Independent steering device having a reducer and an electric

Abstract

An independent steering device according to the present invention comprises: a knuckle coupled to a wheel; and a driving unit to which at least a part of the knuckle is rotatably coupled, and which provides a driving force for rotating the knuckle. The driving unit may include: a motor having a first rotation shaft; a speed reducer having a second rotating shaft and coupled to the knuckle; and a power transmission member connecting the first rotation shaft and the second rotation shaft, and configured to transmit a rotational force between the first rotation shaft and the second rotation shaft. The motor and the decelerator may be disposed with the first axis of rotation and the second axis of rotation parallel.

Description

[0001] Cross - reference to related applications

[0002] This application claims the priority and benefit of Korean Patent Application No. 10 - 2023 - 0192491, filed with the Korean Intellectual Property Office on December 27, 2023, the entire disclosure of which is incorporated herein by reference. Technical field

[0003] The present invention relates to an independent steering device having a parallel arrangement structure of a speed reducer and a motor, and a vehicle including the independent steering device. Background art

[0004] Generally, the problem with a power steering system is that it has a complex configuration such as a pump, a gearbox (which also serves as a power cylinder), and pipes. Such complexity makes it difficult to precisely control the steering assist force. In addition, when oil leaks, the power steering may not operate. Moreover, any failure in the operation of the steering device can lead to the subordinate control of the left and right wheels, making it dangerous to perform vehicle steering control.

[0005] In addition, small vehicle devices with various concepts are being developed. Among them, an angular module that combines steering, suspension, and braking can be applied to small vehicle equipment, but there is a limitation that the motor may protrude above the wheel or the vehicle floor, disadvantageously occupying the interior space.

[0006] The statements in this section merely provide background information related to the present invention and may not constitute prior art. Summary of the invention

[0007] To solve the above problems, a method for achieving independent steering of each vehicle wheel by applying an electric steering device using a motor is provided, so that steering can be performed with a simple configuration and the assist force can be precisely controlled.

[0008] One aspect of the present invention may provide a steering device that shortens the length of the steering device by arranging a motor and a speed reducer side by side such that their respective rotation axes are parallel, thereby being easily applicable to a low - floor platform, and a vehicle including the steering device.

[0009] According to one aspect of the present invention, an independent steering device may include: a knuckle coupled to a wheel; and a drive unit, the knuckle being rotatably coupled to at least a part of the drive unit, and the drive unit providing a driving force for rotating the knuckle. The drive unit may include: a motor having a first rotating shaft; a speed reducer having a second rotating shaft and coupled to the knuckle; and a power transmission member connecting the first rotating shaft and the second rotating shaft and configured to transmit a rotational force between the first rotating shaft and the second rotating shaft. The motor and the speed reducer may be arranged such that the first rotating shaft and the second rotating shaft are parallel.

[0010] The drive unit may further include a bracket to which the motor and the speed reducer are coupled. The bracket may include: a first part to which the motor is coupled; and a second part extending from the first part and coupled to the speed reducer.

[0011] The motor and the speed reducer may be coupled to the lower surface of the bracket. The first rotating shaft and the second rotating shaft may penetrate the bracket and be located on the upper surface of the bracket. The power transmission member may be connected to the first rotating shaft and the second rotating shaft on the upper surface of the bracket.

[0012] The bracket may be formed in a plate shape. The first rotating shaft and the second rotating shaft may respectively protrude from the upper surface of the bracket by a predetermined length and be arranged in parallel at a predetermined distance.

[0013] The power transmission member may include: a first pulley coupled to the first rotating shaft; a second pulley coupled to the second rotating shaft; and a belt connecting the first pulley and the second pulley. The rotational movement of the first rotating shaft may be decelerated by the power transmission member at a predetermined reduction ratio.

[0014] The speed reducer may further include: a housing fixed to the bracket; and an output unit at least partially disposed inside the housing and rotating relative to the housing in conjunction with the rotation of the second rotating shaft. The knuckle may be connected to the output unit to rotate integrally with the output unit.

[0015] The speed reducer may decelerate the rotational movement of the second rotating shaft at a predetermined reduction ratio and output the rotational movement through the output unit.

[0016] The knuckle may rotate relative to the housing of the speed reducer. When the knuckle rotates, the positions of the housing of the speed reducer, the motor, and the bracket may be fixed.

[0017] The speed reducer may be a harmonic drive speed reducer.

[0018] The speed reducer may further include: an input unit, which includes: an inner ring, which is connected to the second rotating shaft and formed in an elliptical shape; and an outer ring, which is elastically deformed in a manner protruding in the major axis direction by rotation of the inner ring via a plurality of balls provided on the outer side of the inner ring. The speed reducer may further include a fixing portion, which is fixed to the bracket together with the housing and provided with internal teeth formed on its inner surface. The output unit is inserted into the fixing portion. The input unit is coupled to the inside of the output unit, and the output unit is provided with external teeth formed on its outer surface and configured to be elastically deformed based on the deformation of the outer ring of the input unit. The external teeth of the output unit correspond to the internal teeth of the fixing portion.

[0019] The drive unit may be coupled to the vehicle body through a connection member. The speed reducer may include a coupling portion, which is formed on the outer surface of the speed reducer and configured to be coupled to the connection member.

[0020] According to another aspect of the present invention, a vehicle may include: a vehicle body; wheels mounted on the vehicle body; and a steering device that connects the vehicle body and the wheels and steers the wheels. The steering device may include: a knuckle coupled to the wheel; and a drive unit, the knuckle being rotatably coupled to at least a part of the drive unit, and the drive unit providing a driving force for rotating the knuckle. The drive unit may include: a motor having a first rotating shaft; a speed reducer having a second rotating shaft and coupled to the knuckle; and a power transmission member that connects the first rotating shaft and the second rotating shaft. The power transmission member may be configured to transmit a rotational force between the first rotating shaft and the second rotating shaft, and the motor and the speed reducer are arranged such that the first rotating shaft and the second rotating shaft are parallel.

[0021] The vehicle may further include a connection member that connects the steering device and the vehicle body. The connection member may include: a first connection member that connects the speed reducer and the vehicle body; and a second connection member that connects the knuckle and the vehicle body. The first connection member may be located above the second connection member.

[0022] The upper end portion of the knuckle may be coupled to the speed reducer. The lower end portion of the knuckle may be coupled to the second connection member. The second connection member may be rotatably coupled to the lower end portion of the knuckle.

[0023] The speed reducer may include a coupling portion, which is formed on the outer surface of the speed reducer and may be configured to be coupled to the second connection member.

[0024] Since the speed reducer may be coupled to the vehicle body through the second connection member, when the knuckle rotates, the relative position and attitude of the drive unit with respect to the vehicle body are fixed.

[0025] A gap may be formed between the wheel and the vehicle body to ensure a steering angle of the wheel up to a predetermined angle. The steering device may be disposed in a space formed by the gap located between the wheel and the vehicle body.

[0026] The driving unit may further include a bracket, to which the motor and the speed reducer are coupled. The bracket may include: a first part, to which the motor is coupled; and a second part, which extends from the first part and is coupled to the speed reducer.

[0027] The motor and the speed reducer may be coupled to the lower surface of the bracket. The first rotating shaft and the second rotating shaft may penetrate the bracket and be located on the upper surface of the bracket. The power transmission member may be connected to the first rotating shaft and the second rotating shaft on the upper surface of the bracket.

[0028] The speed reducer may be a harmonic drive speed reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] With reference to the accompanying drawings, the above and other aspects, features, and other advantages of the present invention will be more clearly understood from the following detailed description, in which:

[0030] Figure 1 A perspective view of a vehicle applying a steering device according to an embodiment of the present invention;

[0031] Figure 2 A view illustrating a connection structure between a steering device and a vehicle body according to an embodiment of the present invention;

[0032] Figure 3 A perspective view illustrating a connection structure of a wheel, a steering device, a connection member, and a vehicle body of a vehicle according to an embodiment of the present invention;

[0033] Figure 4 A front view illustrating a connection structure of a wheel, a steering device, a connection member, and a vehicle body of a vehicle according to an embodiment of the present invention;

[0034] Figure 5 A top plan view illustrating a connection structure of a wheel, a steering device, a connection member, and a vehicle body of a vehicle according to an embodiment of the present invention;

[0035] Figure 6 An exploded perspective view illustrating a state in which a steering device according to an embodiment of the present invention is detached from a wheel;

[0036] Figure 7 An exploded perspective view illustrating a state in which a steering device according to an embodiment of the present invention is disassembled;

[0037] Figure 8 A cross-sectional view illustrating a state in which a steering device according to an embodiment of the present invention is assembled;

[0038] Figure 9 A view illustrating an operation in which a wheel rotates through a steering device in a vehicle according to an embodiment of the present invention; and

[0039] Figure 10A diagram schematically illustrating a system for controlling a steering device of a vehicle according to an embodiment of the present invention. Detailed Description

[0040] The present invention can be variously modified and has several embodiments. Accordingly, specific embodiments of the present invention will be illustrated in the drawings and described in detail below. However, it should be understood that the present invention is not limited to the specific embodiments, but includes all modifications, equivalents, and alternatives without departing from the scope and spirit of the present invention.

[0041] Terms used in the specification, such as "first", "second", etc., may be used to describe various components, but the components should not be construed as limited to the terms. These terms are only used to distinguish one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and the second component may similarly be named the first component. The term "and / or" includes combinations of multiple related description items or any one of multiple related description items.

[0042] Terms used in this specification are only used to describe specific embodiments and do not limit the present invention. Unless the context clearly indicates otherwise, the singular form is intended to include the plural form. It should also be understood that the terms "comprising" or "having" used in this specification specify the presence of the described features, steps, operations, components, parts, or combinations thereof mentioned in this specification, but do not exclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0043] Unless otherwise indicated, it should be understood that all terms (including technical and scientific terms) used in the specification have the same meaning as those commonly understood by those of ordinary skill in the art. Unless clearly defined otherwise in this specification, terms that are commonly used and defined in the dictionary should be interpreted as having the same meaning as in the context of the relevant field and should not be interpreted as having an ideal or overly formal meaning.

[0044] When a controller, component, device, element, part, unit, module, etc. of the present invention is described as having a purpose or performing an operation, function, etc., the controller, component, device, element, part, unit, or module should be regarded herein as "configured to" meet the purpose or perform the operation or function. Each controller, component, device, element, part, unit, module, etc. may be embodied separately or include a processor and a memory such as a non-volatile computer-readable medium as part of the device.

[0045] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0046] Figure 1 A perspective view of a vehicle 100 to which a steering device 130 according to an embodiment of the present invention is applied.Figure 2 A diagram for explaining a connection structure between a steering device 130 and a vehicle body 110 of a vehicle 100 according to an embodiment of the present invention.

[0047] The steering device 130 according to an embodiment of the present invention is a vehicle steering device applied to a vehicle 100. The vehicle 100 refers to various vehicles that move an object such as a person, an animal, and a cargo from a starting point to a destination. The vehicle is not limited to a vehicle traveling on a road or a track.

[0048] According to one embodiment, the steering device 130 may be provided in a structure that can be separately connected to a plurality of wheels 120 provided in the vehicle 100 to independently steer each wheel 120, and ensure that the steering angle of the wheels 120 is up to about 90°.

[0049] Reference Figure 1 and Figure 2 , the vehicle 100 according to an embodiment may include a vehicle body 110, wheels 120, a steering device 130, and a connection member 190.

[0050] Figure 1 The vehicle 100 shown is for illustrative purposes, and the components included in the vehicle 100 are not necessarily limited to the components shown. In addition, according to various embodiments, the vehicle 100 may further include other components.

[0051] The vehicle body 110 may have a structure that combines and mounts the wheels 120, the steering device 130, and the connection member 190. By driving the wheels 120 and the steering device 130, the vehicle body 110 can move and be adjusted in any direction. One side of the connection member 190 may be fixed to the vehicle body 110, and the steering device 130 and the wheels 120 may be connected to the other side of the connection member 190 and mounted on the vehicle body 110.

[0052] The vehicle body 110 may include a chassis module 111, and the connection member 190 is combined with the chassis module 111. The chassis module 111 may form a part of the vehicle body 110 or may be combined with the base of the vehicle body 110. For example, it can be understood that Figure 1 illustrates the vehicle 100, where Figure 2 the illustrated chassis module 111 is disposed inside the vehicle body 110, and the connection member 190 is combined with the chassis module 111.

[0053] The connection member 190 may be combined with the chassis module 111. For example, the connection member 190 that combines two steering devices 130 may be respectively combined with both sides of the chassis module 111. Two wheels 120 may be respectively combined with the two steering devices 130.

[0054] Figure 1 The vehicle body 110 of the illustrated vehicle 100 may be referred to as a floor part.Figure 2 The chassis module 111 can be placed under the floor and not exposed to the outside. According to various embodiments, the vehicle 100 can have an interior space installed on the upper part of the floor, where users can get on the vehicle or load goods. In addition, the interior space can be provided with seats, a steering wheel, etc.

[0055] The vehicle body 110 can be provided with wheel houses 112, which are predetermined spaces for installing the wheels 120 and the steering device 130. The wheel houses 112 can be formed in a size that can ensure a steering angle of the wheels 120 of about 90°. For example, the wheel houses 112 need a separation space corresponding to the diameter of the tires 122 in the width direction (e.g., Figure 1 the short axis direction of the vehicle 100 in the example) in which the steering device 130 extends, so that the wheels 120 can rotate at a steering angle of about 90°.

[0056] According to an embodiment of the present invention, the space of the wheel houses 112 designed for the wheels 120 to turn about 90° can be used as a space for arranging the steering device 130. Therefore, the steering device 130 can be installed substantially parallel to the vehicle body 110 without protruding above the wheels 120.

[0057] The wheels 120 can be coupled to the steering device 130. A plurality of wheels 120 can be provided, and the steering device 130 can be provided corresponding to the plurality of wheels 120. For example, the plurality of wheels 120 can be respectively coupled to the corresponding steering devices 130 and can rotate around the kingpin (e.g., Figure 4 the kingpin 145 in the example) by the operation of the steering device 130.

[0058] The wheels 120 can be composed of four wheels, including two front wheels 120a and two rear wheels 120b. The front and rear for distinguishing the front wheels 120a and the rear wheels 120b are relative directions and are not limited to the case where the direction where the front wheels 120a are arranged is the front part of the vehicle 100 and the direction where the rear wheels 120b are arranged is the rear part of the vehicle 100. For example, the two front wheels 120a can be respectively connected to the two first steering devices 130a, and the two rear wheels 120b can be respectively connected to the two second steering devices 130b.

[0059] The steering device 130 can be set to adjust the rotation angle of the wheels 120 according to the traveling direction of the vehicle 100 without being mechanically connected to the steering wheel. The steering device 130 can independently control the steering of each of the plurality of wheels 120. For example, the steering device 130 can operate based on the steering signal input through the steering wheel (e.g., Figure 10 the steering wheel SW in the example) to rotate the wheels 120.

[0060] According to the described embodiments, the steering device 130 can be applied to a vehicle 100 provided with four wheels 120, and the steering of the four wheels 120 can be independently controlled. However, the number of wheels 120 is not limited to four, and the steering device 130 can be applied to a vehicle having less than four wheels 120 or a vehicle having more than four wheels 120.

[0061] The steering device 130 can include two first steering devices 130a respectively connected to two front wheels 120a and two second steering devices 130b respectively connected to two rear wheels 120b. According to the described embodiments, the first steering device 130a and the second steering device 130b can have the same structure. However, this is an example, and the first steering device 130a and the second steering device 130b can have different structures. For example, referring to Figure 1 , the second steering device 130b can be changed to a device constituted by using a linear actuator.

[0062] The connection member 190 can connect the steering device 130 to the vehicle body 110 of the vehicle 100. For example, one side of the connection member 190 can be coupled to the chassis module 111 of the vehicle body 110, and the steering device 130 can be coupled to the other side, so that the steering device 130 can be mounted on the vehicle body 110.

[0063] The connection member 190 can include a first connection member 191 and a second connection member 192. The first connection member 191 can be coupled to the speed reducer 170 of the steering device 130. The second connection member 192 can be coupled to the knuckle 140 of the steering device 130.

[0064] The first connection member 191 can connect the chassis module 111 and the speed reducer 170 above the second connection member 192. The second connection member 192 can connect the chassis module 111 and the knuckle 140 below the first connection member 191. For example, the first connection member 191 can be fixedly coupled to a part of the chassis module 111 at a position adjacent to the upper surface (e.g., Figure 2 the surface facing upward in the middle plane) of the chassis module 111. The second connection member 192 can be fixedly coupled to a part of the chassis module 111 at a position adjacent to the lower surface (e.g., Figure 2 the surface facing downward in the middle plane) of the chassis module 111.

[0065] The connection member 190 can support the steering device 130 and the wheels 120 by using the first connection member 191 and the second connection member 192. As a result, the connection member 190 can implement a double wishbone suspension.

[0066] The structure in which the wheel 120, the steering device 130, and the connecting member 190 are connected to the vehicle body 110 will be described in detail below with reference to Figures 3 - 5 this.

[0067] Figure 3 A perspective view for illustrating the connection structure of the wheel 120, the steering device 130, the connecting member 190, and the vehicle body 110 of the vehicle 100 according to an embodiment of the present invention. Figure 4 A front view for illustrating the connection structure of the wheel 120, the steering device 130, the connecting member 190, and the vehicle body 110 of the vehicle 100 according to an embodiment of the present invention. Figure 5 A top plan view for illustrating the connection structure of the wheel 120, the steering device 130, the connecting member 190, and the vehicle body 110 of the vehicle 100 according to an embodiment of the present invention.

[0068] Figure 3 For Figure 2 an enlarged view of the portion A illustrated. Figure 4 A view for illustrating the state of the components illustrated in Figure 3 when viewed from the front. Figure 5 A view for illustrating the state of the components illustrated in Figure 3 when viewed from above.

[0069] With reference to Figures 3 - 5 , the wheel 120 can be coupled to the steering device 130, the steering device 130 can be coupled to the connecting member 190, and the connecting member 190 can be coupled to the chassis module 111. For example, the steering device 130 can be connected to the chassis module 111 through the connecting member 190, and the wheel 120 can be connected to the chassis module 111 through the steering device 130.

[0070] According to an embodiment of the present invention, an in-wheel motor drive method or an in-wheel system can be applied to each wheel 120 provided with the steering device 130. In other words, an electric motor can be provided inside the wheel body 121 to independently provide driving force to each wheel 120, and a steering device 130 can be provided for each wheel 120 to independently control the steering angle of the wheel 120.

[0071] The wheel 120 includes: a wheel body 121; a tire 122 provided outside the wheel body 121; an in-wheel motor 123 provided inside the wheel body 121; and a brake disc 124 coupled to the in-wheel motor 123.

[0072] The in-wheel motor 123 is an electric motor installed inside the wheel body 121 to directly drive the wheel body 121. The in-wheel motor 123 can be provided in each wheel 120 to independently drive and control the wheel 120. According to various embodiments, the in-wheel motor 123 can be referred to as a hub motor or an electric hub.

[0073] However, the illustrated embodiments are illustrative, and embodiments of the present invention are not limited to the form in which the steering device 130 is provided in a vehicle (e.g., a vehicle applying an in-wheel system) to which the in-wheel motor 123 is applied. In the present invention, vehicles to which the steering device 130 is applied include vehicles provided with ordinary wheels 120 instead of an in-wheel system.

[0074] The steering device 130 may be provided between the wheel 120 and the chassis module 111. The steering device 130 may include a knuckle 140 coupled to the wheel 120 and a driving unit 150 coupled to the knuckle 140.

[0075] The knuckle 140 may be coupled to the wheel 120 and rotate together with the wheel 120. For example, the wheel 120 may rotate by the rotation of the knuckle 140. The knuckle 140 may form a kingpin shaft 145 about which the wheel 120 rotates. The knuckle 140 may be coupled to the wheel axle 123s of the wheel 120.

[0076] The knuckle 140 may be rotatably coupled to at least a portion of the driving unit 150. For example, the knuckle 140 may be coupled to the driving unit 150 and rotate relative to the driving unit 150 by the driving force transmitted from the driving unit 150.

[0077] The knuckle 140 may be arranged such that the driving unit 150 is coupled to the upper end portion and the second connection member 192 is coupled to the lower end portion. The knuckle 140 may be rotatably coupled to the second connection member 192. For example, when the knuckle 140 rotates due to the driving force of the driving unit 150, the knuckle 140 may rotate relative to the driving unit 150 and the second connection member 192.

[0078] The driving unit 150 may provide a driving force for rotating the wheel 120. For example, the driving unit 150 may control the direction of the wheel 120 connected to the knuckle 140 by generating a rotational driving force to rotate the knuckle 140.

[0079] The driving unit 150 may include a motor 160 that provides a driving force and a speed reducer 170 that converts the output of the motor 160. The driving unit 150 may be configured such that when adjusting the rotation angle of the wheel 120, the speed reducer 170 and the motor 160 are fixed to the connecting member 190 and do not rotate together with the wheel 120. For example, the motor 160 may be connected through a first connecting member 191, and when the knuckle 140 and the wheel 120 rotate, the position of the motor 160 may be fixed relative to the chassis module 111. In addition, for example, the speed reducer 170 may be connected through the first connecting member 191, and when the knuckle 140 and the wheel 120 rotate, some components that transmit the rotational force to the knuckle 140 may rotate together with the knuckle 140, but the position of the speed reducer 170 itself may be fixed relative to the chassis module 111.

[0080] The steering device 130 may be connected to the chassis module 111 (i.e., the vehicle body 110 of the vehicle 100) through the connecting member 190. The driving unit 150 of the steering device 130 may be coupled to the first connecting member 191. The knuckle 140 of the steering device 130 may be connected to the second connecting member 192.

[0081] The driving unit 150 may include coupling portions 172a and 172b for coupling the first connecting member 191. The coupling portions 172a and 172b may include a first coupling portion 172a and a second coupling portion 172b provided on the opposite side of the first coupling portion 172a. For example, the first coupling portion 172a may be formed on the side in the first direction ① (e.g., Figure 5 the downward-facing direction), and the second coupling portion 172b may be formed on the side in the second direction (②) opposite to the first direction (①) (e.g., Figure 5 the upward-facing direction).

[0082] Reference Figure 4 , the driving unit 150 may be positioned below the wheel 120. For example, the driving unit 150 may not protrude above the wheel 120 but may be positioned within the diameter of the wheel 120.

[0083] The connecting member 190 may include a first connecting member 191 that connects the driving unit 150 of the steering device 130 to the chassis module 111, and a second connecting member 192 that connects the knuckle 140 of the steering device 130 to the chassis module 111.

[0084] The first connection member 191 may include a first connection portion 193 coupled to one side of the drive unit 150 and a second connection portion 194 coupled to the other side of the drive unit 150. For example, the first connection portion 193 may be configured such that one end is fixed to the chassis module 111 and the other end is coupled to the first coupling portion 172a provided on the drive unit 150. The second connection portion 194 may be configured such that one end is fixed to the chassis module 111 and the other end is coupled to the second coupling portion 172b provided on the drive unit 150. The first connection member 191 may have a structure in which the first connection portion 193 and the second connection portion 194 are integrally formed, or may be configured to have separate components in which the first connection portion 193 and the second connection portion 194 are separated from each other.

[0085] The second connection member 192 may be coupled to the lower end portion of the knuckle 140. The second connection member 192 may be rotatably coupled to the lower end portion of the knuckle 140. As Figure 4 illustrated, when the steering device 130 and the connection member 190 are viewed from the front, the knuckle 140 may be located between the first connection member 191 and the second connection member 192.

[0086] The connection member 190 may support the steering device 130 and the wheel 120 through the first connection member 191 provided at the upper portion and the second connection member 192 provided at the lower portion, thereby providing a double wishbone suspension structure. For example, the first connection portion 193 of the first connection member 191 may be referred to as an upper link. The second connection portion 194 of the first connection member 191 may be referred to as an upper arm. In addition, the second connection member 192 may be referred to as a lower arm.

[0087] Figure 6 A perspective view illustrating a state in which the steering device 130 according to an embodiment of the present invention is detached from the wheel 120.

[0088] Figure 6 Illustrated is a state in which the brake disc 124 is separated from the wheel 120, the braking device 125 is separated from the brake disc 124, and the steering device 130 separated from the wheel 120 is disassembled into the knuckle 140 and the drive unit 150.

[0089] Reference Figure 6 According to an embodiment, the vehicle 100 may include a wheel 120 and a steering device 130. The vehicle wheel 120 may include a wheel body 121, a tire 122, an in-wheel motor 123, a brake disc 124, and a braking device 125. The steering device 130 may include a knuckle 140 and a drive unit 150.

[0090] The wheel 120 can be configured as an assembly, in which a tire 122 is installed on the outer side of a wheel body 121, an in-wheel motor 123 is installed on the inner side of the wheel body 121, a brake disc 124 is coupled to the in-wheel motor 123, and a braking device 125 is connected to the brake disc 124. As described above, embodiments of the present invention are not limited to the wheel 120 equipped with the in-wheel motor 123.

[0091] The braking device 125 can apply a braking force to the wheel 120 by restricting the rotation of the brake disc 124. A part of the braking device 125 can be coupled and fixed to a knuckle 140, and another part can be connected to the brake disc 124 to apply a braking force to the brake disc 124 through friction caused by contact with the brake disc.

[0092] The knuckle 140 can be coupled to the wheel 120. For example, the knuckle 140 can be coupled to a wheel axle 123s of the wheel 120. The knuckle 140 can be fixed by fitting into the wheel axle 123s. When the vehicle 100 is driven, the wheel axle 123s can become the rotation center of the wheel body 121 and the tire 122. For example, the in-wheel motor 123 can be rotatably fitted into the wheel axle 123s, and the knuckle 140 can be fixed to the wheel axle 123s. In other words, when the wheel 120 rotates to move the vehicle 100, the in-wheel motor 123, the wheel body 121, the tire 122, and the brake disc 124 can rotate around the wheel axle 123s, and the knuckle 140 and the wheel axle 123s rotate without being separated from the rotation of the in-wheel motor 123.

[0093] The knuckle 140 can connect the drive unit 150 and the wheel 120, and transmit the driving force provided from the drive unit 150 to the wheel 120 to rotate the wheel 120. For example, the knuckle 140 can rotate relative to the drive unit 150 and can rotate integrally with the wheel 120. Therefore, when the knuckle 140 rotates relative to the drive unit 150 by the driving force of the drive unit 150, the wheel 120 can rotate together with the knuckle 140 to achieve steering.

[0094] The knuckle 140 can be coupled to a speed reducer 170 of the drive unit 150. The knuckle 140 can rotate together with some components (such as an output unit 174) in the speed reducer 170, but can rotate relative to the remaining components of the speed reducer 170.

[0095] The knuckle 140 can support the braking device 125 and a wheel speed sensor (not shown). For example, a part of the braking device 125 connected to the brake disc 124 can be coupled to the knuckle 140. The wheel speed sensor can be coupled to the knuckle 140. The wheel speed sensor can be coupled to the knuckle 140 and can detect the rotational speed of the wheel 120 according to the running of the vehicle 100.

[0096] The drive unit 150 may be coupled to the knuckle 140 and provide a driving force for the rotation of the knuckle 140. The drive unit 150 may include a motor 160, a reduction gear 170, a bracket 152, and a cover 151.

[0097] Engaging portions 172a and 172b may be provided on an outer surface of the reduction gear 170, and a first connection member 191 is coupled to the engaging portions 172a and 172b. The engaging portions 172a and 172b may protrude from the outer surface of the reduction gear 170. The outer surface of the reduction gear 170 refers to an outer surface of a housing (e.g., Figure 7 and 8 the housing 172 in

[0098] The following describes the specific configuration of the drive unit 150 in more detail with reference to Figure 7 and Figure 8 The specific configuration of the drive unit 150 will be described in more detail below with reference to

[0099] Figure 7 FIG. is an exploded perspective view illustrating a state in which a steering device 130 according to an embodiment of the present invention is disassembled. Figure 8 FIG. is a sectional perspective view illustrating a state in which a steering device 130 according to an embodiment of the present invention is assembled.

[0100] Figure 7 and Figure 8 are Figures 1 - 6 The exploded perspective view and the sectional perspective view of the steering device 130 illustrated in. When describing Figure 7 and 8 are referred to together with Figures 1 - 6 , and repeated descriptions have been omitted below.

[0101] Referring to Figure 7 and Figure 8 , a steering device 130 according to an embodiment may include a knuckle 140 and a drive unit 150 coupled to the knuckle 140.

[0102] The knuckle 140 may include: a first engaging portion 141 to which the drive unit 150 is coupled; and a second engaging portion 142 to which a wheel 120 is coupled. The second engaging portion 142 may extend downward from the first engaging portion 141. The first engaging portion 141 may be coupled to the reduction gear 170 of the drive unit 150. A wheel shaft 123s may at least partially penetrate the second engaging portion 142, and thus the second engaging portion 142 may be coupled to the wheel 120.

[0103] The knuckle 140 can be connected to the output unit 174 of the speed reducer 170 and can rotate by the rotation of the output unit 174. The knuckle 140 can rotate relative to the housing 172 of the speed reducer 170 and the motor 160. For example, when the output unit 174 rotates, the knuckle 140 can rotate together with the output unit 174. In addition, when the knuckle 140 rotates, the housing 172 of the speed reducer 170 and the motor 160 can remain fixed without rotating.

[0104] A rotary encoder 180 for measuring the steering angle of the wheel 120 can be provided on the knuckle 140.

[0105] The drive unit 150 can include a motor 160, a speed reducer 170, a bracket 152, a power transmission member 153, and a cover 151. The drive unit 150 can arrange the motor 160 and the speed reducer 170 side by side and transmit the power of the motor 160 to the speed reducer 170 through the power transmission member 153. As a result, this configuration reduces the axial (SD) length of the drive unit 150.

[0106] The motor 160 can provide a driving force for the rotation of the knuckle 140. The motor 160 can be a servo motor, but is not limited thereto. The rotation direction and / or rotation speed of the motor 160 can be controlled by a control unit (not shown) (e.g., Figure 10 the control unit (CU)).

[0107] The motor 160 can be coupled to and fixed to the bracket 152. The motor 160 can be coupled to the first part 152a of the bracket 152. The motor 160 is coupled to the lower surface side of the bracket 152, and the first rotating shaft 161 of the motor 160 can penetrate the bracket 152 and be located above the bracket 152. The lower surface of the bracket 152 is the surface facing the second direction (②) where the knuckle 140 is located, and the upper surface is on the opposite side of the lower surface and is the surface facing the first direction (①) where the cover 151 is located.

[0108] The motor 160 can be coupled to the power transmission member 153. For example, the first rotating shaft 161 of the motor 160 can be coupled to the power transmission member 153, and the rotation of the first rotating shaft 161 can be transmitted to the speed reducer 170 through the power transmission member 153.

[0109] The speed reducer 170 can convert the driving force provided by the motor 160 into the torque required for the steering of the wheel 120. For example, the speed reducer 170 can achieve the rotation of the knuckle 140 by transmitting the rotational force transmitted from the motor 160 to the knuckle 140.

[0110] The speed reducer 170 can be fixed by being coupled to the bracket 152. The speed reducer 170 can be coupled to the second part 152b of the bracket 152 of the motor 160. The speed reducer 170 can be coupled to the lower surface of the bracket 152. The second rotating shaft 171 of the speed reducer 170 can penetrate the bracket 152 and can be located in the upper part of the bracket 152.

[0111] The speed reducer 170 can be coupled to the power transmission member 153 to receive the rotational force of the motor 160. For example, the second rotating shaft 171 of the speed reducer 170 can be coupled to the power transmission member 153. The second rotating shaft 171 can transmit the rotational force of the first rotating shaft 161 through the power transmission member 153.

[0112] The bracket 152 can be configured to be coupled to the motor 160 and the speed reducer 170 in a state where the rotating shafts 161 and 171 are positioned parallel to each other. For example, the motor 160 and the speed reducer 170 can be coupled to the bracket 152 such that the first rotating shaft 161 and the second rotating shaft 171 are arranged in parallel at a certain distance. The motor 160 and the speed reducer 170 can be coupled to the bracket 152 by various coupling methods.

[0113] The bracket 152 is formed in a plate shape with a predetermined size. The motor 160 and the speed reducer 170 can be coupled to the lower surface side of the bracket 152 and can be coupled to different parts. The bracket 152 can include a first part 152a to which the motor 160 is coupled, and a second part 152b that extends from the first part 152a and to which the speed reducer 170 is coupled. The bracket 152 can have a structure in which the first part 152a and the second part 152b are integrally formed. The first part 152a and the second part 152b are not physically distinct or separate components. It should be understood that the entire bracket 152 respectively refers to the part to which the motor 160 is coupled and the part to which the speed reducer 170 is coupled.

[0114] The bracket 152 can have through holes through which the first rotating shaft 161 of the motor 160 and the second rotating shaft 171 of the speed reducer 170 respectively pass. For example, the main body 162 of the motor 160 and the housing 172 of the speed reducer 170 are both fixedly coupled to the lower surface of the bracket 152. The first rotating shaft 161 of the motor 160 and the rotating shaft 171 of the speed reducer 170 can be located on the upper surface side of the bracket 152 through the respective corresponding through holes.

[0115] The first rotating shaft 161 of the motor 160 and the second rotating shaft 171 of the speed reducer 170 can be located on the upper surface of the bracket 152. The power transmission member 153 can be connected to the first rotating shaft 161 and the second rotating shaft 171.

[0116] The power transmission member 153 may be configured to transmit the rotational motion of the first rotating shaft 161 of the electric motor 160 to the second rotating shaft 171 of the speed reducer 170 to rotate the second rotating shaft 171. The power transmission member 153 may be coupled to the first rotating shaft 161 and the second rotating shaft 171 on the upper surface side of the bracket 152.

[0117] The power transmission member 153 is a component that transmits rotational motion by connecting the first rotating shaft 161 of the parallel - arranged electric motor 160 and the second rotating shaft 171 of the speed reducer 170. In addition, by providing the power transmission member 153, a structure in which the electric motor 160 and the speed reducer 170 are spaced apart and arranged in parallel can be achieved.

[0118] The power transmission member 153 may include a first pulley 153a coupled to the first rotating shaft 161, a second pulley 153b coupled to the second rotating shaft 171, and a belt 153c connecting the first pulley 153a and the second pulley 153b. For example, when the first pulley 153a can rotate due to the rotation of the first rotating shaft 161, the rotation of the first pulley 153a can be transmitted to the second pulley 153b through the belt 153c. The second rotating shaft 171 can rotate due to the rotation of the second pulley 153b. The power transmission member 153 can provide primary deceleration before the speed reducer 170 decelerates while transmitting the power of the rotational motion.

[0119] The type, shape, and / or structure of the power transmission member 153 are not limited to the illustrated embodiments and may vary within the range capable of transmitting the rotational motion of the first rotating shaft 161 to the second rotating shaft 171. According to various embodiments, the power transmission member 153 can be implemented using gears or chains.

[0120] The cover 151 may be coupled to the upper surface of the bracket 152. The cover 151 may be coupled to the upper surface of the bracket 152 and cover the first rotating shaft 161, the second rotating shaft 171, and the power transmission member 153 located on the upper surface of the bracket 152. The cover 151 may have a predetermined space inside that can accommodate the first rotating shaft 161, the second rotating shaft 171, and the power transmission member 153.

[0121] According to various embodiments, the assembly in which the cover 151 and the bracket 152 are coupled to each other may be referred to as a support member for supporting a drive system including the electric motor 160, the speed reducer 170, and the power transmission member 153.

[0122] Reference Figure 8 , the speed reducer 170 can be implemented using a harmonic drive speed reducer. Hereinafter, the components of the harmonic drive speed reducer will be described. However, the harmonic drive speed reducer is illustrative, and in the embodiments of the present invention, the speed reducer 170 does not have to be limited to the harmonic drive speed reducer, and various types of speed reducers can be used.

[0123] The speed reducer 170 may include a housing 172, an input unit 177, an output unit 174, and a fixing part 173.

[0124] The housing 172 may be formed in a cylindrical shape, and the input unit 177, the fixing part 173, and the output unit 174 may be disposed therein. The housing 172 may be coupled to the bracket 152. The housing 172 may form at least a part of the appearance of the speed reducer 170.

[0125] The input unit 177 may include an inner ring 175 that is connected to the second rotating shaft 171 of the speed reducer 170 and is formed in an elliptical shape. The input unit 177 may further include an outer ring 176 that is elastically deformed in a manner protruding in the major axis direction via a plurality of balls B on the outer side of the inner ring 175 by the rotation of the inner ring 175. The input unit 177 may be referred to as a wave generator of a harmonic drive speed reducer.

[0126] The inner ring 175 has a generally thin elliptical cylindrical shape and may rotate by receiving the rotational force of the second rotating shaft 171. The balls B among the plurality of balls B outside the inner ring 175 may perform rolling contact movement inside the outer ring 176 according to the rotation of the inner ring 175. In this case, the outer ring 176 may be formed in an elastic ring shape such that it protrudes in the major axis direction of the inner ring 175 and contracts in its minor axis direction.

[0127] The input unit 177 may be connected to the second rotating shaft 171 to rotate by the rotation of the second rotating shaft 171. The input unit 177 may be connected by a coupling member 179 to receive the rotational movement of the second rotating shaft 171. For example, the coupling member 179 may be inserted into the inner ring 175 of the input unit 177, and the coupling member 179 may be connected to the second rotating shaft 171. Thus, when the second rotating shaft 171 rotates by receiving the rotational force of the first rotating shaft 161, the inner ring 175 of the input unit 177 connected to the second rotating shaft 171 via the coupling member 179 may rotate together. The inner ring 175 may rotate around the second rotating shaft 171. According to various embodiments, the coupling member 179 may include a pulley, but is not limited thereto.

[0128] The output unit 174 is in the shape of a hollow cylinder and may have a shape such as a container with one side open and the other side closed. The input unit 177 is coupled to the inner circumferential surface of one side of the output unit 174. The output unit 174 may have an end region facing the outer ring 176 of the input unit 177 that elastically deforms in response to the elastic deformation of the outer ring 176 of the input unit 177. One side refers to the first direction (①) in the direction parallel to the axial direction (SD) and toward the side where the cover 151 is provided, and the other side refers to the second direction (②) toward the side opposite to the first direction (①) and toward the side where the knuckle 140 is provided. The output unit 174 may be referred to as the flex spline of the harmonic drive reducer.

[0129] The coupling member 179 may be provided inside the output unit 174 while being coupled to the input unit 177. External teeth 1741 may be provided on the outer circumferential surface of one side of the output unit 174. The external teeth 1741 of the output unit 174 may be formed to partially mesh with the internal teeth 1731 of the fixed portion 173.

[0130] The output unit 174 may be connected to the knuckle 140 and rotate together with the knuckle 140. For example, the other side of the output unit 174 may be connected to the knuckle 140. The other side of the output unit 174 may be connected to the knuckle 140 through the fixing member 178, and the rotational movement of the output unit 174 may be transmitted to the knuckle 140. For example, the other side of the output unit 174 may be coupled to the fixing member 178, and the fixing member 178 may be coupled to the knuckle 140. In various embodiments, the fixing member 178 may be referred to as a bush structure.

[0131] The output unit 174 may rotate around the second rotation axis 171 together with the knuckle 140. For example, the kingpin (e.g., Figure 4 the kingpin 145 in ) may pass through the center of the second rotation axis 171. The kingpin 145 may be parallel to the first rotation axis 161 of the motor 160. The output unit 174 may rotate 360°, and thus a steering angle of 90° or more may be achieved.

[0132] A roller bearing (RB) may be provided between the fixing member 178 and the housing 172. For example, the roller bearing (RB) may be provided between the inner circumferential surface of the other side of the housing 172 and the outer circumferential surface of the fixing member 178. The fixing member 178 connected to the output unit 174 may output a decelerated rotational force when rotating inside the roller bearing RB, and the knuckle 140 may rotate through the decelerated rotational force.

[0133] The fixed part 173 can be set to surround a part of the outer peripheral surface of the output unit 174 formed with outer teeth 1741. The fixed part 173 can have inner teeth 1731 formed at a position on one side of the inner peripheral surface corresponding to the outer teeth 1741 of the output unit 174. The fixed part 173 can be referred to as the circular spline of the harmonic drive reducer. The number of inner teeth 1731 formed on the fixed part 173 can be greater than the number of outer teeth 1741 formed on the output unit 174.

[0134] The fixed part 173 can be coupled and fixed to the housing 172. For example, the fixed part 173 can be fixed to the housing 172 and the bracket 152 by bolt coupling. In addition, when the second rotating shaft 171 and the input unit 177 rotate, the fixed part 173 and the housing 172 can be fixed to the bracket 152 without rotating.

[0135] The speed reducer 170 can transmit the rotational motion of the first rotating shaft 161 to the second rotating shaft 171 through the power transmission member 153. When the input unit 177 rotates due to the rotation of the second rotating shaft 171, the output unit 174 can be elastically deformed into an elliptical shape, and the outer teeth 1741 of the output unit 174 can rotate relative to the fixed fixed part 173 while meshing with the inner teeth 1731 of the fixed part 173 in the major axis direction.

[0136] The rotational force of the second rotating shaft 171 can be primarily decelerated through the power transmission member 153 and then secondarily decelerated through the speed reducer 170. The decelerated rotational force can be transmitted to the knuckle 140 through the output unit 174 and the fixing member 178. The reduction ratio of the fixed part 173 and the output unit 174 can be in the range of about 20:1 to 200:1. More preferably, the reduction ratio can be about 100:1, but is not limited thereto.

[0137] Since the harmonic drive reducer is a well-known technology in the related art, the detailed configuration and the detailed description of the reduction operation of the harmonic drive reducer are omitted.

[0138] According to one embodiment, the drive unit 150 of the steering device 130 can transmit the rotational force of the first rotating shaft 161 based on the operation of the motor 160 to the second rotating shaft 171 of the speed reducer 170 through the power transmission member 153. Further, when the output unit 174 rotates by the rotation of the second rotating shaft 171, the motor 160 can be driven to rotate the knuckle 140 coupled to the output unit 174. At this time, the housings 172 of the motor 160 and the speed reducer 170 can be separated from the rotation of the knuckle 140 and remain fixed to the bracket 152. Since the housing 172 of the speed reducer 170 is coupled to the vehicle body 110 through the first connection member 191, the relative position and attitude of the drive unit 150 with respect to the vehicle body 110 can be fixed independently of the rotation of the knuckle 140. The speed reducer 170 can be configured such that when the knuckle 140 rotates, the housing 172 can be fixed to the bracket 152 without rotating. The input unit 177, the output unit 174, the fixing member 178, the coupling member 179, or the second rotating shaft 171 (which are some components provided inside the housing 172) can rotate with respect to the housing 172. In other words, even when the relative positions and attitudes of the knuckle 140 and the wheel 120 with respect to the vehicle body 110 change due to the rotation of the knuckle 140, the positions and attitudes of the motor 160 and the speed reducer 170 with respect to the vehicle body 110 can be maintained, and some components can rotate inside the housing 172 of the speed reducer 170.

[0139] According to one embodiment, the drive unit 150 of the steering device 130 can be configured to be disposed in parallel by coupling the motor 160 and the speed reducer 170 to different regions (e.g., the first part 152a and the second part 152b) on one surface (e.g., the lower surface facing the second direction (②)) of the plate-shaped bracket 152. The motor 160 and the speed reducer 170 can be coupled to the bracket 152 in such a form that each of the rotating shafts 161 and 171 passes through the bracket 152 and protrudes from the other side of the bracket 152 (e.g., the upper surface facing the first direction ①), but are disposed in parallel at regular intervals.

[0140] Figure 9 A diagram for explaining the operation of rotating the wheel 120 through the steering device 130 in the vehicle 100 according to an embodiment of the present invention.

[0141] Reference Figure 9 Referring to, according to one embodiment, the steering device 130 can rotate the wheel 120 relative to the vehicle body 110. The steering device 130 can turn the wheel 120 by about 90° or more. In the steering operation, the drive unit 150 of the steering device 130 can be fixed to the vehicle body 110, and the knuckle 140 can rotate relative to the vehicle body 110 to rotate the wheel 120.

[0142] As described above, in order to ensure that the steering angle of the wheel 120 reaches 90°, a wheel housing 112 having a size that does not contact the vehicle body 110 when the wheel 120 rotates 90° is required. For example, comparing Figure 9 the upper and lower figures above, compared with the case where the wheel 120 rotates about 40° to 50°, since the steering angle of the wheel 120 needs to be as large as 90°, an additional clearance G2 is required in the wheel housing 112.

[0143] As Figure 9 illustrated, in the vehicle 100 according to an embodiment, when the wheel 120 does not rotate, the wheel 120 and the vehicle body 110 can be spaced apart from each other by a predetermined clearance G1, and the predetermined clearance G1 can be used as a space for positioning at least a part of the wheel 120 when the wheel 120 rotates 90°. For example, the predetermined clearance G1 between the wheel 120 and the vehicle body 110 can be smaller than the diameter of the wheel 120 and larger than the radius of the wheel 120. The steering device 130 can be installed in the space formed by the clearance G1 between the wheel 120 and the vehicle body 110.

[0144] Referring together to Figure 4 , the steering device 130 according to an embodiment can be installed in the space between the wheel 120 and the vehicle body 110 and has a compact structure. By arranging the motor 160 and the speed reducer 170 of the drive unit 150 in parallel, the axial (SD) length of the drive unit 150 can be reduced. As a result, the drive unit 150 does not protrude above the wheel 120 or is positioned higher than the wheel 120. Therefore, since no other components or mechanisms are located above the wheel 120, a low floor platform can be easily applied.

[0145] Figure 10 A diagram schematically illustrating a system for controlling the steering device 130 of the vehicle 100 according to an embodiment of the present invention.

[0146] Referring to Figure 10 , the vehicle (e.g., Figure 1 the vehicle 100 in ) according to an embodiment of the present invention can include a wheel 120, a steering device 130, a steering wheel (SW), and a control unit (CU). The steering device 130 can include a motor 160, a power transmission member 153, a speed reducer 170, and a knuckle 140. For example, the vehicle 100 according to an embodiment can include a steer-by-wire (SbW) system.

[0147] Figure 10 The steering device 130 and the wheel 120 of the vehicle 100 illustrated above have been described above with reference to Figures 1 - 8 , and redundant descriptions are omitted below. When describing Figure 10 , reference is made together to Figures 1 - 8 .

[0148] The steering wheel (SW) can receive the driver's input signal to steer the wheel 120. The driver's input signal can include the steering angle and torque of the wheel 120. The steering wheel (SW) can transmit the driver's input signal to the control unit (CU). The steering wheel (SW) can be connected to an actuator (steering feedback actuator (SFA)) that provides a reaction force to the driver.

[0149] The control unit (CU) can generate a control signal for driving the motor 160 based on the input signal input to the steering wheel (SW). Then, the control unit (CU) can transmit the generated control signal to the motor 160 to operate the motor 160 to rotate the wheel 120 at the steering angle included in the input signal.

[0150] The control unit (CU) can be referred to as an electronic control unit (ECU), and the control unit (CU) can include at least one of an in-vehicle platform computer (VPC, vehicle platform computer), a front zone unit (FZU, Front Zone Unit), and a motor driver.

[0151] The motor 160 can be driven by the control unit (CU). The motor 160 can generate a driving force for steering the wheel 120 by rotating in a predetermined direction based on the control signal from the control unit CU.

[0152] The rotational motion of the motor 160 can be transmitted to the speed reducer 170 through the power transmission member 153. At this time, primary reduction can be performed when the rotational motion is transmitted through the power transmission member 153.

[0153] The rotational motion of the motor 160 can be secondarily reduced in the speed reducer 170 and output through the output unit 174 of the speed reducer 170. In addition, when the knuckle 140 coupled to the output unit 174 rotates, the wheel 120 can rotate.

[0154] According to an embodiment of the present invention, by arranging the motor and the speed reducer side by side, it is possible to shorten the length of the steering device, design the steering device so that the steering device does not protrude above the tire, and fix the position of the motor when the wheel is steered.

[0155] In addition, according to an embodiment of the present invention, by positioning the steering device between the vehicle body and the wheel to expose the steering device to the outside, the heat dissipation performance of the drive unit can be improved.

[0156] In addition, according to an embodiment of the present invention, it is possible to further reduce the speed on the basis of the reduction of the speed reducer by transmitting power between the motor and the speed reducer via the power transmission member, and it is also possible to easily adjust the reduction ratio by changing the design of the power transmission member.

[0157] In addition, according to an embodiment of the present invention, by applying a harmonic drive reducer, the drive unit can be compactly arranged.

[0158] Although the embodiments have been illustrated and described above, it will be apparent to those of ordinary skill in the art that modifications and variations can be made without departing from the scope of the present invention.

[0159] In addition, the embodiments of the present invention can be implemented by deleting some components. The components of each embodiment can also be combined and arranged with each other.

Claims

1. An independent steering device, comprising: A steering knuckle coupled to a wheel; as well as A driving unit, the steering knuckle is rotatably coupled to at least a portion of the driving unit, and the driving unit provides a driving force for rotating the steering knuckle, wherein: The driving unit comprises: a motor having a first rotating shaft; a speed reducer having a second rotating shaft and coupled to the steering knuckle; and a power transmission member connecting the first rotating shaft and the second rotating shaft and configured to transmit a rotational force between the first rotating shaft and the second rotating shaft, and The motor and the speed reducer are arranged so that the first rotation axis and the second rotation axis are parallel.

2. The independent steering device according to claim 1, wherein: The driving unit further includes a bracket, the motor and the reducer are combined with the bracket, and The bracket includes a first portion to which the motor is coupled, and a second portion extending from the first portion and coupled to the reducer.

3. The independent steering device according to claim 2, wherein: The motor and the reducer are combined on the lower surface of the bracket. The first rotating shaft and the second rotating shaft pass through the bracket and are located on the upper surface of the bracket, and The power transmission member is connected to the first rotating shaft and the second rotating shaft on an upper surface of the bracket.

4. The independent steering device according to claim 3, wherein: The support is formed in a plate shape, and The first rotating shaft and the second rotating shaft respectively protrude from an upper surface of the bracket by a predetermined length and are disposed in parallel at a predetermined distance.

5. The independent steering device according to claim 1, wherein: The power transmission member includes: a first pulley coupled to the first rotating shaft; a second pulley coupled to the second rotating shaft; and a belt connecting the first pulley and the second pulley, and The rotational motion of the first rotation shaft is decelerated at a predetermined speed reduction ratio by the power transmission member.

6. The independent steering device according to claim 2, wherein: The reducer further includes: a housing fixed to the bracket; and an output unit at least partially disposed inside the housing and rotating relative to the housing in conjunction with the rotation of the second rotating shaft, and The knuckle is connected to the output unit to rotate integrally with the output unit.

7. The independent steering device according to claim 6, wherein: The speed reducer reduces the speed of rotation of the second rotation shaft at a predetermined speed reduction ratio and outputs the rotation through the output unit.

8. The independent steering device according to claim 6, wherein: The steering knuckle rotates relative to the housing of the reducer, and When the steering knuckle rotates, the positions of the housing of the reducer, the motor and the bracket are fixed.

9. The independent steering device according to claim 6, wherein: The reducer is a harmonic drive reducer.

10. The independent steering device according to claim 9, wherein: The reducer also includes: An input unit comprising: an inner ring connected to the second rotation axis and formed of an ellipse; and an outer ring that is elastically deformed so as to protrude in the long-axis direction by the rotation of the inner ring via a plurality of balls provided on the outer side of the inner ring; and a fixing portion, which is fixed to the bracket together with the housing and is provided with inner teeth formed on the inner side surface thereof, the output unit is inserted into the fixing portion, and The input unit is coupled to an inner side of the output unit, and the output unit is provided with external teeth formed on an outer side surface thereof and is configured to be elastically deformed based on deformation of the outer ring of the input unit, the external teeth of the output unit corresponding to the internal teeth of the fixing portion.

11. The independent steering device according to claim 1, wherein: The drive unit is connected to the vehicle body through a connecting member, and The speed reducer includes a coupling portion formed on an outer side surface of the speed reducer and configured to be coupled to the connection member.

12. A vehicle comprising: Car body; wheels mounted on the vehicle body; as well as A steering device connecting the vehicle body and the wheels and configured to steer the wheels, wherein: The steering device comprises: a steering knuckle coupled to the wheel; and a driving unit, the steering knuckle is rotatably coupled to at least a portion of the driving unit, and the driving unit provides a driving force for rotating the steering knuckle, The driving unit comprises: a motor having a first rotating shaft; a speed reducer having a second rotating shaft and coupled to the steering knuckle; and a power transmission member connecting the first rotating shaft and the second rotating shaft and configured to transmit a rotational force between the first rotating shaft and the second rotating shaft, and The motor and the speed reducer are arranged so that the first rotation axis and the second rotation axis are parallel.

13. The vehicle of claim 12, further comprising: A connecting member connecting the steering device and the vehicle body, wherein: The connecting member includes: a first connecting member connecting the reducer and the vehicle body; and a second connecting member connecting the steering knuckle and the vehicle body, and The first connecting member is located above the second connecting member.

14. The vehicle according to claim 13, wherein: The upper end of the steering knuckle is connected to the reducer. The lower end of the steering knuckle is connected to the second connecting member, and The second connecting member is rotatably coupled to the lower end portion of the steering knuckle.

15. The vehicle of claim 13, wherein: The speed reducer includes a coupling portion formed on an outer side surface of the speed reducer and configured to be coupled to the second connection member.

16. The vehicle of claim 13, wherein: Since the speed reducer is coupled to the vehicle body through the second connecting member, when the steering knuckle rotates, the relative position and posture of the drive unit with respect to the vehicle body are fixed.

17. The vehicle of claim 12, wherein: A gap is formed between the wheel and the vehicle body to ensure that the steering angle of the wheel is a predetermined angle, and The steering device is provided in a space formed by the gap so as to be located between the wheel and the vehicle body.

18. The vehicle of claim 12, wherein: The driving unit further includes a bracket, the motor and the reducer are combined with the bracket, and The bracket includes a first portion to which the motor is coupled, and a second portion extending from the first portion and coupled to the reducer.

19. The vehicle of claim 18, wherein: The motor and the reducer are combined on the lower surface of the bracket. The first rotating shaft and the second rotating shaft pass through the bracket and are located on the upper surface of the bracket, and The power transmission member is connected to the first rotating shaft and the second rotating shaft on an upper surface of the bracket.

20. The vehicle of claim 12, wherein: The reducer is a harmonic drive reducer.

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