Rotating Disc Suspension System

Abstract

The present invention is a rotary disc suspension system that connects different parts that make up a moving body, and includes an inner disc rotatably connected to one of the parts of the moving body, and an outer disc that is connected to another part of the moving body, arranged opposite the inner disc, and rotatably connected to the inner disc. By converting the force received from the moving body while traveling from linear motion to rotational motion, the system can more actively respond to the dynamic deformation rate and dynamic stress of the moving body, and thus can maintain a horizontal state without tilting even if the moving body encounters uneven, rugged or sloping terrain while traveling.

Description

[Technical field]

[0001] The present invention relates to a suspension system applied to moving bodies such as vehicles, aircraft, and robots, and more particularly to a rotary suspension system that maintains the balancing of a moving body even when the moving body moves on a curved or inclined ground. [Background technology]

[0002] A suspension is a device that absorbs shock from the road surface so that it is not transmitted to the vehicle body or passengers. Generally, shock absorbers, springs, suspension arms, etc. are used.

[0003] Recently, as vehicles have become more widely used for a variety of purposes and travel over a variety of terrains, technological developments have been made for new types of suspensions that enable vehicles to traverse uneven terrain.

[0004] In general, recreational vehicles and agricultural vehicles, also known as mountain bikes, are vehicles used to transport goods and people in work environments where it is difficult for general vehicles to enter or operate, such as unpaved roads and mountainous terrain. Since such vehicles mainly run on rough roads with many curves or slopes, the driver sitting in the vehicle body shakes violently and has difficulty in operating the vehicle properly. In addition, when transporting goods, the loaded goods may fall out of the vehicle body due to the vehicle body shaking violently due to the curves of the ground.

[0005] Recently, the spread of COVID-19 has accelerated the move towards a non-face-to-face society, and technology has been commercialized to deliver food and drinks to customers using mobile serving robots that take orders within restaurants and deliver food. Furthermore, as ordering via delivery apps has become more common, autonomous delivery robots have been introduced that transport goods directly from the sales floor to the customer's residence.

[0006] However, in the process of transporting food, beverages, or other items, a typical robotic vehicle is prone to shaking due to factors such as changes in ground height, making it difficult for the vehicle to maintain horizontality. This can lead to problems such as spilling of food or beverages or hindering safe delivery of goods.

[0007] Therefore, there is a need for technology development that enables vehicles, such as ordinary vehicles, leisure vehicles, agricultural vehicles, delivery robots, serving robots, etc., to maintain a horizontal position when passing over uneven ground such as curved or sloping ground. Summary of the Invention [Problem to be solved by the invention]

[0008] The present invention has been devised to solve the problems of the prior art, and its object is to provide a rotary suspension system that can realize stable running by enabling a moving body that maintains a horizontal state when running on flat ground to maintain a horizontal state without tilting even when the moving body encounters curved ground. [Means for solving the problem]

[0009] To solve the above problems, the rotating disc suspension system of the present invention includes an inner disc rotatably connected to a vehicle body, and an outer disc connected to a wheel, arranged opposite the inner disc, and rotatably connected to the inner disc, and converts force received from the vehicle from linear motion to rotational motion.

[0010] Here, a support shaft connected to the vehicle body is provided at an eccentric position of the inner disk, and a connecting shaft connected to the wheel is provided at an eccentric position of the outer disk. Also, bearings are installed on the opposing surfaces of the inner and outer disks. The inner and outer disks are provided with braking means for limiting the rotation of each disk. An actuator is provided between the inner and outer disks to provide a rotational force to each of the disks.

[0011] Specifically, the actuator includes an inner actuator connected to the inner disk and the outer disk to provide a rotational force to the inner disk, and an outer actuator provided on the outer disk to provide a rotational force to the outer disk.

[0012] Meanwhile, the rotating disc suspension system according to the present invention includes an internal disc rotatably connected to any one component of a moving body, and an external disc coupled to another component of the moving body, disposed opposite the internal disc, and rotatably connected to the internal disc, and converts a force received from the moving body from linear motion to rotational motion. Effect of the Invention

[0013] The rotary disk suspension of the present invention has the advantage that it can actively respond to the dynamic deformation rate and dynamic stress of the moving body since it converts the force received from the moving body from linear motion to rotational motion while actively restricting the rolling of the moving body.

[0014] When such a rotary suspension system is applied to a vehicle and installed between the body and the wheels, the disc rotates according to the situation to adjust the height of the wheels and the body, so that even when the vehicle encounters bumpy or sloping roads while traveling, the body does not tilt and can maintain the same horizontal state as when traveling on flat ground.

[0015] In addition, since the suspension according to the present invention has a structure in which the disc rotates to absorb external forces, it is possible to significantly reduce the operating space compared to conventional piston-type suspensions that absorb external forces through linear vertical motion, which has the advantage of minimizing the installation space required for the suspension in the vehicle.

[0016] In addition, the conventional piston type suspension uses a centralized pump to adjust the movement of fluid in each piston to operate the entire suspension of the vehicle, which has the disadvantage that the entire suspension cannot be operated if any one suspension fails. However, the rotating disk type suspension of the present invention does not require such a centralized system, which ensures higher reliability and also has the advantage of reducing maintenance costs. [Brief description of the drawings]

[0017] [Figure 1] 1 is a view showing a vehicle to which a rotary disc suspension system according to a first embodiment of the present invention is applied. [Diagram 2] 1 is a view showing a vehicle to which a rotary disc suspension system according to a first embodiment of the present invention is applied. [Diagram 3] 2 is a diagram showing the rotating disk suspension system of the present invention shown in FIG. 1; [Figure 4] 2 is a diagram showing the rotating disk suspension system of the present invention shown in FIG. 1; [Diagram 5] 1 when traveling on flat ground, and FIG. 2(b) is a diagram showing the vehicle shown in FIG. 1 when traveling on uphill terrain. [Figure 6] 1 when traveling on flat ground, and FIG. 2(b) is a view showing the vehicle shown in FIG. 1 when traveling on downhill terrain. [Figure 7] 1 is a diagram showing a vehicle to which a rotary disc suspension system according to a first embodiment of the present invention is applied in an unmanned mode. [Figure 8] 1 is a view showing a vehicle to which a rotary disc suspension system according to a second embodiment of the present invention is applied. [Figure 9] 9 is a diagram showing the rotating disk suspension system of the present invention shown in FIG. 8. [Figure 10] 9 is a diagram showing a state in which the rotary disk suspension system of the present invention shown in FIG. 8 is coupled to an endless track truck. [Figure 11] 9 is a side cross-sectional view of the rotary disc suspension system of the present invention shown in FIG. 8. [Figure 12] 9 is a diagram showing the vehicle shown in FIG. 8 traveling uphill. [Figure 13] 9 is a view showing a state in which the support part of the vehicle shown in FIG. 8 is a spring. [Figure 14] 13 is a view showing an assembled state of a rotary disc suspension system according to a third embodiment of the present invention. [Figure 15] 13 is an exploded view of a rotary disc suspension system according to a third embodiment of the present invention. [Figure 16] 13 is a diagram showing an operating state of the rotary disc suspension system according to the third embodiment of the present invention. [Figure 17] FIG. 17 is a diagram illustrating the movement of the inner and outer disks in the rotating disk suspension system according to the present invention on the XY plane, showing the positions of the inner and outer disks in a reference state (origin state). [Figure 18] FIG. 18 is a diagram illustrating the movement of the inner and outer discs in the rotating disc suspension system according to the present invention on the XY plane, and is a diagram illustrating a specific position where the inner and outer discs have moved to a certain height from a reference state. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] To solve the above problems, the rotating disc suspension system of the present invention includes an inner disc rotatably connected to a vehicle body, and an outer disc connected to a wheel, arranged opposite the inner disc, and rotatably connected to the inner disc, and converts force received from the vehicle from linear motion to rotational motion.

[0019] In addition, the rotating disc suspension system according to the present invention includes an internal disc rotatably connected to any one component of a moving body, and an external disc coupled to another component of the moving body, arranged to face the internal disc, and rotatably coupled to the internal disc, and is capable of converting a force received from the moving body from linear motion to rotational motion.

[0020] The rotary disk suspension system according to the present invention converts the force received from a moving object, such as a vehicle or a robot, from linear motion to rotary motion by connecting different parts constituting the moving object. In this suspension, two disks rotatably connected are arranged to face each other on a concentric circle. In this case, the first disk (internal disk) is rotatably connected to one part (first part) of the moving object, and the second disk (external disk) is rotatably connected to another part (second part) of the moving object. In this case, each part of the moving object is eccentrically connected to the first and second disks, that is, to a position off the central axis of the first and second disks. As a result, even if the moving object passes through a curved ground from a flat ground, the first and second disks rotate while following the change in height (position) of the first and second parts, thereby maintaining the balance between the first and second parts, and thus maintaining the balance of the entire moving object.

[0021] Here, the rotary disc suspension is preferably applied to a part that moves up and down while supporting the weight of a moving body when the moving body moves, for example, to ankle joints of a robot or a part where a body and a wheel are connected in a vehicle.

[0022] In the following description of the rotary disc suspension of the present invention, for convenience of explanation, a suspension system applied to a vehicle among moving objects will be taken as an example.

[0023] When the rotating disc suspension according to the present invention is applied to a vehicle, the part connected to the first disc (inner disc) is a part provided on the vehicle body side (e.g., a vehicle body frame or a suspension keel, etc.), and the part connected to the second disc (outer disc) is a part provided on the wheel side (e.g., a wheel hub, etc.). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a rotary disc suspension system according to the present invention will be described in detail with reference to the accompanying drawings.

[0024] 1 and 2 are views showing a vehicle to which a suspension system according to a first embodiment of the present invention is applied, and FIGS. 3 and 4 are views showing the disc suspension of the present invention shown in FIG.

[0025] FIG. 5(a) is a diagram showing the vehicle shown in FIG. 1 when traveling on flat ground, and FIG. 5(b) is a diagram showing the vehicle shown in FIG. 1 when traveling on uphill terrain. FIG. 6(a) is a diagram showing the vehicle shown in FIG. 1 when traveling on flat ground, and FIG. 6(b) is a diagram showing the vehicle shown in FIG. 1 when traveling on downhill terrain. FIG. 7 is a diagram showing a vehicle to which the suspension system according to the first embodiment of the present invention is applied in an unmanned mode.

[0026] The suspension with a vehicle body balancing function according to the first embodiment of the present invention comprises an inner disc 20 installed on the vehicle body 10 side, and an outer disc 30 installed on the outer side of the inner disc 20 so as to face the inner disc 20. The outer disc 30 is configured to be coupled to the wheel 40 side.

[0027] The vehicle body 10 is a part that forms the basic frame of the vehicle, and has a driver's seat 11 on its upper surface. A support shaft 12 is connected to the vehicle body 10 as described below.

[0028] The support shaft 12 is provided at an eccentric position on the inner disc 20. That is, the support shaft 12 is provided at a position that is offset from the center of the inner disc 20 toward the outside. The support shaft 12 has sawtooth 12a formed on its outer circumferential surface, and the portion with the sawtooth 12a formed thereon is inserted into the vehicle body 10.

[0029] More specifically, a sawtooth hole having a shape corresponding to the sawtooth 12a formed on the support shaft 12 is connected to the side of the vehicle body 10, and the support shaft 12 is inserted into the sawtooth hole. Therefore, the support shaft 12 does not rotate with the vehicle body 10.

[0030] The inner disc 20 and the outer disc 30 are connected to the vehicle body 10 and the wheel 40, respectively, and are installed so as to be able to rotate independently of each other. As they rotate according to the condition of the ground, the height of the wheel 40 changes but the vehicle body remains horizontal, thus performing the function of a gimbal suspension. The inner disk 20 is formed in a disk shape of a certain thickness, and is rotatable around the support shaft 12 with the support shaft 12 passing through its edge.

[0031] As described above, the support shaft 12 has a portion on one side of its outer circumferential surface where the sawtooth 12a is formed, and the remaining portion does not have sawtooth, but this portion without sawtooth is formed in a cylindrical shape and passes through an eccentric point of the inner disc 20. Therefore, the inner disc 20 can rotate around the support shaft 12.

[0032] An insertion hole 20a is formed on the edge of the inner disk 20. The insertion hole 20a is a space into which a sliding pin 13, which will be described later, is inserted.

[0033] The outer disk 30 is formed in a disk shape of a certain thickness, and is pierced at its center by a center pin 42 which penetrates the center of the inner disk 20, and is rotatable around the center pin 42.

[0034] That is, the cylindrical central pin 42 penetrates the central part of the inner disk 20 and at the same time penetrates the central part of the outer disk 30, and the inner disk 20 and the outer disk 30 can rotate independently about the central pin 42. For example, if the inner disk 20 rotates clockwise about the central pin 42, the outer disk 30 can rotate either clockwise or counterclockwise. A bearing 31 is inserted into the outer disk 30 on the surface facing the inner disk 20 .

[0035] More specifically, one side of the outer disc 30 and one side of the inner disc 20 are installed so as to be in surface contact with each other, and when the inner disc 20 and the outer disc 30 rotate relative to each other in this surface contact state, friction occurs at the contact surface between the inner disc 20 and the outer disc 30. Therefore, in order to eliminate such friction, a bearing 31 is installed on the outer disc 30 in the present invention.

[0036] In addition, the internal disk 20 and the external disk 30 are provided with braking means for limiting the rotation of these disks 20, 30. The braking means can limit the rotation of each disk by inserting pins into holes formed at corresponding positions on the internal disk 20 and the external disk 30.

[0037] For this purpose, a number of communication holes 30a are formed at regular intervals along the edge of the outer disk 30. These communication holes 30a communicate with the insertion holes 20a formed in the inner disk 20.

[0038] The sliding pin 13 is connected to the vehicle body 10, and is operated by an electric signal to move in and out of the insertion hole 20a of the inner disk 20 and the communication hole 30a of the outer disk 30. When the sliding pin 13 enters the insertion hole 20a and the communication hole 30a, the inner disk 20 and the outer disk 30 are integrated, and the outer disk 30 cannot rotate relative to the inner disk 30. Here, the electric signal means a signal sent from a controller to the sliding pin 13 based on terrain information during driving acquired through a position recognition system such as an IMU (Inertial Measurement Unit) that supervises the balance of the entire vehicle.

[0039] When a vehicle to which the rotating disc suspension of the present invention is applied passes over flat ground such as flat ground, relative rotation between the inner disc 20 and the outer disc 30 is not necessary, so at this time the sliding pin 13 enters into the insertion hole 20a and the communication hole 30a. A connecting shaft 41 is rotatably mounted on the edge of the outer disk 30, i.e., at an eccentric position, to the wheel 40.

[0040] More specifically, the connecting shaft 41 has a portion on one side of its outer circumferential surface where sawtooth 41a is formed, and the remaining portion does not have sawtooth. The portion without sawtooth is formed in a cylindrical shape and is inserted into an eccentric point of the outer disk 30. The portion with sawtooth 41a is connected to the wheel 40.

[0041] Therefore, when the wheel 40 passes over curved ground and rises, the connecting shaft 41 is dragged by the wheel 40 and rises together with the wheel 40, and this upward force causes the outer disk 30 to rotate around the central pin 42 connected to the center.

[0042] Meanwhile, the wheels 40 are equipped with a power unit and rotate by their own power. That is, the wheels 40 do not rotate by a rotational force transmitted from a separate engine installed in the vehicle body 10, but rather the wheels 40 generate a rotational force by themselves and rotate by that force (also called a "tire engine").

[0043] Vehicles to which the disc suspension of the present invention is applied can be applied not only to manned vehicles that can be driven directly by humans, but also to unmanned autonomous vehicles that are equipped with various sensors and GPS that can recognize surrounding objects and can drive themselves.

[0044] When applied to an autonomous transport vehicle, the body shape can be designed in various ways depending on the purpose of use, such as food delivery, goods delivery, etc. For example, when transporting or delivering goods, it is preferable to configure the upper part of the body 10 in a box shape as shown in Fig. 7 to secure a space inside for loading goods. The operation process of a vehicle to which the rotary disc suspension of the present invention is applied will be briefly described as follows.

[0045] When the vehicle is traveling on flat ground and passes over an uphill road with one side elevated (see FIG. 5), the wheel 40 rotates and moves up the uphill road, and the connecting shaft 41 is dragged by the wheel 40 and moves upward while rotating together with the wheel 40.

[0046] At the same time, the outer disk 30 is pulled by the connecting shaft 41 and rotates about the center pin 42. At this time, the inner disk 20 does not rotate and maintains the state in which the vehicle was traveling on flat ground (the vehicle body is horizontal).

[0047] At this time, the sliding pin 13 inserted into the insertion hole 20a and the communication hole 30a during flat ground driving must be removed from the communication hole 30a before entering the uphill terrain. At this time, terrain information acquired during driving through a position recognition system such as an IMU (Inertial Measurement Unit) that monitors the balance of the entire vehicle is continuously transmitted to the control unit, and the control unit that receives this signal inserts the sliding pin 13 into the insertion hole 20a and the communication hole 30a or removes the inserted sliding pin 13 from the communication hole 30a according to the condition of the terrain.

[0048] When the vehicle is traveling on flat ground and one side passes over a downward slope where the ground is slightly concave (see FIG. 6), the wheel 40 rotates around the connecting shaft 41 and moves downward together with the connecting shaft 41.

[0049] At the same time, the force of the connecting shaft 41 moving downward is applied to the outer disc 30 and the inner disc 20, causing the inner disc 20 to rotate downward around the support shaft 12. At this time, the inner disc 20 rotates together with the outer disc 30 which is integrated with the central pin 42.

[0050] Of course, even at this time, the sliding pin 13 inserted into the insertion hole 20a and the communication hole 30a during flat ground operation must be removed from the insertion hole 20a and the communication hole 30a before entering the downhill terrain.

[0051] As described above, when the vehicle is traveling on flat ground and passes over an uphill road with one side raised or a downhill road with one side lowered, the body 10 of the vehicle according to the present invention can maintain the same horizontal state as when traveling on flat ground without leaning to either side.

[0052] Above, the rotary disc suspension according to the first embodiment of the present invention has been described with reference to Figures 1 to 7. Now, the rotary disc suspension according to the second embodiment of the present invention will be described with reference to Figures 8 to 12.

[0053] FIG. 8 is a diagram showing a vehicle to which a rotary suspension system according to a second embodiment of the present invention is applied, FIG. 9 is a diagram showing the rotary disc suspension of the present invention shown in FIG. 8, and FIG. 10 is a diagram showing the state in which the rotary disc suspension of the present invention shown in FIG. 8 is coupled to a caterpillar truck.

[0054] 11 is a side cross-sectional view of the disc suspension of the present invention shown in FIG. 8, and FIG. 12 is a view showing the vehicle shown in FIG. 8 traveling uphill.

[0055] The suspension with a vehicle body balancing function according to the second embodiment of the present invention shown in Figures 8 to 12 includes an inner disc 60 installed on the vehicle body 50, and an outer disc 70 disposed on the outer surface of the inner disc 60 so as to face the inner disc 60. Here, the outer disc 70 is coupled to the wheel side. Although the vehicle wheels are illustrated as caterpillars 80 in Figures 8 to 12, the present invention is not limited thereto, and can also be applied to wheels having a general circular tire shape as in the above-mentioned embodiment.

[0056] The vehicle body 50 is provided with a space for storing items, and is connected to both front and rear ends thereof with support shafts 52, which will be described later. The support shafts 52 are provided with support pins 52b and sliding pins 52a.

[0057] The support pin 52b is installed penetrating the internal disk 60, and the internal disk 60 can rotate around the support pin 52b. More specifically, referring to FIG. 9 and FIG. 11, one end of the support shaft 52 is connected to the vehicle body 50, and the other end is connected to the internal disk 60. The external disk 70 is formed with a communication hole 70a into which the sliding pin 52a is inserted so as to be able to slide back and forth. At this time, the external disk 70 is restricted from rotating when it is restrained by the sliding pin 52a, and can rotate when the sliding pin 52a comes out of the insertion hole 70a of the external disk 70 according to the condition of the ground. In summary, the support pin 52b is connected to the vehicle body and serves as a rotation axis of the internal disk 60, and the sliding pin 52a serves to restrict the relative rotation of the external disk 70 with respect to the internal disk 60.

[0058] The inner disk 60 is formed of a circular arc-shaped template having a certain thickness, and is connected to the outer disk 70 by passing through the center of the upper part thereof with a center pin 51 . A bearing 61 is inserted into the inner disk 60 on the surface facing the outer disk 70 .

[0059] More specifically, one side of the internal disc 60 and one side of the external disc 70 are installed so as to be in surface contact with each other, and if the internal disc 60 and the external disc 70 rotate relatively while in this surface contact state, friction occurs at the contact surface between the internal disc 60 and the external disc 70. Therefore, in order to eliminate such friction, in the present invention, a bearing 61 is installed on the internal disc 60. Of course, the bearing 61 can also be installed on the external disc 70.

[0060] A number of insertion holes 60a are formed at regular intervals on the lower edge of the inner disk 60. The insertion holes 60a are spaces into which the sliding pins 52a are inserted.

[0061] The outer disk 70 has the same shape as the inner disk 60 , and is rotatable around the center pin 51 as the center pin 51 penetrates the upper center of the outer disk 70 . The outer disk 70 has a spherical connecting shaft 71 protruding toward the endless track 80 at the center of the lower portion.

[0062] The outer disk 70 has a number of communication holes 70a formed at regular intervals on the lower edge thereof. The communication holes 70a communicate with the insertion holes 60a formed in the inner disk 60.

[0063] A sliding pin 52a is connected to the vehicle body 50, and this sliding pin 52a is operated by an electric signal to move in and out of the insertion hole 60a of the inner disc 60 and the communication hole 70a of the outer disc 70. When the sliding pin 52a enters the insertion hole 60a and the communication hole 70a, the inner disc 60 and the outer disc 70 are integrated, and the outer disc 70 cannot rotate relative to the inner disc 60.

[0064] When a vehicle to which the rotating disc suspension of the present invention is applied passes over flat ground such as flat ground, relative rotation between the inner disc 60 and the outer disc 70 is not necessary, so at this time the sliding pin 52a enters into the insertion hole 60a and the communication hole 70a. The connecting shaft 71 of the external disk 70 is rotatably inserted into the central portion of the endless track 80 .

[0065] Such an endless track 80 is composed of a number of sprockets 81, a center cap 82 disposed in the center of the number of sprockets 81, a support part 83 having one end connected to the number of sprockets 81 and the other end connected to the center cap 82, and a track belt 84 surrounding the number of sprockets 81. The multiple sprockets 81 are arranged in a triangular shape. The connecting shaft 71 of the outer disk 70 is rotatably inserted into the center cap 82 .

[0066] The support part 83 maintains the arrangement of the sprockets 81 arranged in a triangle shape, and may be configured in the form of a link, a spring (as shown in FIG. 13), or a shock absorber. If the support part 83 is configured as a spring or a shock absorber, it can better absorb shocks that occur during operation. The operation process of a vehicle to which the rotary disc suspension according to the present invention is applied will be briefly described as follows.

[0067] When the vehicle runs on flat ground, the inner disc 60 and the outer disc 70 maintain a state in which their opposing surfaces are in contact with each other while being supported by the center pin 51. In this manner, when running on flat ground, the sliding pin 52a maintains a state in which it is inserted into the insertion hole 60a of the inner disc 60 and the communication hole 70a of the outer disc 70.

[0068] When the vehicle is traveling on flat ground and passes over an uphill surface with one side elevated (see FIG. 12), the track 80 moves up along the uphill surface and the outer disk 70 rotates around the center pin 51. At this time, the inner disk 60 does not rotate on the center pin 51 and maintains the same state as when traveling on flat ground.

[0069] Here, the sliding pin 52a inserted into the insertion hole 60a and the communication hole 70a during flat ground travel is removed from the communication hole 70a before entering an uphill terrain.

[0070] At this time, the vehicle continuously transmits terrain information acquired during driving through a position recognition system such as an IMU (Inertial Measurement Unit) that supervises the balance of the entire vehicle to a control unit installed in the vehicle body 50, and the control unit that receives this signal inserts the sliding pin 52a into the insertion hole 60a and the communication hole 70a, or removes the inserted sliding pin 52a from the insertion hole 60a and the communication hole 70a depending on the condition of the terrain.

[0071] Next, a rotating disk type suspension system according to a third embodiment of the present invention will be described. The rotating disk suspension system according to the third embodiment of the present invention is different from the first and second embodiments described above in that it has a built-in actuator that rotates the inner and outer disks.

[0072] FIG. 14 is a diagram showing an assembled appearance of a rotary disk type suspension system according to the third embodiment of the present invention, FIG. 15 is a diagram showing an exploded appearance of the disk type suspension system according to the third embodiment of the present invention, and FIG. 16 is a diagram showing the operating state of the disk type suspension system according to the third embodiment of the present invention.

[0073] 14 to 16, a disc suspension system according to a third embodiment of the present invention includes an inner disc 91 connected to the vehicle body side, an outer disc 92 connected to the wheel side, and actuators 93, 94 provided between the inner and outer discs 91, 92 to provide rotational force to each of the discs 91, 92.

[0074] A support shaft 91a coupled to the vehicle body is provided on the outer edge of the inner disc 91, i.e., an eccentric position of the inner disc 91. A connecting shaft 92a coupled to the wheel is also provided on the outer edge of the outer disc 92. As a result, when the inner and / or outer disc 91 (92) rotates, the support shaft 91a and connecting shaft 92a provided on these discs 91, 92 change their vertical positions along the edges of each disc 91, 92, and the height of the wheel and the vehicle body also changes.

[0075] The actuators are power devices built into the disks to provide rotational force for each disk 91, 92. The actuators consist of an inner actuator 93 which rotates the inner disk 91 and an outer actuator 94 which rotates the outer disk 92. The inner and outer actuators 93, 94 have the same configuration and are arranged symmetrically on both sides of the center between the inner and outer disks 91, 92. As a result, the inner disk 91 and the outer disk 92 can rotate independently of each other.

[0076] The inner and outer actuators 93, 94 each include a stator (93a, 94a) associated with the disk 91, 92 and a rotor (93b, 94b). The stators 93a and 94a are formed in a conical disk shape with a hole in the center, and a permanent magnet is attached inside.

[0077] The rotors 93b, 94b are generally ring-shaped and are disposed so as to surround the stators 93a, 94a. The rotors 93b, 94b have electromagnet sets 93b1, 94b1 each consisting of a plurality of electromagnets attached to the inner surfaces of ring bodies 93b2, 94b2.

[0078] The inner and outer disks 91, 92 are connected to the rotors 93b, 94b to which they are assigned, so that the rotational force of the rotors 93b, 94b can be transmitted to the disks 91, 92. Meanwhile, a center pin 95 and a centering ring 96 are provided between the inner and outer disks 91, 92 to guide the rotation of these disks 91, 92.

[0079] The central pin 95 is installed to penetrate the centers of the stators 93a, 94a and the rotors 93b, 94b, and both ends are connected to the inner and outer discs 91, 92 to guide the rotation of the inner and outer discs 91, 92.

[0080] The centering ring 96 is installed between the inner and outer disks 91 and 92 to surround the rotors 93b and 94b. The centering ring 96 is arranged with rubber tightly attached to the inside, so that the rotation is restricted. In other words, the centering ring 96 is configured not to rotate.

[0081] Therefore, the inner and outer disks 91, 92 do not transmit a rotational force between each other due to the centering ring 96. In other words, even if the inner disk 91 rotates, the outer disk 92 does not rotate due to the centering ring 96. Conversely, even if the outer disk 92 rotates, the inner disk 91 does not rotate due to the centering ring 96. Of course, it is also possible for each disk 91, 92 to rotate independently around the centering ring 96 by the actuators 93, 94 assigned to each disk.

[0082] At this time, when the inner and outer discs 91, 92 rotate in the same direction, the entire suspension rotates without changing the position of the wheels and the vehicle, and when the inner and outer discs 91, 92 rotate in opposite directions, the vehicle can be lifted or lowered by the cushioning effect of each disc. Meanwhile, each actuator 93, 94 can fix the position of each disc 91, 92 using an electromagnetic brake (braking means).

[0083] In the disk suspension system having the above-mentioned configuration, when power is supplied to the rotors 93b, 94b, electromagnetic force is generated, causing the rotors 93b, 94b to rotate around the stators 93a, 94a. Since the rotors 93b, 94b are connected to the disks 91, 92, the disks 91, 92 also rotate as the rotors 93b, 94b rotate. At this time, the supply of power to the rotors 93b, 94b is controlled based on terrain information during driving acquired through a position recognition system such as an IMU (Inertial Measurement Unit) that supervises the balance of the entire vehicle.

[0084] As shown in FIG. 16, the disc suspension system of the third embodiment having the above-mentioned configuration can more actively respond to changes in ground height caused by various terrains by self-rotating the inner and outer discs using the actuator.

[0085] Figures 17 and 18 are diagrams illustrating the movement of the internal and external discs according to the present invention on the XY plane, with Figure 17 diagramming the positions of the internal and external discs in a reference state (origin state), and Figure 18 diagramming a specific position where the internal and external discs have moved to a certain height from the reference state.

[0086] The core technical principle of the rotating disc suspension of the present invention is to convert the force applied to the vehicle body through the wheels from linear motion to rotational motion by means of a rotating disc. Such a disk rotation operation will be described in more detail with reference to FIGS. First, point A is the part where the internal disc is connected to the frame of the vehicle body, and is illustrated as the reference coordinate that is the basis for the movement of the disc position, that is, the origin coordinate (0.0).

[0087] Next, point "C" is the location where the external disc is connected to the wheel hub of the wheel, and the position (coordinate) of this point moves as the external disc rotates.

[0088] Point "B" is the part where the center of the outer disk and the center of the inner disk are connected, and the position (coordinate) of this point moves as the inner disk rotates. Here, the positions (coordinates) of points "B" and "C" are determined by the mathematical formula using the following trigonometric functions.

number

[0089] (Here, θ B is the angle between the line passing through points A and B and the Y-axis with point A (the origin) as the coordinate axis, and θ C is the angle between the line passing through points B and C and the Y axis with point B as the coordinate axis. r is the radius of the internal disk ( TIFF0007664009000002.tif7166), and R is the radius of the outer disk ( TIFF0007664009000003.tif6166). In this way, the rotation of the inner and outer disks causes the positions of the body and wheels to rotate along the circumferential locus defined by Equation 1 above.

[0090] Specifically, the radius of the inner disk ( TIFF0007664009000004.tif7166 rotates around the point where it is connected to the vehicle frame, and the position of point "B" relative to the vehicle frame is calculated using the above mathematical formula (x b ;y b )

[0091] And the radius of the outer disk ( TIFF0007664009000005.tif6166 rotates around the point connected to the center of the internal disk, and the position of point "C" with respect to the vehicle frame is calculated using the above mathematical formula (x c ;y c )

[0092] 3, the rotational movement of the rotary disc suspension will be described for the disc suspension of the first embodiment. The support shaft 12 of the inner disc 20 is point A, the central pin 42 is point "B", and the connecting shaft 41 of the outer disc 30 is point "C". Here, the central pin (42: point B) connecting the centers of the inner disc 20 and the outer disc 30 is variable in position around the support shaft (12: point A) in the circumferential direction, and the connecting shaft (41: point C) of the outer disc 30 is variable in position around the central pin (42: point B). This change in position due to the rotational movement of the discs is equally applicable to the remaining embodiments.

[0093] The disc-type rotary suspension of the present invention having the above-mentioned configuration can actively disperse forces from various obstacles encountered during vehicle operation, can balance physical forces due to high speed or heavy load, and can actively move the central mass for safe operation on inclined surfaces.

[0094] Although the preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and it goes without saying that various modifications can be made by a person having ordinary skill in the art to which the invention pertains without departing from the gist of the present invention as claimed in the claims, and such modifications can be said to fall within the scope of the claims of the present invention. [Industrial Applicability]

[0095] It has strong industrial / technological relevance to work and leisure vehicles used to transport goods and people in environments where general vehicles have difficulty entering or operating, such as unpaved roads and mountainous terrain, and can be widely used in these industries. [Explanation of symbols]

[0096] 10. Body 11 sheets 12 Support shaft 12a Sawtooth 13 Sliding pin 20 Internal Disk 20a Insertion Hole 30 External Disk 30a Connecting Hole 31 Bearing 40 wheels 41 Connecting shaft 41a Sawtooth 42 Center pin 50 Body 51 Center pin 52 Support shaft 52a Sliding pin 52b Support pin 60 Internal Disk 60a Insertion Hole 61 Bearing 70 External Disk 70a Connecting Hole 71 Connecting shaft 80 endless track 81 Sprocket 82 Center cap 83 Support part 84 Orbital Belt 91 Internal Disk 91a Support shaft 92 External Disk 92a Connection shaft 93 Inner Actuator 93a stator 93b Rotor 93b1 Electromagnet set 93b2 Ring body 94 Outer Actuator 95 Center Pin 96 Centering

Claims

1. A suspension system for use in a vehicle, comprising: an inner disk rotatably coupled to the vehicle body; and an outer disk coupled to the wheel, positioned opposite the inner disk, and rotatably coupled to the inner disk; a support shaft connected to the vehicle body is provided at an eccentric position of the inner disc, and a connecting shaft connected to the wheel is provided at an eccentric position of the outer disc.

2. 2. The rotary disk suspension system according to claim 1, wherein bearings are installed on the opposing surfaces of the inner disk and the outer disk.

3. 2. The rotating disk suspension system according to claim 1, wherein said inner disk and said outer disk are provided with braking means for limiting the rotation of each of said disks.

4. 2. The rotating disk suspension system of claim 1, further comprising an actuator connected to the inner disk and the outer disk to provide a rotating force to each of the inner disk and the outer disk.

5. 5. The rotating disk suspension system of claim 4, wherein the actuator comprises an inner actuator provided on the inner disk side to provide a rotational force to the inner disk, and an outer actuator provided on the outer disk side to provide a rotational force to the outer disk.

6. A suspension system that connects different parts that constitute a moving body, an inner disk rotatably connected to any one of the components of the mover; and an outer disk coupled to another part of the moving body, disposed opposite the inner disk, and rotatably coupled to the inner disk; 1. A rotating disc suspension system, characterized in that the movement of the inner and outer discs is identified by the following mathematical formula: [0010] (where θ B is the angle between the line passing through points A and B and the Y-axis with point A as the coordinate axis, and θ C is the angle between the line passing through points B and C and the Y axis, which has point B as its coordinate axis. r is the radius of the internal disk, and R is the radius of the external disk. Point A is the part where the internal disk and the part are connected, point B is the part where the center of the internal disk and the center of the external disk are connected, and point C is the part where the external disk and the part are connected.)

7. A suspension system for use in a vehicle, comprising: a disk coupled to a wheel of the vehicle and capable of rotating on its own; and an actuator coupled to the disk for providing a rotational force to the disk; A rotating disc suspension system, characterized in that a support shaft connected to a vehicle body or a wheel is provided at an eccentric position of the disc, and the height of the vehicle body or the wheel is changed by the rotation of the disc.

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