitudinal struts and joints. The wheel carrier may have: a bearing; hinge points for the link and the vehicle body suspension on the wheel side; and fastening points for brake calipers (in the case of disc brakes) or anchor plates (in the case of drum brakes). The wheel carriage may be guided relative to the chassis or floor assembly. The wheel center may be the point on the wheel carriage assigned to the wheel axle.
The longitudinal struts may be used to guide the wheel carrier and support longitudinal forces and braking response moments on the chassis or underbody. The longitudinal struts may be arranged distally in the transverse direction. The longitudinal struts may be arranged further in the transverse direction than in previously known rear axles.
The coupling mechanism may be effective in the longitudinal direction of the vehicle and in the vertical direction of the vehicle. The coupling mechanism may be effective in a plane spanned by the vehicle longitudinal axis and the vehicle longitudinal axis or a plane parallel thereto. The coupling mechanism may be designed as a watt linkage. By means of the watt linkage, the instantaneous center of rotation can be decoupled from the position of the cross member in order to create a larger, uniform installation space in the center of the vehicle. The linkage mechanism may be used to convert rotational pivoting movement in one plane into approximately linear movement. The linkage mechanism may be used to convert movement of the point of the trailing arm and the longitudinal strut on the circumferential path portion into movement of the wheel center on the lemniscate portion.
The cross-beams may be transversely arranged. The crossbeams may be used to guide the wheel frames and transfer forces between the wheel frames. The cross beam may be arranged far to the rear in the longitudinal direction. The transverse beam can be arranged further back in the longitudinal direction than in previously known rear axles. The cross beam may be designed to be more rigid and torsionally flexible. The cross-beam may have an open profile shape, e.g., a U-shape or C-shape, extending over a substantial portion of its length.
Due to the wide arrangement of the longitudinal struts in the transverse direction away from the outside and/or the transverse beams in the longitudinal direction away from the rear, additional installation space can be made available. The additional installation space can be used for devices for storing electrical energy.
The instantaneous center of rotation may occur at the intersection of the trailing arm and the extension of the longitudinal strut. The instantaneous center of rotation may be a virtual instantaneous center of rotation. The instantaneous centre of rotation is arranged such that the result is a positive braking support and/or a positive oblique suspension angle.
The shear center of the cross beam may be arranged at the rear. The shear center of the cross beam may be disposed above the wheel center. The shear center of the beam may be the point on the cross section of the beam through which the result of the lateral force must pass to achieve a non-twisting effect or to impart no twist to the cross section. The shear center may coincide with the center of gravity. The shear center may be offset from the center of gravity. The shear center may be opposite the center of gravity. The shear center may be located outside the profile cross-section.
The trailing arms may each be connected to the chassis or underbody by a first joint. The trailing arm and the wheel carrier may each be connected to each other by a second joint. The wheel carrier and the longitudinal struts may be connected to each other by a third joint. The longitudinal struts can each be connected to the chassis or the underbody via a fourth joint. These joints may have a degree of freedom, with the rear axle having a degree of freedom f 2, taking into account the shear center of the cross beam as a mechanically idealized rotary slide joint.
The first, third, and fourth linkers may each have a degree of freedom f-3, and the second linkers may each have a degree of freedom f-1.
The first, second and fourth joints may each have a degree of freedom f-3, and the third joint may each have a degree of freedom f-1, and the rear axle may have at least one first additional link and at least one second additional link. The additional linkage may be designed as a torque support with an integral linkage.
The first, third and fourth joints may each have a degree of freedom f-3 and the second joints may each have a degree of freedom f-2, such that the rear axle has a steering axis and is steerable. The second joint may have an axis of rotation which passes through the third joint. The kinematic steering axis may be formed by the second joint and the third joint.
The joint can be designed as a ball joint, a swivel joint, a double ball joint and/or by means of a concentric or adjusted combination joint. The joint may be designed by means of rubber metal bearings, roller bearings, sliding bearings and/or rubber elements. The joint with the degree of freedom f 3 can be designed as a ball joint, in particular as a rubber-metal bearing. The joint with the degree of freedom f 2 can be designed as a combination joint with two axes of rotation or by means of two ball joints. The joint with the degree of freedom f 1 can be designed as a rotary joint, a roller bearing or a plain bearing or by means of two rubber elements.
The second joint and the third joint may each be arranged offset from each other in the transverse direction. The second joint and the third joint may each be arranged offset from each other in the transverse direction, so that a change in camber angle of the wheel carrier outside the curve caused by lateral forces is reduced. The second joint and the third joint may each be offset from each other in the transverse direction so that the torque about the vehicle longitudinal axis of the second joint, generated by the increase in wheel contact force on the vertical axis of the wheel outside the curve, is partly the torque generated by the lateral force of the wheel outside the curve, compensating for and thus reducing the variation in camber angle of that wheel.
The second joint and the third joint may each be arranged offset from each other in the longitudinal direction, so that a predetermined back rake may be provided.
The trailing arm can be designed to be rigid and torsionally rigid. The longitudinal struts can be designed to be flexible, torsionally flexible and torsionally stiff.
The fourth joint may be less rigid in all directions than the first joint, the second joint and/or the third joint. The first joint, the second joint, and/or the third joint may be more rigid in all directions than the fourth joint. The joint may be designed elastically, ensuring a high level of ride comfort and safe lateral guidance.
The shear centers of the first joint and the cross-beam may be arranged so that the rolling moment has a large torsional component and a small camber or bending component. The torsional component may be greater than the camber component. The camber component may be less than the twist component. By arranging the first joint behind and above the centre of the wheel in combination with the shear centre of the cross member close to the body, the axis of rotation of the reciprocating movement of the wheel can be substantially determined. Thus, there may be a high torsional component during rolling. In each case, the distance in the longitudinal direction between the first joint and the shear centre may correspond to the distance between the cross beam and the associated rear body bearing. The cross beam may be located between the first joint and the wheel centre in the longitudinal direction. The distance between the first joint and the cross beam may be smaller than the distance between the cross beam and the wheel centre.
The vehicle may be a motor vehicle. The vehicle may be a passenger car. The vehicle may be an electric vehicle. The vehicle may have a storage device for electrical energy. The storage device can be arranged in the region of the rear axle. The storage device may be arranged at least partially between the trailing arms and/or the longitudinal struts in the transverse direction. The storage device may be arranged at least partly in front of the cross beam in the longitudinal direction. The vehicle may have wheels. The wheels of the vehicle may be arranged on two rails adjacent to each other when travelling in a straight line. The vehicle may have four wheels. The vehicle may have a chassis. The rear axle may be part of the chassis. The vehicle may have a body. The body may be non-self-supporting or self-supporting. The non-self-supporting body may have a chassis. The self-supporting body may have a floor. The vehicle may have a front and a rear. The vehicle may extend in a longitudinal direction, a transverse direction and a vertical direction. The front and rear portions may be in the longitudinal direction. The longitudinal direction may extend parallel to the road surface. The transverse direction may extend perpendicular to the longitudinal direction and parallel to the road surface. The vehicle may have two axles. The vehicle may have a front axle. The front axle may be an axle mounted in front of the center of gravity of the vehicle. The front axle may be steerable. The rear axle may be an axle attached behind the center of gravity of the vehicle. The rear axle may be an axle attached behind the center of gravity of the vehicle. The rear axle can be connected to the chassis or underbody with its trailing arms and longitudinal struts. The rear axle can be connected in an articulated manner to the chassis or the underbody with its trailing arms and longitudinal struts.
By means of the invention, the advantages of the reverse torsion beam axle in the document CN 105365543 a are obtained, while the disadvantages are also remedied. The instantaneous center of rotation is spatially decoupled from the position of the body bearings and moves in front of the wheel center. The rear axle according to the invention is structurally simple to implement. Disadvantages in terms of transverse stiffness and camber stiffness can be reduced or avoided without the need for additional lateral guide elements. The impairment of the lateral dynamics is reduced or avoided. In addition to the freedom of the overall system, the required high lateral and camber stiffness is also restored. The rear axle according to the invention may also be referred to as a multi-link torsion axle. The multi-link torsion shaft according to the present invention can approach the principle of the torsion beam shaft and can be distinguished from the principle of the torsion crank shaft.
Drawings
Embodiments of the invention will be described in more detail hereinafter, by way of example, and with reference to the accompanying drawings, in which:
FIG. 1 is a side view of a portion of a rear axle for a two-track vehicle having a Watt linkage;
FIG. 2 is a plan view of a portion of a rear axle for a two-track vehicle having a Watt linkage;
FIG. 3 is an isometric view of a rear axle for a two-track vehicle having a Watt linkage;
FIG. 4 is an isometric view of a rear axle for a dual track vehicle having a Watt linkage and an alternative mount;
FIG. 5 is an isometric view of a rear axle for a two-track vehicle having a Watt linkage and an alternative mount;
FIG. 6 is an isometric view of one embodiment of a rear axle for a two-track vehicle having a Watt linkage;
FIG. 7 is a side view of one embodiment of a rear axle for a two-track vehicle having a Watt linkage.
FIG. 8 is a front view of a joint designed between the trailing arm and the wheel carrier by means of two spherical joints;
fig. 9 is a side view of a joint designed between the trailing arm and the wheel carrier by means of two ball joints.
Fig. 10 shows a joint designed with two rubber bearings between the trailing arm and the wheel carrier;
FIG. 11 is a plan view of an approximate instantaneous roll axis for a rear axle of a two-track vehicle having a Watt linkage with yaw of the left wheel;
fig. 12 is a plan view of an installation space condition for a rear axle of a two-track vehicle having a watt linkage mechanism;
FIG. 13 illustrates camber compensation for kinematics of a rear axle of a two-track vehicle having a Watt linkage;
FIG. 14 illustrates camber compensation for kinematics of a rear axle of a two-track vehicle having a Watt linkage;
FIG. 15 shows a depiction of caster angles on a rear axle for a two-track vehicle having a Watt linkage; and
fig. 16 shows a depiction of a steerable rear axle for a two-track vehicle with a watt linkage.
Detailed Description
Fig. 1 is a side view of one side of a rear axle 100 of a two-track vehicle having a watt linkage mechanism. Fig. 2 is a sectional plan view of the rear axle 100. FIG. 3 is an isometric view of one embodiment of rear axle 100.
The description relates to one side of the rear axle only, the other side of the rear axle 100 being correspondingly designed. The directional specification relates to the mounting position of the rear axle 100 in the vehicle. In a cartesian coordinate system, the longitudinal direction extends in the x-direction, the transverse direction extends in the y-direction and the vertical direction extends in the z-direction.
The rear axle 100 has: a trailing arm 102; a wheel carriage 104 having a wheel center 106 and a wheel 108; and longitudinal struts 110. The trailing arm 102, the wheel carrier 104 and the longitudinal strut 110 form a coupling mechanism designed as a watt's linkage. The coupling mechanism is effective in the longitudinal and/or vertical direction (i.e., in the plane spanned by x and z). The forward direction of travel is indicated at 112. The rear axle 100 has a cross member 114 extending in the transverse direction, which is firmly connected with the trailing arms 102 on both sides of the rear axle 100.
The trailing arm 102 may alternatively be attached to the chassis or underbody of the vehicle by means of a first joint 116. The trailing arm 102 and the wheel carriage 104 are connected to each other by means of a second joint 118. The wheel carrier 104 and the longitudinal strut 110 are connected to each other by means of a third joint 120. The longitudinal strut 110 is connected to the chassis or underbody by means of a fourth joint 122.
The coupling mechanism has a virtual instantaneous center of rotation 124 that occurs at the longitudinal axis intersection of the trailing arm 102 and the longitudinal strut 110 and is located longitudinally forward of the wheel center 106 and vertically above the wheel center 106 area or build location of the wheel center 106. The build position, which may also be referred to as the ML2 position, is the result of the trim weight + occupant. The trim weight, which may also be referred to as ML1, is the result of an empty, ready-to-drive vehicle with complete equipment and handling + 90% tank filler +75 kg luggage. The weight of the occupant is assumed to be 75 kg (68 kg +7 kg). By means of the linkage mechanism, the rotational pivotal movement of the trailing arm 102 and the longitudinal strut 110 is converted into an approximately linear movement of the wheel carriage 104, wherein the wheel center 106 moves on the lemniscate portion 126.
One of the basic tasks of rear axle 100 is to bring instantaneous center of rotation 124 forward of wheel center 106 by integration into a watt linkage. However, as the equilateral springs move, the positions of the links 102, 110 change relative to each other, i.e., the position of the intersection of the link extensions and thus the position of the instant center of rotation 124 changes through the wheel stroke (in the Z direction). Above a certain limit value, the control arms 102, 110 are positioned in parallel, and furthermore the instantaneous centre of rotation 124 oscillates behind the wheel centre 106. Such oscillations should occur after the highest possible wheel travel, and in particular should not be able to be achieved by a static load increase, since otherwise unpleasant and unpredictable braking distance movements would occur. The use of rear axle 100 in the context of electric vehicles means that these generally heavier electric vehicles are equipped with stiffer body suspensions so that the usual natural frequencies of the body can be maintained. This results in a smaller spring bias due to load variations and facilitates movement of the instantaneous center of rotation 124 during compression.
Rear axle 100 may also be referred to as a multi-link torsion axle, and as shown in fig. 1, 2, and 3, may be described in a model in which trailing arm 102, wheel carrier 104, and longitudinal strut 110 are considered beams, and joints 116, 118, 120, 122 are shown as bearings, and rotary slipper joint 128 is assigned to beam 114 in the vehicle center plane.
The original trailing arm 102 of the reverse torsion beam axle is the beam that is connected to the vehicle body by means of a first joint (rubber bearing) 116, depicted as a bearing. The trailing arm 102, which is considered a beam, is connected to the wheel carriage 104, which wheel carriage 104 may also be considered a beam in the model, with the second joint 118 depicted as a bearing. In the middle of the wheel carrier 104, which is considered as a beam, a bearing is arranged, around which the wheel 108 can rotate. At the lower end of the wheel carrier 104, which is considered to be a beam, is a third joint 120, depicted as a bearing, on which the longitudinal strut 110, which is considered to be a beam, is articulated. The longitudinal strut 110, which is considered a beam, is connected to a fourth joint 122 (depicted as a bearing) on the vehicle body.
The beam and the bearing form a watt linkage in the longitudinal direction x of the vehicle. In the wheel stroke movement, the wheel 108 actually moves about the instantaneous center of rotation 124, which instantaneous center of rotation 124 is, in side view, created by the intersection of the extension lines of the trailing arm 102 and the longitudinal strut 110. Between the right trailing arm and the left trailing arm 102, a transverse beam 114 of the rear axle 100 is arranged, which can be approximated mechanically by a rotary slide joint 128 at a central shear center. The two trailing arms 102 and the cross member 114 are firmly connected to each other.
Thus, the instantaneous center of rotation 124 is decoupled from the physical location of the first joint 116 and can be varied within a particular range by adjusting the trailing arm 102 and the longitudinal strut 110. The instantaneous center of rotation 124 should be located in front of the wheel center 106 of the wheel 108 in order to enable positive braking support to avoid an objectionable excessive braking spacing. Furthermore, the instantaneous center of rotation 124 should be located above the wheel center 106 in order to enable good diagonal suspension behavior.
All joints 116, 118, 120, 122 described above as bearings must now be assigned to specific translational and rotational degrees of freedom, which can be assigned to the entire rear axle 100 by taking into account the degrees of freedom.
In the case of the initially considered non-steered rear axle, two degrees of freedom have to be provided, corresponding to the stroke movement and the rolling movement. The degree of freedom of the entire shaft can be described by formula
Wherein
Number of beam elements
fiG bearing freedom (for the whole axis, g-9).
r: the intrinsic rotation of the two longitudinal struts 110 (r ═ 2).
Viewed separately, each beam element (102, 104, 110) has six degrees of freedom. One of the possible configurations is that the joints 116, 120, 122, which are considered as bearings, are designed as spherical joints, each with three rotational degrees of freedom (f)i3), the second joint 118, which is considered as a bearing, is designed as a rotary joint (f)i1). The shear center of beam 114 is modeled as a rotating slider joint 128 (f)i2). If a rotational degree of freedom about its own longitudinal axis (r) is added to the longitudinal strut 110, which is considered a beam, this will result in DOF of 2. In the case of the rear axle 100, the trailing arm 102 and/or the longitudinal strut 110 can be designed to be rigid, so that additional lateral guide elements can be omitted. The lateral forces are supported on the body bearings.
The design of the second joint 118, which is considered as a bearing (as a rotational joint between the frame 104 and the trailing arm 102), is also particularly suitable for ensuring a high level of lateral and camber stiffness and sufficient toe-in stiffness, since the torque generated by the reaction force of the wheel contact points can be transmitted well to the trailing arm 102, wherein the trailing arm 102 is supported by the cross beam 114 and the two first joints 116 (e.g. designed as rubber bearings). In this way, toe-in and camber stability can be ensured without the need for additional lateral guide elements (such as panhard rods or watt linkages in the cross-vehicle direction) that compromise the mounting space between the wheels 108.
Fig. 4 and 5 are isometric views of rear axles 200, 300 with alternative mounts. In contrast to rear axle 100 according to fig. 3, another joint considered as a bearing (e.g. third joint 202, 302) can also be designed as a swivel joint, while second joint 204, 304 considered as a bearing is designed as a ball joint.
To this end, two additional links are introduced as integral links 206, 208, 306, 308, which are now required because of the inherent rotation, which is no longer negligible. These integral links are mounted either between the trailing arm 210 and the wheel carrier 212, each with a ball joint (integral links 206, 208), or between the body structure 310 and the longitudinal struts 312 (integral links 306, 308). The universal joint may be replaced with an integral linkage or a torque support. Thus, instead of the torque support of the integral links 206, 208, 306, 308 or the joints 204, 304, 214, 314 with a ball joint design, a pure universal joint can also be used.
Further, reference is made in particular to fig. 1 to 3 and the related description in relation to the rear axle 200, 300.
FIG. 6 is an isometric view of a structural design of a rear axle 400 for a two-track vehicle having a Watt linkage that can be easily implemented and saves installation space and cost; fig. 7 is a side view of rear axle 400.
The trailing arm 402, which is supported on the body 403 by means of a first joint 404 designed as a rubber bearing, is firmly connected to a cross beam 406 (for example by welding) and to a wheel carrier 410 by means of a second joint 408 designed as a swivel joint. The wheel carrier 410 is connected at the bottom with a third joint 412 designed as a spherical joint to a longitudinal strut 414 which does not have to transmit any torque. The longitudinal strut 414 is connected to the body 403 via a fourth joint 416 designed as a rubber bearing.
The ball bearings considered in the basic concept are in this case all provided as rubber or rubber-metal bearings. Rubber bearings can replace the ideal kinematic ball joint with three rotational degrees of freedom in a particularly cost-effective manner. Rubber bearings are significantly more cost effective than ball joints and also assume a damping function that reduces vibration and noise within the vehicle.
The rear axle 400 is characterized in that the trailing arm 402 and the longitudinal strut 414 are adjusted relative to one another in side view such that their virtual extensions intersect at a point in front of the wheel center 418 in side view.
This point now represents the instantaneous center of rotation 420 of the equilateral deflection. In this way, the braking support can be influenced in a targeted manner by the inclination of the trailing arm 402 and the longitudinal strut 414, so that a predetermined pitch behavior is achieved. For favorable diagonal suspension behavior, it is desirable to position the instantaneous center of rotation 420 higher than the wheel center 418, since evasive movement of the wheels 422 is possible while driving over obstacles.
The freedom of movement of the multi-link torsion shaft is dictated by the design of the joints 404, 408, 412, 416. Toe-in and camber stability and lateral force stability are ensured by a second joint 408 that transfers lateral forces at the wheel contact point and the resulting torque to the rigid trailing arm 402 and to the other side of the vehicle and the first joint 404 via the cross beam 406.
The second joint 118 can also be realized as a rotary joint with laterally supported roller bearings, which is arranged mainly in the transverse direction of the vehicle, but also as a plain bearing (see fig. 16), which has a very high radial and high axial stiffness.
The second joint 118, 500 can also be realized by means of two ball joints 502, 504 which allow freedom of rotation and have a high level of lateral rigidity. FIG. 8 is a front view of the second joint 118, 500 designed between the trailing arm 506 and the wheel carriage 508 through two spherical joints 502, 504; fig. 9 is a side view of the second connector 118, 500.
For example, for cost reasons, the second joint 118, 600 may be realized by arranging the two rubber elements 602, 604 in a concentric or adjusted manner, so that both rotational freedom and high lateral force and camber stiffness are achieved. Fig. 10 shows a second joint 118, 600 designed between the trailing arm 606 and the wheel carrier 608 by means of two rubber elements 602, 604. The rubber elements 602, 604 have pressure lines 610, 612. The center of gravity of the spring is indicated at 614.
The cross-member 406 of the rear axle 400 is rigid and torsionally flexible and is disposed proximate the first joint 404. In this way, a comfortable, low degree of coupling of the respective wheels 422, 424 may be achieved. Furthermore, the required clearance of the beam 406 is kept low, as it rotates around the first joint 404 during deflection. Thus, the installation space requirements are further minimized.
The first joint 404, located behind the wheel center 418, automatically produces a favorable positive toe behavior when turning to increase the driving safety of the vehicle.
For the first joint 404, which is designed as a rubber bearing, it is now possible to provide a lower radial stiffness (small kx) than is the case for conventional torsion beam axles, to coordinate with the required toe stiffness. Furthermore, the fourth joint 416 designed as a rubber bearing can be designed to be flexible in the radial direction. The combination of the resilient design of the bearing stiffness of the first joint 404 and the fourth joint 416 and the joint stiffness of the second joint 408 and the third joint 412 can greatly improve ride comfort without having to compromise in toe stiffness.
Without regard to the longitudinal struts 414, FIG. 11 is a plan view of the approximate instantaneous roll axis 426 of the rear axle 400, with the left wheel 424 having yaw; fig. 12 is a plan view of the installation space condition of the rear axle 400.
The body 403 has a longitudinal member, for example 428, which is arranged in the rear region of the vehicle, well above the wheel centre 418, which means that the first joint 404 is also located above the wheel centre 418. In this way, a simple connection of the wheel suspension to the body 403 is ensured. At the same time, a torsionally flexible cross beam 406, which is firmly connected with the trailing arm 402, is also arranged away from the road surface 430. In order to avoid collision of the cross member 406 with the vehicle body 403 during compression, the trailing arm 402 is designed to bend downward. In conjunction with the profile of the beam 406 and its angle of orientation, the shear center 432 of the profile may be positioned above the wheel center 418. To further amplify this effect, a right angle bend of the beam 406 may be provided.
A rotational axis (fig. 11), referred to as a momentary roll axis 426, is defined between the first joint 404 and the shear center 432 of the beam 406. In cornering (rolling), the reciprocating stroke movement of the wheels 422, 424 occurs approximately about the instantaneous rolling axis 426. It is therefore evident that in the case of a reciprocating stroke movement of the wheels 422, 424, here the deflection at the wheel 424 outside the curve, with a camber or bending component mcamber436 in comparison to the corresponding reference numerals,instantaneous roll axis 426 (m)roll) Having a significantly higher torsional component mtorsion434. In this case, the desired negative camber angle occurs when the shear center 432 is located forward of the first joint 404 in the direction of travel. Instantaneous roll axis m in the vertical direction of the vehicle as long as the shear center 432 is located below the first joint 404rollThe camber or bend component 436 of 426 points upward. This results in a positive toe-in trend. The rate of change may be lower than conventional torsion beam axles due to the positive toe behavior under lateral forces.
If again considering the mounting space conditions, the movement of the cross beam 406 results in a regularly shaped mounting space 438 extending far behind the wheel center 418. This installation space 438 can be allocated to an electrical energy storage device 440, for example, for storing the electrically driven driving energy, which corresponds to an improved use of the installation space of the rear compartment compared to conventional torsion beam axles. Furthermore, the longitudinal strut 414 and the trailing arm 402 enclose the lateral surfaces and the cross beam 406 encloses the rear surface of the mounting space 438, which improves safety, in particular when the trailing arm 402 and the cross beam 406 are designed to be rigid.
Further, reference is made in particular to fig. 1 to 3 and the related description in relation to the rear axle 400.
Thus retaining the advantages of the rear bridge known from the file CN 105365543 a. According to the document CN 105365543 a, the link parts can absorb part of the impact energy by targeted deformation in the event of a rear or side impact. For this purpose, it is recommended to use axially foldable profiles, because of their high absorption capacity. Furthermore, in the event of a rear impact, the wheels 422, 424 are supported on the vehicle body structure, which increases the resistance to penetration.
In addition to retaining the advantages of the rear bridge known from the document CN 105365543 a, there are further advantageous characteristics in the present case.
Fig. 13 and 14 show the elastic camber compensation on a rear axle for a two-track vehicle having a watt linkage, for example the rear axle 100 according to fig. 1 and 2.
According to fig. 13 and 14, the second joint 700 and the third joint 702 of the wheel carriage 704 are arranged offset from each other in the longitudinal and/or transverse direction (instead of one being higher than the other in the vertical direction). Both joints 700, 702 define a resilient steering axis 706, providing a favorable inclination 708 to increase the stiffness of the lateral forces by moving the second joint 700 towards the center of the vehicle and the third joint 702 towards the outside of the vehicle.
In this case, the joints 700, 702 can be designed such that the distance 710 between the center of the second joint 700 and the wheel center plane 712 is as large as possible (fig. 13). The lateral force 714 that occurs during a turn creates a torque about the first joint 700 via the lever arm 716. The increase in wheel contact force 718 counteracts this torque. The greater the distance 710, the more the torque generated by the lateral force 714 can be compensated. Thus, the requirements regarding the bearing stiffness of the second joint 700 may be reduced, which is advantageous for technical implementation. The inclination of the resilient steering axis 706 can be targeted such that the resilient steering axis 706 and the wheel center plane 712 intersect at a wheel contact point 720. The angle of the resilient steering axis 706 from the vertical is referred to as the pitch 708.
Fig. 15 shows a depiction of a caster angle 800 on a rear axle of a two-track vehicle having a watt linkage. By offsetting the second joint 802 and the third joint 804 from each other in the longitudinal direction of the vehicle, a resilient kinematic caster 800 may be created.
Fig. 16 shows a depiction of a steerable rear axle for a two-track vehicle with a watt linkage. For this purpose, the second joint 900 is extended by a further rotational degree of freedom 902. In this case, this new additional axis of rotation 904 is at an angle to the original axis of rotation 906 and passes through the third joint 908. Thus, the second joint 900 and the third joint 908 define a steering axis 910 of the wheel. The third joint 908 may then be implemented as a ball joint, so that no interweaving occurs in the steering axis 910. The steering itself can then be performed by a conventional steering system.
The springs and dampers of the axle are not depicted and may support the axle-side body structure jointly or separately on the wheel carrier 104 or by means of spring plates. The spring plate is fastened, for example, between the cross beam 406 and the trailing arm 402.
It is also conceivable that the second joint 118 is arranged between the third joint 120 and the wheel centre 106 in a side view. In this way, the effective distance between the road surface and the second joint 118 is reduced and camber and lateral stability are improved. This also has a positive effect on the braking assistance. Comfortable yielding of the shaft in the longitudinal direction can then be set mainly by the oblique suspension of the shaft.
The shaft concept also provides the option of integrating the drive.
In particular, optional features of the invention are indicated by the verb "may". Accordingly, there are also developments and/or embodiments of the invention, which additionally or alternatively have corresponding features.
Isolated features may also be selected from combinations of features disclosed herein, if desired, and used in combination with other features to define the subject matter of the claims by resolving any structural and/or functional relationships that may exist between features.
List of reference numerals
100 rear axle
102 trailing arm
104 wheel carrier
106 wheel center
108 wheels
110 longitudinal support
112 forward direction of travel
114 crossbeam
116 first joint
118 second joint
120 third joint
122 fourth joint
124 instantaneous center of rotation
126 lemniscate part
128 rotating slider joint
200 rear axle
202 third joint
204 second joint
206 integral connecting rod
208 integral connecting rod
210 trailing arm
212 wheel frame
214 fourth joint
300 rear axle
302 third joint
304 second joint
306 integral connecting rod
308 integral connecting rod
310 vehicle body structure
312 longitudinal strut
314 fourth joint
400 rear axle
402 trailing arm
403 vehicle body
404 first joint
406 crossbeam
408 second joint
410 wheel frame
412 third joint
414 longitudinal strut
416 fourth joint
418 wheel center
420 instantaneous center of rotation
422 wheel
424 wheels
426 instantaneous roll axis
428 longitudinal member
430 pavement
432 shear center
434 torsional component
436 camber or bend component
438 installation space
440 energy storage device
500 second joint
502 ball joint
504 ball joint
506 trailing arm
508 wheel carrier
600 second joint
602 rubber element
604 rubber element
606 trailing arm
608 wheel rack
610 pressure line
612 pressure line
614 spring center of gravity
700 second joint
702 third joint
704 wheel carrier
706 steering axis
708 gradient
710 distance
Center plane of 712 wheels
714 lateral force
716 lever arm
718 contact force of wheel
720 round contact point
800 back rake
802 second joint
804 third joint
900 second joint
902 rotational degree of freedom
904 additional axes of rotation
906 original rotation axis
908 third joint
910 steering axis