阅读说明：本技术 车辆侧倾驱动机构及应用该机构的主动侧倾三轮车 (Vehicle side-tipping driving mechanism and active side-tipping tricycle using same ) 是由 杨鹏艺 王豪磊 王亚 魏文军 李海涛 于 2021-07-26 设计创作，主要内容包括：本发明涉及车辆底盘技术领域,公开了一种车辆侧倾驱动机构及应用该机构的主动侧倾三轮车,属于车辆底盘技术领域,特别涉及主动侧倾车辆的侧倾驱动、控制技术,车辆侧倾驱动机构由驱动机构和侧倾机构组成,驱动机构与侧倾机构共用同一车身,驱动机构的中心圆柱齿轮与侧倾机构的平衡杆固连,中心圆柱齿轮轴线过平衡杆中点、且垂直于车身横垂面,形成车辆侧倾驱动机构,实现双动力混合驱动车辆侧倾运动,形成以下三种运动方式：双动力合成驱动车辆侧倾运动、双动力冗余驱动车辆侧倾运动和单动力独立驱动车辆侧倾运动。(The invention relates to the technical field of vehicle chassis, and discloses a vehicle roll driving mechanism and an active roll tricycle applying the same, belonging to the technical field of vehicle chassis, in particular to a roll driving and controlling technology of an active roll vehicle, wherein the vehicle roll driving mechanism consists of a driving mechanism and a roll mechanism, the driving mechanism and the roll mechanism share the same vehicle body, a central cylindrical gear of the driving mechanism is fixedly connected with a balance rod of the roll mechanism, the axis of the central cylindrical gear crosses the midpoint of the balance rod and is vertical to the cross vertical surface of the vehicle body to form the vehicle roll driving mechanism, so that the roll motion of a dual-power hybrid driving vehicle is realized, and the following three motion modes are formed: the double-power synthesis drives the vehicle to roll, the double-power redundancy drives the vehicle to roll and the single-power independent drives the vehicle to roll.)

1. Vehicle actuating mechanism that heels, constitute its characterized in that by actuating mechanism and mechanism that heels:

the drive mechanism includes: the central cylindrical gear and the first cylindrical gear are respectively connected with the vehicle body in a rotating mode around respective axes, the two cylindrical gears are in correct meshing transmission, one end of the rigid connecting rod is connected with the vehicle body in a rotating mode around the axis of the central cylindrical gear, the other end of the rigid connecting rod is connected with the second cylindrical gear in a rotating mode around the axis of the second cylindrical gear, the second cylindrical gear is in correct meshing transmission with the central cylindrical gear, one end of the elastic connecting rod is connected with the vehicle body in a rotating mode around the axis of the first cylindrical gear, the other end of the elastic connecting rod is connected with the second cylindrical gear in a rotating mode around the axis of the second cylindrical gear, the elastic connecting rod keeps the second cylindrical gear and the central cylindrical gear in correct meshing transmission, and the rotating axes of the cylindrical gears are parallel to each other;

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) The synchronous difference of the rotating speeds caused by the input rotating speed fluctuation in the transmission process is compensated by the length change of the elastic connecting rod, the meshing motion interference of the gears is avoided, the center distance between the first cylindrical gear and the central cylindrical gear and the center distance between the second cylindrical gear and the central cylindrical gear are kept unchanged when the length of the elastic connecting rod is changed, and the double-power hybrid driving is realized;

the roll mechanism includes: one end of a lower swing rod is rotatably connected with the front part of the vehicle body, the other end of the lower swing rod is connected with a vehicle wheel, the vehicle wheel rotates relative to the lower swing rod at a connection point, the head end of an upper swing rod is rotatably connected with the rear part of the vehicle body, one end of a shock absorber is rotatably connected with the upper swing rod, the connection point is positioned in the middle of the upper swing rod, the other end of the shock absorber is rotatably connected with the lower swing rod, the connection point is positioned in the middle of the lower swing rod and close to one side of the vehicle wheel, and the rotating axis of each rotating connection point is perpendicular to the vertical plane of the vehicle body to form a group of vehicle wheel positioning mechanisms; two groups of wheel positioning mechanisms with the same geometric parameters and performance parameters are symmetrically arranged in the left and right directions of a vehicle body vertical plane according to a given wheel track and share the same vehicle body, the middle point of a balancing rod is rotationally connected with the vehicle body on the vehicle body vertical plane, a rotating axis is positioned in the vehicle body vertical plane, two ends of the balancing rod are respectively connected with a connecting rod through a ball hinge, the other ends of two equilong connecting rods are respectively connected with the ball hinge at the tail end of an upper swing rod in the left and right wheel positioning mechanisms, and the two connecting points are symmetrical about the vehicle body vertical plane to form a roll mechanism;

the driving mechanism and the roll mechanism share the same vehicle body, a central cylindrical gear of the driving mechanism is fixedly connected with a balance rod of the roll mechanism, and 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 to form the vehicle roll driving mechanism.

2. The vehicle roll driving mechanism according to claim 1 wherein the resilient link is a resilient two-force rod that undergoes slight tension or compression displacement when acted upon by an external force, and is made of a resilient material selected from the group consisting of an isometric linear resilient link, a C-shaped resilient link, and an S-shaped resilient link.

3. The vehicle roll drive mechanism according to claim 1 wherein the first spur gear and the second spur gear are spur external spur gears and the central spur gear is a spur internal spur 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 a roll driving mechanism of an internally engaged vehicle, and outputting a rotating speed M by a central cylindrical gear_O＝M₁Z₁/Z_O、M_OAnd M₁In the same direction.

4. The vehicle roll drive mechanism according to claim 1 wherein the first spur gear, the second spur gear, and the central spur gear are spur external gears, orThe first cylindrical gear, the second cylindrical gear and the central cylindrical gear are helical cylindrical external gears to form an externally-meshed vehicle side-tipping driving mechanism, and the central cylindrical gear outputs a rotating speed M_O＝M₁Z₁/Z_O、M_OAnd M₁And reversing.

5. The vehicle roll drive mechanism of claim 1 in which the second spur gear, rigid link, resilient link, and first spur gear tooth count Z are eliminated₁Input rotational speed M₁Input torque N₁Number of central cylindrical gear teeth Z_OOutput rotational speed M_O＝M₁Z₁/Z_OOutput torque N_O＝N₁Z_O/Z₁The balancing rod drives the roll mechanism to move to realize the roll of the vehicle body, so that the roll driving mechanism of the single-power vehicle is formed, and the roll movement of the single-power vehicle is realized.

6. Active roll tricycle, the vehicle roll drive mechanism according to claims 1 and 3, characterized in that it comprises: an active roll positive tricycle with the characteristics of double rear wheel drive and front wheel steering is formed by a group of inner-meshing vehicle roll driving mechanisms according to claim 3, wherein a single wheel is arranged in front of a same vehicle body according to a given wheel base, the same vehicle body is shared with a vertical plane, the front wheel is steered, the double rear wheel is driven, the inner-meshing vehicle roll driving mechanisms control the roll of the vehicle body, and the single front wheel and the vehicle body are self-adaptively rolled.

7. An external engagement active roll tricycle, the vehicle roll drive mechanism according to claims 1 and 4, comprising: an active roll positive tricycle with the features of double rear wheel drive and front wheel steering is formed by a set of external engaged vehicle roll driving mechanism as claimed in claim 4, on the same tricycle body, according to a given wheel base, a single wheel is arranged in front of the external engaged vehicle roll driving mechanism, the same vehicle body is shared with a vertical plane, the front wheel is steered, the external engaged vehicle roll driving mechanism controls the roll of the tricycle body, and the single front wheel and the tricycle body are self-adaptively rolled.

8. Single power active roll tricycle, the vehicle roll drive mechanism according to claims 1 and 5, characterized in that it comprises: the single-power vehicle roll driving mechanism is arranged at the rear, a single wheel is arranged at the front according to a given axle distance on the same vehicle body, the single wheel shares the same vertical plane in the vehicle body, the front wheel is steered, the double-rear-wheel is driven, the single-power vehicle roll driving mechanism controls the roll of the vehicle body, the single front wheel and the vehicle body roll adaptively, and the other active roll positive tricycle with the double-rear-wheel drive and front-wheel steering characteristics is formed.

Technical Field

The invention relates to a vehicle side-tipping driving mechanism and an active side-tipping tricycle using the same, 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 reducing the cost of the active roll vehicle and improving the performance of the vehicle.

Disclosure of Invention

The invention aims to provide a vehicle side-tipping driving mechanism and an active side-tipping tricycle using the same.

The technical scheme adopted for achieving the purpose of the invention is as follows: the vehicle side-tipping driving mechanism consists of a driving mechanism and a side-tipping mechanism;

the drive mechanism includes: the automobile body (10), a central cylindrical gear (11), a first cylindrical gear (12), a second cylindrical gear (13), a rigid connecting rod (14) and an elastic connecting rod (15), wherein the central cylindrical gear (11) and the first cylindrical gear (12) are respectively connected with the automobile body (10) in a rotating mode around respective axes, the two cylindrical gears are in correct meshing transmission, one end of the rigid connecting rod (14) is connected with the automobile body (10) in a rotating mode around the axis of the central cylindrical gear (11), the other end of the rigid connecting rod is connected with the second cylindrical gear (13) in a rotating mode around the axis of the second cylindrical gear (13), the second cylindrical gear (13) is in correct meshing transmission with the central cylindrical gear (11), one end of the elastic connecting rod (15) is connected with the automobile body (10) in a rotating mode around the axis of the first cylindrical gear (12), the other end of the elastic connecting rod is connected with the second cylindrical gear (13) in a rotating mode around the axis, and the elastic connecting rod (15) keeps the second cylindrical gear (13) in correct meshing transmission with the central cylindrical gear (11), the rotation axes of the cylindrical gears are parallel to each other;

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) The synchronous difference of the rotating speeds caused by the input rotating speed fluctuation in the transmission process is compensated by the length change of the elastic connecting rod, the gear meshing motion interference is avoided, the center distance between the first cylindrical gear and the central cylindrical gear and the center distance between the second cylindrical gear and the central cylindrical gear are kept unchanged when the length of the elastic connecting rod is changed, and the dual-power hybrid driving is realized.

The roll mechanism includes: the automobile wheel positioning mechanism comprises an automobile body (10), a lower swing rod (21), an upper swing rod (22), a shock absorber (23), wheels (24), a connecting rod (25) and a balancing rod (26), wherein one end of the lower swing rod (21) is rotatably connected with the front part of the automobile body (10), the other end of the lower swing rod is connected with the wheels (24), the wheels (24) rotate relative to the lower swing rod (21) at a connection point, the head end of the upper swing rod (22) is rotatably connected with the rear part of the automobile body (10), one end of the shock absorber (23) is rotatably connected with the upper swing rod (22), the connection point is positioned in the middle of the upper swing rod (22), the other end of the shock absorber (23) is rotatably connected with the lower swing rod (21), the connection point is positioned at one side, close to the wheels (24), and the rotating axes of the rotation connection points are perpendicular to the vertical plane of the automobile body, so that a group of wheel positioning mechanisms is formed; two groups of wheel positioning mechanisms with the same geometric parameters and performance parameters 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 (10), the middle point of a balance rod (26) is rotationally connected with the vehicle body (10) on the vertical plane of the vehicle body, the rotational axis is positioned in the vertical plane of the vehicle body, two ends of the balance rod (26) are respectively connected with a connecting rod (25) through a ball hinge, the other ends of the two equilong connecting rods (25) are respectively connected with the ball hinge at the tail ends of an upper swing rod (22) in the left and right wheel positioning mechanisms, and the two connecting points are symmetrical about the vertical plane of the vehicle body to form a side tilting mechanism;

the driving mechanism and the roll mechanism share the same vehicle body (10), a central cylindrical gear (11) of the driving mechanism is fixedly connected with a balance rod (26) 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, 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 (10) 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 balancing rod drives the roll mechanism to move to realize the roll of the vehicle body, so that a double-power synthesis driving vehicle roll movement mode is formed; 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/Z₁When the vehicle roll driving mechanism works normally, 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/Z₂The vehicle roll driving mechanism continues to work, and a single-power independent driving mode or a double-power redundant driving vehicle roll movement mode is formed. Vehicle side-tipping driving mechanism realizing double-power hybrid driving vehicleThe rolling motion of the vehicle forms the following three driving modes: the double-power synthesis drives the vehicle to roll, the double-power redundancy drives the vehicle to roll and the single-power independent drives the vehicle to roll.

In the above vehicle roll driving mechanism, the elastic link is an elastic two-force rod, the elastic link generates a slight amount of tensile or compressive displacement under the action of an external force, the elastic link is made of an elastic material and is made into an equal-diameter linear elastic link, or made into a C-shaped or S-shaped elastic link, and the spring stiffness of the elastic link is in direct proportion to each input torque.

In the vehicle side-tipping 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 cylindrical internal gear; forming a roll driving mechanism of an internally engaged vehicle, and outputting a rotating speed M by a central cylindrical gear_O＝M₁Z₁/Z_O、M_OAnd M₁In the same direction.

In the vehicle roll 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, so as to form an externally-meshed vehicle roll driving mechanism, and the central cylindrical gear outputs the rotating speed M_O＝M₁Z₁/Z_O、M_OAnd M₁And reversing.

In the above-described roll driving mechanism for a vehicle, when N is₂When the rotation speed is 0, the second cylindrical gear rotates at the rotation speed M₂Idle running, and the second cylindrical gear (13), the rigid connecting rod (14) and the elastic connecting rod (15) are omitted, and the number of teeth Z of the first cylindrical gear₁Input rotational speed M₁Input torque N₁Number of central cylindrical gear teeth Z_OOutput rotational speed M_O＝M₁Z₁/Z_OOutput torque N_O＝N₁Z_O/Z₁The balancing rod drives the roll mechanism to move to realize the roll of the vehicle body, so that the roll driving mechanism of the single-power vehicle is formed to realize the single-power drivingThe motor vehicle moves in a rolling motion.

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

The external engagement initiative roll tricycle includes: the active side-tipping positive tricycle is characterized in that a group of externally-meshed vehicle side-tipping driving mechanisms are arranged at the rear part, single wheels are arranged at the front part on the same tricycle body according to a given wheel base and share the same vertical plane in the tricycle body, the front wheels are steered and driven by double rear wheels, the externally-meshed vehicle side-tipping driving mechanisms control the side tipping of the tricycle body, and the single front wheels and the tricycle body are self-adaptively tipped together to form the active side-tipping positive tricycle with the characteristics of double rear wheels driving and front wheel steering; the vehicle is driven to roll by adopting a double-power combination mode, and the vehicle has the characteristics of large driving torque, high bearing capacity and good vehicle safety.

The single power active roll tricycle includes: the single-power vehicle side-tipping driving mechanism controls the side tipping of the vehicle body, and the single front wheel and the vehicle body self-adaptively side tipping together form another active side-tipping positive tricycle with the characteristics of double rear wheel driving and front wheel steering; the vehicle side-tipping movement mode is independently driven by single power, and the vehicle side-tipping movement mode has the characteristics of simple structure, light weight and good vehicle maneuverability.

The invention has the beneficial effects that the vehicle side-tipping driving mechanism and the active side-tipping tricycle applying the mechanism are characterized in that the elastic connecting rod is adopted to connect two input gears which are independently meshed with the output gear, the synchronous difference of the rotating speed caused by the fluctuation of the input rotating speed in the transmission process is compensated by the length change of the elastic connecting rod, the interference of the meshing motion of the gears is avoided, the input gears and the output gears are always correctly meshed for transmission, the double-power hybrid driving vehicle body side-tipping motion is realized, and the stability and the reliability of the active side-tipping vehicle are improved.

Drawings

FIG. 1 is a schematic view of a drive mechanism;

FIG. 2(a) is a schematic diagram of the configuration of a C-shaped elastic connecting rod, and (b) is a schematic diagram of the configuration of an S-shaped elastic connecting rod;

FIG. 3 is a schematic view of a wheel alignment mechanism;

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 externally engaged vehicle roll drive mechanism;

FIG. 7 is a schematic diagram of a single power vehicle roll drive mechanism assembly;

FIG. 8 is a schematic diagram of the components of an active side-tipping tricycle;

FIG. 9 is a schematic diagram of the components of an externally engaged active roll tricycle;

FIG. 10 is a schematic diagram of a single power active side-tipping tricycle;

in the figure: 10-a vehicle body, 11-a central cylindrical gear, 12-a first cylindrical gear, 13-a second cylindrical gear, 14-a rigid connecting rod, 15-an elastic connecting rod, 21-a lower swing rod, 22-an upper swing rod, 23-a shock absorber, 24-a wheel, 25-a connecting rod and 26-a balance rod.

Detailed Description

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

fig. 1 shows a schematic view of a drive mechanism comprising: the automobile body (10), a central cylindrical gear (11), a first cylindrical gear (12), a second cylindrical gear (13), a rigid connecting rod (14) and an elastic connecting rod (15), wherein the central cylindrical gear (11) and the first cylindrical gear (12) are respectively connected with the automobile body (10) in a rotating mode around respective axes, the two cylindrical gears are in correct meshing transmission, one end of the rigid connecting rod (14) is connected with the automobile body (10) in a rotating mode around the axis of the central cylindrical gear (11), the other end of the rigid connecting rod is connected with the second cylindrical gear (13) in a rotating mode around the axis of the second cylindrical gear (13), the second cylindrical gear (13) is in correct meshing transmission with the central cylindrical gear (11), one end of the elastic connecting rod (15) is connected with the automobile body (10) in a rotating mode around the axis of the first cylindrical gear (12), the other end of the elastic connecting rod is connected with the second cylindrical gear (13) in a rotating mode around the axis, and the elastic connecting rod (15) keeps the second cylindrical gear (13) in correct meshing transmission with the central cylindrical gear (11), the rotation axes of the cylindrical gears are parallel to each other;

wherein: number of first spur gear teeth Z₁Second number of spur gears Z₂Central cylindrical gear tooth number Z_OFirst driving first cylindrical gear input torque N of servo motor₁Input rotational speed M₁The servo motor drives the second cylindrical gear to input torque N₂Input rotational speed M₂Satisfy the condition M of synchronous input rotation speed of two gears₁Z₁＝M₂Z₂，M₁、M₂The same direction and the rotation direction are shown in figure 1, and M is in the transmission process₂When downward fluctuation is reduced, the elastic connecting rod is pulled, the rod length PQ is increased, and due to the fact that PO is fixed, the angle POQ is increased, and gear meshing motion interference is avoided; m₂When the upward fluctuation is increased, the elastic connecting rod is pressed, the rod length PQ is shortened, and the angle POQ is reduced, so that the gear meshing motion interference is avoided; when the length of the elastic connecting rod is changed, the length of the rigid connecting rod is unchanged, the center distances OP and OQ between the first cylindrical gear and the central cylindrical gear and between the second cylindrical gear and the central cylindrical gear are kept unchanged, and the central cylindrical gear outputs a torque N_O＝Z_O(N₁/Z₁+N₂/Z₂) Output rotational speed M_O＝M₁Z₁/Z_OThe dual-power hybrid 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) (Z2) rigid link length equal to OQ, elastic link length PQ > m (Z)₁+Z₂) 2+2m, as shown in FIG. 1; 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) Second cylindrical gear and middleExternal gearing centre distance OQ ═ m (Z) of the cylindrical gear₂+Z_O) (Z2) rigid link length equal to OQ, elastic link length PQ > m (Z)₁+Z₂) 2+2m as shown in FIG. 6.

Fig. 4 is a schematic view of a roll mechanism, which includes: the automobile wheel positioning mechanism comprises an automobile body (10), a lower swing rod (21), an upper swing rod (22), a shock absorber (23), wheels (24), a connecting rod (25) and a balancing rod (26), wherein one end A of the lower swing rod (21) is rotatably connected with the front part of the automobile body (10), the other end of the lower swing rod is connected with the wheels (24), the wheels (24) rotate relative to the lower swing rod (21) at a connection point B, the head end D of the upper swing rod (22) is rotatably connected with the rear part of the automobile body (10), one end of the shock absorber (23) is rotatably connected with the upper swing rod (22), a connection point E is positioned in the middle of the upper swing rod (22), the other end of the shock absorber (23) is rotatably connected with the lower swing rod (21), a connection point C is positioned at one side, close to the wheels (24), and the rotating axes of the rotating connection points are perpendicular to the vertical plane of the automobile body, so that a group of wheel positioning mechanisms (as shown in figure 3) is formed; two groups of wheel positioning mechanisms with the same geometric parameters and performance parameters 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 (10), the middle point of a balance rod (26) is rotationally connected with the vehicle body (10) on the vertical plane of the vehicle body, the rotational axis is positioned in the vertical plane of the vehicle body, two ends of the balance rod (26) are respectively connected with a connecting rod (25) through a ball hinge, the other ends of the two equal-length connecting rods (25) are respectively connected with the ball hinges at the tail ends of upper swing rods (22) in the left and right wheel positioning mechanisms, and two connecting points F, G are symmetrical about the vertical plane of the vehicle body to form a side tilting mechanism (as shown in figure 4);

the driving mechanism and the roll mechanism share the same vehicle body (10), a central cylindrical gear (11) of the driving mechanism is fixedly connected with a balance bar (26) of the roll mechanism, the axis of the central cylindrical gear crosses the midpoint of the balance bar and is perpendicular to the transverse plane of the vehicle body, and the central cylindrical gear (11) and the balance bar (26) rotate around the axis of the central cylindrical gear together relative to the vehicle body (10) to form the roll driving mechanism of the vehicle (as shown in fig. 5).

The vehicle roll drive mechanism shown in fig. 5 is composed of a schematic diagram, and in the working process of the vehicle roll drive 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 balancing rod drives the roll mechanism to move to realize the roll of the vehicle body, so that a double-power synthesis driving vehicle roll movement mode is formed; 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/Z₁When the vehicle roll driving mechanism works normally, 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/Z₂The vehicle roll driving mechanism continues to work, and a single-power independent driving mode or a double-power redundant driving vehicle roll movement mode is formed. The vehicle roll driving mechanism realizes double-power hybrid driving vehicle roll movement, and forms the following three driving modes: the double-power synthesis drives the vehicle to roll, the double-power redundancy drives the vehicle to roll and the single-power independent drives the vehicle to roll.

In the vehicle side-tipping driving mechanism, the elastic connecting rod is an elastic two-force rod, generates micro-stretching or compression displacement under the action of external force, and is made of an elastic material into an equal-diameter linear elastic connecting rod or a C-shaped elastic connecting rod, as shown in fig. 2 (a); or an S-shaped elastic link, as shown in fig. 2(b), the spring rate of which is proportional to each input torque.

In the vehicle side-tipping 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; forming a roll driving mechanism of an internally meshing vehicle (as shown in fig. 5), the central cylindrical gear outputs a rotation speed M_O＝M₁Z₁/Z_O、M_OAnd M₁In the same direction.

In the vehicle side-tipping 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 straight-tooth cylindrical external gearsA helical cylindrical external gear which forms an external engagement vehicle roll driving mechanism (as shown in figure 6), and a central cylindrical gear which 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 roll driving mechanism of the vehicle, when N is₂When the rotation speed is 0, the second cylindrical gear rotates at the rotation speed M₂Idle running, and the second cylindrical gear (13), the rigid connecting rod (14) and the elastic connecting rod (15) are omitted, and the number of teeth Z of the first cylindrical gear₁Input rotational speed M₁Input torque N₁Number of central cylindrical gear teeth Z_OOutput rotational speed M_O＝M₁Z₁/Z_OOutput torque N_O＝N₁Z_O/Z₁The balancing rod drives the roll mechanism to move to roll the vehicle body, so that the roll driving mechanism (shown in figure 7) of the single-power vehicle is formed to realize the roll movement of the single-power driven vehicle.

In the vehicle side-rolling driving 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.

Fig. 8 is a schematic diagram of an active-roll tricycle, including: the active side-tipping positive tricycle with the characteristics of double rear wheel driving and front wheel steering is formed by arranging a group of inner-meshing vehicle side-tipping driving mechanisms in a rear mode, arranging a single wheel in a front mode on the same tricycle body according to a given wheel base, sharing a vertical plane in the same tricycle body, turning a front wheel, driving a double rear wheel hub motor, controlling the tricycle body to side by all the wheels through a motorcycle tire GB 518 with an arc-shaped cross section and adopting a 2007 inner-meshing vehicle side-tipping driving mechanism, and adaptively tipping the single front wheel and the tricycle body together; the vehicle is driven by a large reduction ratio, has large driving torque and high bearing capacity, adopts a double-power redundant driving vehicle side-tipping motion mode, and has the characteristic of good vehicle safety.

Fig. 9 is a schematic diagram of the components of an externally engaged active roll tricycle, which includes: the active side-tipping tricycle is characterized in that a group of externally-meshed vehicle side-tipping driving mechanisms are arranged at the rear, single wheels are arranged at the front on the same tricycle body according to a given wheel base and share the same vertical plane in the tricycle body, front wheels are steered and driven by double rear wheel hub motors, all the wheels are respectively provided with a motorcycle tire GB 518 with an arc-shaped cross section and 2007, the externally-meshed vehicle side-tipping driving mechanisms control the tricycle body to side, and the single front wheel and the tricycle body self-adaptively side-tipping together to form the active side-tipping tricycle with the characteristics of double rear wheel driving and front wheel steering; the vehicle is driven to roll by adopting a double-power combination mode, and the vehicle has the characteristics of large driving torque, high bearing capacity and good vehicle safety.

Fig. 10 is a schematic diagram of a single power active roll tricycle, including: the single-power vehicle side-tipping driving mechanism controls the side tipping of the vehicle body, and the single front wheel and the vehicle body are self-adaptively tipped together to form another active side-tipping positive tricycle with the characteristics of double rear wheel driving and front wheel steering; the vehicle side-tipping movement mode is independently driven by single power, and the vehicle side-tipping movement mode has the characteristics of simple structure, light weight and good vehicle maneuverability.

Through the embodiment, the vehicle roll driving mechanism and the active roll tricycle applying the same are provided, the elastic connecting rod is connected with the two input gears which are independently meshed with the output gear, the synchronous difference of the rotating speeds caused by the fluctuation of the input rotating speeds in the transmission process is compensated by the length change of the elastic connecting rod, the interference of gear meshing motion is avoided, the input gears and the output gear are always in correct meshing transmission, three driving modes of double-power synthesis driving vehicle roll motion, double-power redundancy driving vehicle roll motion and single-power independent driving vehicle roll motion are realized, and the stability and the reliability of the active roll vehicle are improved.