Independent steering apparatus with linear actuator and vehicle including the same

Abstract

The invention relates to an independent steering apparatus having a linear actuator and a vehicle including the same. An independent steering device for a wheel includes: a knuckle provided with first and second upper engaging portions at an upper portion and provided with a lower engaging portion at a lower portion; a first actuator; a second actuator; and a lower connecting member. The first actuator is rotatably jointed to the first upper joint part; a second actuator positioned adjacent to the first actuator and rotatably engaged to the second upper engagement portion; the lower connection member is rotatably engaged to the lower engagement portion. The lower engagement portion may be positioned below a center between a first upper engagement portion and a second upper engagement portion of the knuckle.

Description

[0001] Cross - reference to related applications

[0002] This application claims the benefit and priority of Korean Patent Application No. 10 - 2023 - 0196580, filed with the Korean Intellectual Property Office on December 29, 2023, the disclosure of which is incorporated herein by reference in its entirety. Technical field

[0003] The present invention relates to an independent steering device having a linear actuator and a vehicle including the same. Background art

[0004] Generally, problems with power steering systems are that they have a complex configuration such as a pump, a gearbox that also serves as a power cylinder, and pipes. These complexities make it difficult to precisely control the steering assist force. Additionally, when oil leaks, power steering may not be able to operate. Moreover, any failure in the operation of the steering device can lead to dependent control of the left and right wheels, making vehicle steering control impossible or potentially dangerous. Summary of the invention

[0005] To solve the above problems, a method is provided for precisely controlling steering and assist force with a simple structure by applying an electric steering device using an electric motor, thereby enabling independent steering of each wheel.

[0006] One aspect of the present invention can provide an independent steering device that can use all available strokes of a pair of linear actuators. Additionally, another aspect of the present invention can provide an independent steering device that can improve steering performance by appropriately arranging the joint points of the pair of linear actuators and the steering knuckle and the joint points of the lower arm and the steering knuckle. Further aspects of the present invention include a vehicle having the foregoing device and features.

[0007] According to one aspect of the present invention, an independent steering device may include: a steering knuckle, a first actuator, a second actuator, and a lower connecting member, the steering knuckle having a first upper joint portion and a second upper joint portion provided at an upper portion and a lower joint portion provided at a lower portion; the first actuator being rotatably joined to the first upper joint portion; the second actuator being positioned adjacent to the first actuator and rotatably joined to the second upper joint portion; the lower connecting member being rotatably joined to the lower joint portion. The lower joint portion may be positioned below the center between the first upper joint portion and the second upper joint portion of the steering knuckle.

[0008] The steering knuckle may be configured to be joined to a wheel. The lower joint portion may pass through the center between the first upper joint portion and the second upper joint portion of the steering knuckle and may be positioned on a rear side based on a virtual first plane parallel to the rotation center axis of the wheel.

[0009] The virtual first plane can bisect the distance between the virtual second plane and the virtual third plane. The virtual second plane is parallel to the virtual first plane and passes through the first upper joint portion. The virtual third plane is parallel to the virtual first plane and passes through the second upper joint portion.

[0010] The first actuator can be joined to a first joint point on the first upper joint portion. The second actuator can be joined to a second joint point on the second upper joint portion. The lower connecting member can be joined to a third joint point on the lower joint portion. The first joint point can be located on the virtual second plane. The second joint point can be located on the virtual third plane. The third joint point can be located between the virtual second plane and the virtual third plane.

[0011] The third joint point can be located between the virtual first plane and the virtual third plane.

[0012] The other end of the first actuator and the other end of the second actuator can each be joined to the vehicle body.

[0013] The independent steering device can further include an upper connecting member connecting the second actuator and the vehicle body. The upper connecting member can include a first fastening portion joined to at least a part of the second actuator and a second fastening portion extending from the first fastening portion and joined to the vehicle body.

[0014] The lower connecting member can include a third fastening portion joined to the lower joint portion and a fourth fastening portion extending from the third fastening portion and joined to the vehicle body.

[0015] Each of the first actuator and the second actuator can include a stroke module configured to connect the steering knuckle and the vehicle body. The stroke module can include a piston, a cylinder block, and a bracket. The piston is joined to the steering knuckle. At least a part of the piston is movably inserted into the cylinder block. The bracket is joined to the cylinder block and joined to the vehicle body. The inner surface of the cylinder block can be provided with a guiding groove in the longitudinal direction of the cylinder block. The outer surface of the piston can be provided with a guiding protrusion configured to be inserted into the guiding groove.

[0016] Each of the first actuator and the second actuator can further include a driving module that provides a driving force to linearly move the piston relative to the cylinder block. The driving module can include a screw shaft, a screw nut, and a motor. The screw shaft is rotatably arranged inside the cylinder block. The screw nut is fastened to the screw shaft to convert the rotational movement of the screw shaft into the linear movement of the piston. The motor provides a rotational force to the screw shaft.

[0017] The screw nut can be fixed to the inside of the piston.

[0018] Each of the piston and the screw nut may be provided with an insertion hole, and a fixing pin is inserted into the insertion hole. The engagement position of the piston and the screw nut may be fixed by the fixing pin inserted into the insertion hole.

[0019] Each of the first actuator and the second actuator may further include a sensor, the sensor being engaged to the cylinder block and configured to detect the relative position of the piston with respect to the cylinder block. The sensor may be configured to detect the fixing pin.

[0020] The inner peripheral surface of the cylinder block may be provided with air flow grooves for allowing air to flow. The piston may be provided with air flow holes for discharging air.

[0021] When observing the wheel in the direction of the rotation center axis, the independent steering device may be located within the diameter of the wheel.

[0022] According to another aspect of the present invention, a vehicle may include a vehicle body, wheels, and a steering device, the wheels being mounted on the vehicle body, the steering device connecting the vehicle body and the wheels and configured to steer the wheels. The steering device may include a steering knuckle, the steering knuckle being engaged to the wheel and having a first upper engagement portion and a second upper engagement portion provided at an upper portion and a lower engagement portion provided at a lower portion. The steering device may further include a first actuator and a second actuator, the first actuator being rotatably engaged to the first upper engagement portion, the second actuator being positioned adjacent to the first actuator and rotatably engaged to the second upper engagement portion. The steering device may further include a lower connection member, the lower connection member being rotatably engaged to the lower engagement portion. The lower engagement portion may pass through the center between the first upper engagement portion and the second upper engagement portion of the steering knuckle, and may be positioned on the rear side based on a virtual first plane parallel to the rotation center axis of the wheel. Description of the Drawings

[0023] The above and other aspects, features, and advantages of the present invention should be more clearly understood from the following detailed description presented in conjunction with the accompanying drawings, in which:

[0024] Figure 1 is a perspective view of a vehicle to which a steering device according to an embodiment of the present invention is applied;

[0025] Figure 2 is a schematic view showing a structure in which a steering device of a vehicle according to an embodiment of the present invention connects a vehicle body and wheels;

[0026] Figure 3 is a perspective view showing a structure in which wheels, a steering device, and a vehicle body of a vehicle according to an embodiment of the present invention are connected;

[0027] Figure 4 is a top view showing the structure of the connection of the wheel, steering device, and vehicle body according to an embodiment of the present invention;

[0028] Figure 5 is a front view showing the structure of the connection of the wheel, steering device, and vehicle body according to an embodiment of the present invention;

[0029] Figure 6 is a side view showing the structure of the connection of the steering device and the vehicle body according to an embodiment of the present invention;

[0030] Figure 7 is a perspective view showing the state in which the second actuator and the first connection member of the steering device according to an embodiment of the present invention are engaged;

[0031] Figure 8 is showing that the first connection member is separated from the second actuator and Figure 7 is an exploded perspective view of the state in which the second actuator in

[0032] Figure 9 is showing Figure 7 is a cross-sectional view of a cross-section of the second actuator in one direction in

[0033] Figure 10 is Figure 7 is an enlarged perspective view of a part of the cylinder block of the second actuator in

[0034] Figure 11 is Figure 7 is an enlarged perspective view of a part of the piston of the second actuator in

[0035] Figure 12 is a cross-sectional view showing an operation of changing the stroke of the actuator of the steering device according to an embodiment of the present invention. Detailed Description

[0036] The present invention describes various embodiments that can be variously modified. Accordingly, specific embodiments of the present invention are shown in the drawings and described in detail herein. However, it should be understood that the present invention is not limited to the specific embodiments, but includes all modified embodiments, equivalent embodiments, and alternative embodiments without departing from the scope and spirit of the present invention.

[0037] Terms such as "first" and "second" used in the specification may be used to describe various components, but these components should not be construed as being limited by these 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 described items or any one of multiple related described items.

[0038] The 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 be further understood that terms such as "including" or "having" used in this specification indicate the presence of the described features, steps, operations, components, parts, or combinations thereof mentioned in this specification. Such terms do not exclude the existence or addition of one or more other features, values, steps, operations, components, parts, or combinations thereof.

[0039] Unless otherwise specified, it should be understood that all terms (including technical terms and scientific terms) used in this specification have the same meaning as commonly understood by those of ordinary skill in the art. Terms commonly used and defined by a dictionary should be interpreted as having the same meaning as or being consistent with the meaning in the context of the relevant technology. Unless clearly defined otherwise in this specification, such terms should not be construed as having an idealized or overly formal meaning.

[0040] When components, devices, elements, units, members, etc. of the present invention are described as having a purpose or performing an operation, function, etc., the component, device, element, member, or unit should be considered herein as "configured to" meet the purpose or perform the operation or function.

[0041] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0042] Figure 1 is 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 is a schematic diagram showing the structure in which a steering device 130 of a vehicle 100 according to an embodiment of the present invention connects a body 110 and a wheel 120.

[0043] Figure 2 Only shows Figure 1 The structure in which a pair of wheels (for example, two front wheels 120a or two rear wheels 120b) among the four wheels 120 shown are respectively connected to the body 110 through corresponding steering devices 130. However, the shown connection structure can equally be applied to two front wheels 120a and two rear wheels 120b.

[0044] The steering device 130 according to an embodiment of the present invention may be 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 an object from a starting point to a destination. The vehicle is not limited to a vehicle traveling on a road or a track.

[0045] The steering device 130 according to an embodiment may be disposed in a structure that can be respectively connected to a plurality of wheels 120 provided on the vehicle 100 to steer each wheel 120 independently.

[0046] Reference Figure 1 and Figure 2 Referring to and, the vehicle 100 according to an embodiment may include a body 110, wheels 120, and a steering device 130.

[0047] Figure 1 The vehicle 100 according to an embodiment is schematically shown. The vehicle 100 is not necessarily limited to having the shown structure or including only the shown components. Additionally, the vehicle 100 according to various embodiments may have different structures or further include other components.

[0048] The body 110 may have a structure that engages and mounts the wheels 120 and the steering device 130. The body 110 may move by driving the wheels 120 and adjusting the steering device 130 so that its direction can be adjusted. The steering device 130 engaged with the wheels 120 may be engaged with at least a part of the body 110, and thus, the wheels 120 may be mounted on the body 110.

[0049] The body 110 may include a chassis module 111 to which a connecting member 150 is engaged. The chassis module 111 may form a part of the body 110 or may be engaged with the base of the body 110. For example, it can be understood that Figure 1 is shown in Figure 2 the state where the shown chassis module 111 is disposed inside the body 110 and the steering device 130 is engaged with the chassis module 111. In other words, when the chassis module 111 is engaged with Figure 1 at least a part of the inside of the shown body 110, Figure 2 the components where the shown chassis module 111, the steering device 130, and the wheels 120 are engaged may be mounted on the vehicle 100.

[0050] The steering device 130 can be coupled to the chassis module 111. A pair of steering devices 130 for connecting a pair of wheels 120 to the vehicle body 110 can be coupled to both sides of the chassis module 111. For example, two steering devices 130 can be coupled to both sides of the chassis module 111 (e.g., the sides in the Y-axis direction), and two wheels 120 can be respectively coupled to the two steering devices 130.

[0051] The chassis module 111 can include a frame 1113 and a top plate 1111 coupled to the frame 1113. At least a portion of the first connection member 151 and the actuator 160 of the steering device 130 can be coupled between the frame 1113 and the top plate 1111. At least a portion of the second connection member 152 of the steering device 130 can be coupled to the outside and inside of the frame 1113.

[0052] Figure 1 The vehicle body 110 of the illustrated vehicle 100 can be referred to as a floor portion. Figure 2 The chassis module 111 can be installed under the floor and not exposed to the outside. For example, Figure 2 The illustrated chassis module 111 can be installed on the floor by coupling the top plate 1111 to the lower surface of the base plate 112 of the floor, but the structure in which the chassis module 111 is installed on the floor is not limited to any specific manner.

[0053] According to various embodiments, the vehicle 100 can have an internal space installed in the upper part of the illustrated vehicle body 110 (e.g., the floor), where a user can sit or cargo can be loaded. The internal space can include seats, a steering wheel, and the like. Figure 1 The vehicle body 110 can be provided with wheel housings 113, which are predetermined spaces for installing the wheels 120 and the steering devices 130. The wheel housings 113 can be formed in a size that can ensure that the steering angle of the wheels 120 reaches a specified angle. For example, the wheel housings 113 are formed as spaces having a sufficiently large size to prevent the wheels 120 from contacting the vehicle body 110 when the wheels 120 rotate at a specified maximum steering angle.

[0054] According to an embodiment of the present invention, the space of the wheel housings 113 can be used as a space for arranging the steering devices 130. Therefore, the steering devices 130 can be installed substantially parallel to the vehicle body 110 without protruding above the wheels 120.

[0055]

[0056] ​The wheel 120 can be coupled to the steering device 130. The wheels 120 can be provided in a plurality, and the steering devices 130 can be provided corresponding to the plurality of wheels 120. For example, the plurality of wheels 120 can be respectively coupled to corresponding steering devices 130 and can be rotated about a kingpin shaft (e.g., kingpin shaft 145) by the operation of the steering devices 130.

[0057] The wheels 120 can consist of four wheels, including two front wheels 120a and two rear wheels 120b. The front wheels 120a can be located on the front direction (hereinafter, front) side of the vehicle 100, and the rear wheels 120b can be located on the rear direction (hereinafter, rear) side of the vehicle 100. In Figure 1 and Figure 2 , the front (①) of the vehicle 100 can be a direction parallel to the +X axis direction, and the rear (②) of the vehicle 100 can be a direction parallel to the -X axis direction opposite to the front (①). The two front wheels 120a can be respectively connected to two front wheel steering devices 130a, and the two rear wheels 120b can be respectively connected to two rear wheel steering devices 130b. As used herein, the wheel 120 can generally refer to either the front wheel 120a or the rear wheel 120b, and the steering device 130 can generally refer to either the first steering device 130a or the second steering device 130b.

[0058] The steering device 130 can connect the wheel 120 to the vehicle body 110. The steering device 130 can be configured to adjust the rotation angle of the wheel 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 be operated based on a steering signal input through a steering wheel (not shown) to rotate the wheel 120.

[0059] According to the illustrated embodiment, the steering device 130 can be applied to a vehicle 100 provided with four wheels 120 and independently control the steering of the four wheels 120. 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.

[0060] The steering device 130 can include two front wheel steering devices 130a respectively connected to the two front wheels 120a and two rear wheel steering devices 130b respectively connected to the two rear wheels 120b. According to the illustrated embodiment, the front wheel steering device 130a and the rear wheel steering device 130b can have the same structure. However, this is an example, and the front wheel steering device 130a and the rear wheel steering device 130b can have different structures. For example, based on Figure 1, the front wheel steering device 130a can be replaced with a device configured to rotate the knuckle 140 by using a harmonic drive reducer and motors arranged in parallel with each axis.

[0061] The steering device 130 may include a knuckle 140, an actuator 160, and a connecting member 150. The steering device 130 may be provided in the form of an assembly, in which the actuator 160 including a pair of actuators 160a and 160b and the connecting member 150 are joined to the upper and lower ends of the knuckle 140. The steering device 130 may be mounted on the vehicle body 110 by joining the actuator 160 and the connecting member 150 to the chassis module 111.

[0062] The knuckle 140 is joined to the wheel 120, and the connecting member 150 and the actuator 160 connected to the knuckle 140 are respectively connected to the vehicle body 110 (i.e., the chassis module 111), so that the steering device 130 can connect the wheel 120 to the vehicle body 110.

[0063] The following refers to Figures 3 to 6 a more detailed description of the structure in which the wheel 120 and the steering device 130 are connected to the vehicle body 110 and the components of the steering device 130.

[0064] Figure 3 FIG. is a perspective view showing the structure in which the wheel 120, the steering device 130, and the vehicle body 110 of the vehicle 100 according to an embodiment of the present invention are connected. Figure 4 FIG. is a top view showing the structure in which the wheel 120, the steering device 130, and the vehicle body 110 of the vehicle 100 according to an embodiment of the present invention are connected. Figure 5 FIG. is a front view showing the structure in which the wheel 120, the steering device 130, and the vehicle body 110 of the vehicle 100 according to an embodiment of the present invention are connected. Figure 6 FIG. is a side view showing the structure in which the steering device 130 and the vehicle body 110 of the vehicle 100 according to an embodiment of the present invention are connected.

[0065] Figure 3 is Figure 2 an enlarged view of the left side portion of Figure 4 is a schematic view of the vehicle body 110, the steering device 130, and the wheel 120 shown Figure 3 when viewed from above. Figure 5 is a schematic view of the vehicle body 110, the steering device 130, and the wheel 120 shown Figure 3 when viewed from the front on the rear (②) side of the vehicle 100. Figure 6 is Figure 3 a side view of the vehicle body 110 and the steering device 130 in a state where the wheel 120 and the knuckle 140 are separated in

[0066] For example,Figure 4 is Figure 3 a plan view in the X-Y plane of the three-dimensional view of Figure 5 is Figure 3 a front view in the y-z plane of the three-dimensional view of Figure 6 is Figure 3 a side view in the x-z plane of the three-dimensional view of

[0067] Refer to Figures 3 to 6 and, according to an embodiment, the vehicle 100 may include a chassis module 111 (e.g., Figure 1 the body 110 in

[0068] ), wheels 120, and a steering device 130. The wheels 120 may be connected to the chassis module 111 through the steering device 130. For example, the wheels 120 may be engaged with the steering device 130, and the steering device 130 may be engaged with the chassis module 111.

[0069] An in-wheel motor drive method or an in-wheel system may be applied to the wheels 120. For example, the wheels 120 may be provided with motors inside the wheels 121 to independently provide driving force to each of the plurality of wheels 120. The steering device 130 may also be provided for each of the plurality of wheels 120 to independently control the steering angle of the wheels 120, respectively.

[0070] According to the illustrated embodiment, the wheels 120 may include wheels 121, tires 122 disposed outside the wheels 121, in-wheel motors 123 disposed inside the wheels 121, and brake discs 124 engaged with the in-wheel motors 123.

[0071] The in-wheel motor 123 is a motor installed inside the wheel 121 to directly drive the wheel 121. The in-wheel motor 123 may be provided for each wheel 120 to independently drive and control the corresponding wheel 120. According to various embodiments, the in-wheel motor 123 may be referred to as a hub motor or an electric hub.

[0072] However, the illustrated embodiment is an example, and in an exemplary embodiment of the present invention, the wheels 120 are not limited to the form provided with the in-wheel motor 123. According to various embodiments, the steering device 130 may be configured to steer a general type of wheel to which the in-wheel system is not applied.

[0073] The wheel 120 may further include an axle 125, which is fixedly engaged with a knuckle 140 of the steering device 130 and rotatably engaged with the in-wheel motor 123. When the vehicle 100 is in motion, the axle 125 may serve as the center of rotation of the wheel 121 and the tire 122. For example, the in-wheel motor 123 may be rotatably assembled to the axle 125, and the knuckle 140 may be assembled to the axle 125. In other words, when the wheel 120 rotates to move the vehicle 100, the in-wheel motor 123, the wheel 121, the tire 122, and the brake disc 124 may rotate around the axle 125. The knuckle 140 and the axle 125 may be separated from the rotation of the in-wheel motor 123 and thus do not rotate.

[0074] The steering device 130 may be disposed between the wheel 120 and the chassis module 111. The steering device 130 may be respectively engaged with the wheel 120 and the chassis module 111 and connect the wheel 120 and the chassis module 111. The steering device 130 may independently drive a pair of linear actuators 160 to rotate the knuckle 140 about the kingpin 145, thereby adjusting the steering angle of the wheel 120 engaged with the knuckle 140.

[0075] The steering device 130 may include a knuckle 140 engaged with the wheel 120 and an actuator 160 connecting the knuckle 140 and the chassis module 111. Additionally, the steering device 130 may include a connecting member 150 connecting the knuckle 140 and the chassis module 111 and connecting the actuator 160 and the chassis module 111.

[0076] The actuator 160 is a linear actuator and may include a first actuator 160a and a second actuator 160b formed in a pair. The first actuator 160a and the second actuator 160b may have the same structure driven in the same manner.

[0077] The knuckle 140 may be engaged with the wheel 120 and may rotate together with the wheel 120 about the kingpin 145. For example, the wheel 120 may rotate by the rotation of the knuckle 140. The knuckle 140 may form the kingpin 145, which is the axis about which the wheel 120 rotates. The knuckle 140 may be engaged with the axle 125 of the wheel 120.

[0078] The knuckle 140 may be engaged with a pair of actuators 160. The knuckle 140 may be rotatably engaged with each of the first actuator 160a and the second actuator 160b. For example, the upper portion of the knuckle 140 may be rotatably engaged with one end of the first actuator 160a and one end of the second actuator 160b through a spherical joint J. One end of the actuator 160 may be the end in the -Y axis direction based on Figures 3 to 6 and the upper portion of the knuckle 140 may be based onFigures 3 to 6 The end portion in the +Z-axis direction.

[0079] The knuckle 140 may be joined to a second connecting member 152 connected to the chassis module 111. The knuckle 140 may be rotatably joined to the second connecting member 152. For example, the lower portion of the knuckle 140 may be rotatably joined to a third fastening portion 155 of the second connecting member 152 by a ball joint J. The lower portion of the knuckle 140 may be based on Figures 3 to 6 The end portion in the -Z-axis direction.

[0080] Between the knuckle 140 and the second connecting member 152 and between the knuckle 140 and the actuator 160, the knuckle 140 may be connected to enable relative rotation with respect to the directions of three axes (e.g., the X-axis, the Y-axis, and the Z-axis). The X-axis may correspond to the front-rear direction (longitudinal direction or length direction) of the vehicle 100, the Y-axis may correspond to the left-right direction (latitude direction or width direction) of the vehicle 100, and the Z-axis may correspond to the up-down direction (or height direction) of the vehicle 100.

[0081] The knuckle 140 may include a central joint portion 141 and may include an upper joint portion 142. The axle 125 of the wheel 120 is joined to the central joint portion 141. The upper joint portion 142 is located above the central joint portion 141 and is joined to the actuator 160. The knuckle 140 may further include a lower joint portion 143. The lower joint portion 143 is located below the central joint portion 141 and is joined to the second connecting member 152. For example, the upper joint portion 142 may extend upward (e.g., in the +Z-axis direction) from the central joint portion 141, and the lower joint portion 143 may extend downward (e.g., in the -Z-axis direction) from the central joint portion 141.

[0082] The central joint portion 141 may have a through hole 1411 into which the axle 125 is inserted. Since at least a portion of the axle 125 is inserted and fixed to the through hole 1411 of the central joint portion 141, when the knuckle 140 rotates about the kingpin 145, the wheel 120 may rotate together.

[0083] The upper joint portion 142 may include a first upper joint portion 1421 and a second upper joint portion 1422. The first actuator 160a is rotatably joined to the first upper joint portion 1421, and the second actuator 160b is rotatably joined to the second upper joint portion 1422. The piston 172 of the first actuator 160a may be rotatably joined to the first upper joint portion 1421 through a spherical joint J, and the piston 172 of the second actuator 160b may be rotatably joined to the second upper joint portion 1422 through the spherical joint J. The spherical joint J may join the actuator 160 to the upper joint portion 142 such that the spherical joint J can rotate about at least one of the X-axis, Y-axis, and Z-axis. For example, the first upper joint portion 1421 and the second upper joint portion 1422 may be provided with fastening holes (not shown), and the spherical joint J is fastened to the fastening holes.

[0084] The second connecting member 152 may be rotatably joined to the lower joint portion 143. For example, the third fastening portion 155 of the second connecting member 152 may be rotatably joined to the lower joint portion 143 through a spherical joint J. The spherical joint J may join the second connecting member 152 to the lower joint portion 143 such that the spherical joint J can rotate about at least one of the X-axis, Y-axis, and Z-axis. For example, the lower joint portion 143 may be provided with fastening holes (not shown), and the spherical joint J is fastened to the fastening holes.

[0085] The lower joint portion 143 may be provided at a position offset from the first upper joint portion 1421 and the second upper joint portion 1422. For example, as Figure 6 shown, when observing the knuckle 140 from the side direction (e.g., the latitude direction or Y-axis direction of the axle 125 which is the rotation center of the wheel 120), the lower joint portion 143 may be provided at a position where the lower joint portion 143 does not overlap with the first upper joint portion 1421 and the second upper joint portion 1422 in the up-down direction. In other words, the lower joint portion 143 is positioned between two extension lines L5 and L6 parallel to the Z-axis, and the two extension lines L5 and L6 pass through the centers of the spherical joints J fastened to each of the first upper joint portion 1421 and the second upper joint portion 1422.

[0086] Reference Figure 4 and Figure 6, a first joint point P1 where a first actuator 160a of the actuator 160 is joined to the steering knuckle 140, a second joint point P2 where a second actuator 160b of the actuator 160 is joined to the steering knuckle 140, and a third joint point P3 where the second connecting member 152 is joined to the steering knuckle 140 can be formed. For example, the first joint point P1 can be the center point of the part where the spherical joint J is fastened at the first upper joint portion 1421 of the steering knuckle 140 or the corresponding part. The second joint point P2 can be the center point of the part where the spherical joint J is fastened at the second upper joint portion 1422 of the steering knuckle 140 or the corresponding part. The third joint point P3 can be the center point of the part where the spherical joint J is fastened at the lower joint portion 143 of the steering knuckle 140 or the corresponding part.

[0087] As Figure 4 and Figure 6 shown, a virtual first plane PL1 is defined, and the virtual first plane PL1 is parallel to the y - z plane passing through the center of the first joint point P1 and the y - z plane passing through the center of the second joint point P2. A virtual second plane PL2 is defined, and the virtual second plane PL2 is parallel to the virtual first plane PL1 while passing through the first joint point P1. A virtual third plane PL3 is defined, and the virtual third plane PL3 is parallel to the virtual first plane PL1 while passing through the third joint point P3. The third joint point P3 can be positioned between the virtual first plane PL1 and the virtual third plane PL3. The virtual first plane PL1 is the plane that bisects the virtual second plane PL2 and the virtual third plane PL3, and the distance between the virtual first plane PL1 and the virtual second plane PL2 is the same as the distance between the virtual first plane PL1 and the virtual third plane PL3.

[0088] The virtual first plane PL1, the virtual second plane PL2, and the virtual third plane PL3 can be perpendicular to the front (①) and the rear (②) of the vehicle 100. Figure 4 The X - Y plane is shown, and some edges of the virtual planes PL1, PL2, and PL3 can be shown in a straight - line form. In Figure 4 , a first straight line L1, a second straight line L2, and a third straight line L3 can be the edges in the Y - axis direction among the edges of each of the virtual first plane PL1, the virtual second plane PL2, and the virtual third plane PL3. Additionally, Figure 6 The x - z plane is shown, and some edges of the virtual planes PL1, PL2, and PL3 can be shown in a straight - line form. In Figure 6 , a fourth straight line L4, a fifth straight line L5, and a sixth straight line L6 can be the edges in the Z - axis direction among the edges of each of the virtual first plane PL1, the virtual second plane PL2, and the virtual third plane PL3.

[0089] For example, when as Figure 4When the steering device 130 is viewed from above as shown, the third joint point P3 may be positioned between a second straight line L2 and a third straight line L3. The second straight line L2 extends in the width direction (e.g., the Y-axis direction) of the chassis module 111 while passing through the first joint point P1. The third straight line L3 extends parallel to the second straight line L2 while passing through the second joint point P2. However, the third joint point P3 may be positioned on the rear (②) side of the vehicle 100 based on a first straight line L1 that bisects the distance between the second straight line L2 and the third straight line L3. In other words, the third joint point P3 may be positioned between the first straight line L1 and the third straight line L3. The width direction of the chassis module 111 may be parallel to the rotation center axis of the wheel 120 (e.g., the wheel axle 125).

[0090] For example, when the steering device 130 is viewed from the side as shown Figure 6 the third joint point P3 may be positioned between a fifth straight line L5 and a sixth straight line L6. The fifth straight line L5 extends in the height direction (e.g., the Z-axis direction) of the chassis module 111 while passing through the first joint point P1. The sixth straight line L6 extends parallel to the fifth straight line L5 while passing through the second joint point P2. More specifically, the third joint point P3 may be positioned on the rear (②) side of the vehicle 100 based on a fourth straight line L4 that bisects the distance between the fifth straight line L5 and the sixth straight line L6. In other words, the third joint point P3 may be positioned between the fourth straight line L4 and the sixth straight line L6. The height direction of the chassis module 111 may be perpendicular to the width direction of the chassis module 111 and perpendicular to the front (①) and rear (②) of the vehicle 100.

[0091] The knuckle 140, the first actuator 160a, the second actuator 160b, and the second connection member 152 of the steering device 130 according to the embodiment may be joined in such a manner that the third joint point P3 is positioned between the first joint point P1 and the second joint point P2. More specifically, the third joint point P3 is positioned adjacent to the rear (②) side of the center line of the vehicle 100 based on the first joint point P1 and the second joint point P2. Therefore, the maximum steering angle can be generated with the minimum length change of the actuator 160, and the steering performance can be improved.

[0092] The connection member 150 may include a first connection member 151 that connects the second actuator 160b and the chassis module 111 and may include a second connection member 152 that connects the knuckle 140 and the chassis module 111. The first connection member 151 is configured to be connected to the upper portion of the knuckle 140 and may be referred to as an upper connection member. The second connection member 152 is configured to be connected to the lower portion of the knuckle 140 and may be referred to as a lower connection member. The illustrated embodiment is an example, and the first connection member 151 may be omitted according to various embodiments.

[0093] The first connecting member 151 may connect the chassis module 111 and the second actuator 160b at an upper portion of the actuator 160b. The first connecting member 151 may include a first fastening portion 153 and a second fastening portion 154, the first fastening portion 153 being joined to the second actuator 160b, and the second fastening portion 154 extending from the first fastening portion 153 and being joined to the chassis module 111.

[0094] The first fastening portion 153 may be fixedly joined to at least a part of the second actuator 160b. The second fastening portion 154 may be rotatably joined to the chassis module 111. The second fastening portion 154 may be rotatably joined to a frame 1113 of the chassis module 111 through a ball joint J.

[0095] The first connecting member 151 may connect the second actuator 160b and the chassis module 111 in such a form that an intermediate portion between the first fastening portion 153 and the second fastening portion 154 extends across the first actuator 160a and partially overlaps with the first actuator 160a.

[0096] The second connecting member 152 may connect the chassis module 111 and the knuckle 140 below the actuator 160. The second connecting member 152 may rotate in response to a change in the stroke of the actuator 160. The second connecting member 152 may include a third fastening portion 155 and may include a fourth fastening portion 156, the third fastening portion 155 being joined to the lower joining portion 143, and the fourth fastening portion 156 extending from the third fastening portion 155 and being joined to the chassis module 111.

[0097] The third fastening portion 155 may be rotatably joined to the knuckle 140. The third fastening portion 155 may be rotatably joined to the knuckle 140 through a ball joint J. For example, the knuckle 140 may rotate about a kingpin axis 145 with respect to the third fastening portion 155. The fourth fastening portion 156 may be rotatably joined to the inside of a frame 1113 of the chassis module 111.

[0098] According to various embodiments, the vehicle 100 may be configured to raise or lower the height of the vehicle 100 by rotating the fourth fastening portion 156 about the X axis. For example, when the fourth fastening portion 156 rotates clockwise about the X axis based on Figure 3 the X axis, the height of the vehicle body 110 is raised with respect to the wheels 120. When the fourth fastening portion 156 rotates counterclockwise about the X axis, the height of the vehicle body 110 is lowered with respect to the wheels 120. To perform such height adjustment, one end of the actuator 160 and the third fastening portion 155 of the second connecting member 152 may be rotatably joined to the knuckle 140 about the X axis. The other end of the actuator 160 and the second fastening portion 154 of the first connecting member 151 may be rotatably joined to the frame 1113 about the X axis.

[0099] The actuator 160 may include a first actuator 160a, one end of which is joined to a first upper joint portion 1421 of the knuckle 140 and the other end of which is joined to the chassis module 111. The actuator 160 may further include a second actuator 160b, one end of which is joined to a second upper joint portion 1422 of the knuckle 140 and the other end of which is joined to the chassis module 111. The first actuator 160a may be located in front of the second actuator 160b (①).

[0100] Figures 3 to 6 The description focuses on the joint structures between the actuator 160 and the knuckle 140 and between the actuator 160 and the chassis module 111. The following refers to Figures 7 to 11 for a more detailed description of the structure of the actuator 160.

[0101] Two ends of the first actuator 160a may be rotatably joined to the first upper joint portion 1421 of the knuckle 140 and the frame 1113 of the chassis module 111, respectively. Two ends of the second actuator 160b may be rotatably joined to the second upper joint portion 1422 of the knuckle 140 and the frame 1113 of the chassis module 111, respectively. For example, the first actuator 160a and the second actuator 160b may be rotatably joined to the first upper joint portion 1421, the second upper joint portion 1422, and the frame 1113 through a spherical joint J.

[0102] One end of the first actuator 160a and one end of the second actuator 160b may be rotatably joined to the first upper joint portion 1421 and the second upper joint portion 1422, respectively, at least about the X axis and the Z axis. The other end of the first actuator 160a may be rotatably joined to the frame 1113 at least about the X axis and the Z axis. The other end of the second actuator 160b may be joined to the frame 1113 so as to be rotatable about the X axis but with limited rotation about the Z axis. For example, the rotation of the other end of the second actuator 160b about the Z axis may be restricted by a locking protrusion (not shown) of the frame 1113.

[0103] However, the degrees of rotational freedom or the constraint conditions between the first actuator 160a and the second actuator 160b and the knuckle 140, between the first actuator 160a and the chassis module 111, and between the second actuator 160b and the chassis module 111 are not limited to the above, and may be changed according to various embodiments. For example, both ends of the first actuator 160a and the second actuator 160b may be rotatably joined to the knuckle 140 and the chassis module 111 about the X axis, the Y axis, and the Z axis, respectively.

[0104] The steering device 130 can connect and support the wheel 120 and the chassis module 111 through a pair of actuators 160 joined to the upper part of the steering knuckle 140 and a second connecting member 152 joined to the lower part of the steering knuckle 140. Accordingly, the steering device 130 provides a double wishbone suspension structure. For example, the first actuator 160a may be referred to as an upper link, the second actuator 160b (or the second actuator 160b joined to the first connecting member 151) may be referred to as an upper arm, and the second connecting member 152 may be referred to as a lower arm.

[0105] Figure 7 FIG. is a perspective view showing a state in which the second actuator 160b of the steering device 130 according to an embodiment of the present invention is joined to the first connecting member 151. Figure 8 FIG. is a perspective exploded view showing a state in which the first connecting member 151 is separated from the second actuator 160b and Figure 7 the second actuator 160b in FIG. is disassembled. Figure 9 FIG. is a sectional view showing a cross section of the second actuator 160b in FIG. Figure 7 in one direction. Figure 10 FIG. is Figure 7 an enlarged perspective view of a part of the cylinder block 171 of the second actuator 160b in FIG. Figure 11 FIG. is Figure 7 an enlarged perspective view of a part of the piston 172 of the second actuator 160b in FIG.

[0106] Figure 9 FIG. shows Figure 7 a cross section of the second actuator 160b shown in FIG. in the A-A' direction.

[0107] Since Figure 7 and Figure 8 FIG. shows the second actuator 160b joined to the first connecting member 151, a description of the components of the actuator 160 will be given below based on the second actuator 160b. However, the components respectively included in the first actuator 160a and the second actuator 160b are the same, and only differ in the positions where the first actuator 160a and the second actuator 160b are joined to the steering knuckle 140 and whether the first actuator 160a and the second actuator 160b are joined to the first connecting member 151. Accordingly, the components of the second actuator 160b described below can be similarly applied and arranged to the first actuator 160a.

[0108] Figures 7 to 11 FIG. is a schematic view showing in detail Figures 2 to 6 the first connecting member 151, the second actuator 160b, and the components of the second actuator 160b shown in FIG. Hereinafter, when describing Figures 7 to 11 FIG., reference will also be made to Figures 2 to 6 FIG.

[0109] Reference Figures 7 to 11 , according to an embodiment, the steering device 130 may include a second actuator 160b and a first connection member 151 coupled to the second actuator 160b.

[0110] The first connection member 151 may include a first fastening portion 153 and a second fastening portion 154. The first fastening portion 153 is fixed to a part of the cylinder block 171 of the second actuator 160b, and the second fastening portion 154 extends from the first fastening portion 153 and is rotatably coupled to the chassis module 111 through a ball joint J. However, as described above, according to various embodiments, the steering device 130 may not include the first connection member 151.

[0111] The second actuator 160b (or the first actuator 160a) may include a stroke module 170 that connects the steering knuckle 140 and the chassis module 111. The stroke module 170 is configured to increase or decrease the stroke, and the drive module 180 provides a driving force to increase or decrease the stroke of the stroke module 170.

[0112] The stroke module 170 may include a cylinder block 171, a piston 172, and a bracket 173. The drive module 180 may include a motor 181, a screw shaft 182, a screw nut 183, and a power transmission member 184. For example, the drive module 180 may be configured to increase or decrease the stroke of the stroke module 170 by providing a driving force to linearly move the piston 172 relative to the cylinder block 171.

[0113] The stroke module 170 may have a structure in which the steering knuckle joint portion 1721 of the piston 172 is coupled to the upper coupling portion (e.g., the first coupling point P1 or the second coupling point P2) of the steering knuckle 140, and the main body joint portion 1731 of the bracket 173 is coupled to the chassis module 111. One end of the cylinder block 171 is coupled to the bracket 173, and at least a part of the piston 172 is movably coupled to the inside of the cylinder block 171 at the other end of the cylinder block 171. For example, the cylinder block 171 may be coupled to the outside of the piston 172 so that the piston 172 can move relative to the cylinder block 171. The piston 172 may linearly reciprocate within the cylinder block 171 to increase (or increase the length) or decrease (or decrease the length) the stroke of the stroke module 170.

[0114] In the stroke module 170, the steering knuckle joint portion 1721 of the piston 172 may be coupled to the upper coupling portion 142 so as to be rotatable at least about the X-axis and the Z-axis. In addition, the main body joint portion 1731 of the bracket 173 may be coupled to the chassis module 111 so as to be rotatable at least about the X-axis.

[0115] For example, the rotation of the piston 172 about the X-axis in the upper joint portion 142 may be a relative rotation corresponding to an operation of adjusting the camber or height of the wheel 120 on the knuckle 140. The rotation of the piston 172 about the Z-axis may be a relative rotation corresponding to the rotation of adjusting the steering angle of the wheel 120 on the knuckle 140. Additionally, the rotation of the bracket 173 about the X-axis in the chassis module 111 may be a relative rotation corresponding to an operation of adjusting the height of the wheel 120 or an operation of absorbing shock.

[0116] The drive module 180 may include a motor 181 that provides a rotational force, a screw shaft 182 that rotates by receiving the rotational force of the motor 181, and a screw nut 183 that is engaged with the screw shaft 182 to convert the rotational motion into a linear motion. The drive module may further include a power transmission member 184 that transmits the rotational force of the motor 181 to the screw shaft 182.

[0117] The motor 181 may provide a driving force for the rotation of the screw shaft 182. The motor 181 may be a servo motor, but is not limited thereto. The motor 181 may be engaged with the bracket 173.

[0118] The screw shaft 182 may be rotatably engaged with the inside of the cylinder block 171, and a thread may be formed on its outer circumferential surface. The screw shaft 182 may be arranged parallel to the rotation axis of the motor 181. For example, the screw shaft 182 may be rotatably engaged with the inside of the cylinder block 171 through a bearing 186. The rotational movement of the screw shaft 182 relative to the cylinder block 171 may be possible, but the linear movement of the screw shaft 182 relative to the cylinder block 171 may be restricted. In other words, the screw shaft 182 may rotate while its position is fixed relative to the cylinder block 171 so that the screw shaft 182 serves as a reference for the linear movement of the screw nut 183.

[0119] The screw nut 183 may be fixedly arranged inside the piston 172, and may have a thread formed on its inner circumferential surface that meshes with the thread of the screw shaft 182. The screw nut 183 may be fixed to the piston 172 when the screw shaft 182 rotates, and may be separated from the rotation of the screw shaft 182. Therefore, the screw nut 183 may move along the screw shaft 182 in the left-right direction (e.g., the longitudinal direction of the screw shaft 182 or the Y-axis direction).

[0120] The power transmission member 184 may be connected to the rotation shaft 1811 of the motor 181 and the screw shaft 182. The power transmission member 184 may transmit the rotational movement of the rotation shaft 1811 of the motor 181 to the screw shaft 182 to rotate the screw shaft 182.

[0121] The power transmission member 184 may include a first pulley 1841, a second pulley 1843, and a conveyor belt 1845. The first pulley 1841 is engaged with the rotating shaft 1811 of the motor 181; the second pulley 1843 is engaged with the screw shaft 182; and the conveyor belt 1845 connects the first pulley 1841 and the second pulley 1843. For example, when the first pulley 1841 can rotate by the rotation of the rotating shaft 1811, the rotation of the first pulley 1841 can be transmitted to the second pulley 1843 through the conveyor belt 1845. Accordingly, the screw shaft 182 can rotate by the rotation of the second pulley 1843. The power transmission member 184 can provide deceleration while transmitting the power of the rotational motion. The first pulley 1841 and the second pulley 1843 may have different diameters according to the speed ratio.

[0122] At least a part of the power transmission member 184 may be disposed inside the bracket 173. For example, the first pulley 1841 may be disposed in the space between the motor 181 and the bracket 173, and the second pulley 1843 may be disposed in the space between the cylinder block 171 and the bracket 173. The conveyor belt 1845 may connect the first pulley 1841 and the second pulley 1843 while partially surrounding the outer circumferential surfaces of the first pulley 1841 and the second pulley 1843. The second pulley 1843 may be at least partially disposed inside the cylinder block 171.

[0123] Hereinafter, a component for preventing the piston 172 from rotating relative to the cylinder block 171 to convert the rotational motion of the screw shaft 182 into the linear motion of the screw nut 183 and for fixing the screw nut 183 inside the piston 172 will be described.

[0124] The cylinder block 171 may be formed in a hollow cylindrical shape into which the piston 172 is inserted. A guide protrusion 175 may be provided on the outer circumferential surface of the piston 172, and a guide groove 1711 into which the guide protrusion 175 is inserted may be provided on the inner circumferential surface of the cylinder block 171. The guide groove 1711 may extend along the longitudinal direction of the cylinder block 171, and the guide protrusion 175 may be inserted into the guide groove 1711 to slide along the guide groove 1711. Accordingly, the piston 172 can be guided to linearly move relative to the cylinder block 171 while preventing the piston 172 from rotating relative to the cylinder block 171.

[0125] The piston 172 can be formed in a hollow cylindrical shape into which the screw nut 183 is inserted. The piston 172 can be provided with an insertion hole 1725 into which the fixing pin 174 is inserted, and the screw nut 183 can be provided with an insertion hole 1831 into which the fixing pin 174 is inserted. The joining position of the piston 172 and the screw nut 183 can be fixed by inserting the fixing pin 174 after aligning the insertion holes 1725, 1831. In other words, the rotation and movement of the screw nut 183 and the piston 172 relative to the cylinder block 171 can be prevented by inserting the fixing pin 174 into the insertion holes 1725, 1831.

[0126] The structure for preventing the piston 172 from rotating relative to the cylinder block 171 and for fixing the screw nut 183 inside the piston 172 is not limited to the above, and can be changed into various structures.

[0127] The cylinder block 171 and the piston 172 can have air flow channels so that when the piston 172 moves relative to the cylinder block 171, air can flow in response to the volume change inside the cylinder block 171 and the piston 172. The cylinder block 171 can be formed with air flow grooves 1713 formed on its inner peripheral surface. The piston 172 can be formed with air flow holes 1723 penetrating from the outer peripheral surface to the inner peripheral surface. When the piston 172 moves, the air inside the cylinder block 171 can be discharged through the air flow grooves 1713, and the air inside the piston 172 can be discharged through the air flow holes 1723.

[0128] According to Figure 10 and Figure 11 the embodiment shown, the air flow grooves 1713 can be formed at a portion of the inner peripheral surface of the cylinder block 171 opposite to the guide groove 1711. The air flow grooves 1713 can be formed in the piston 172 in a longitudinal direction at a portion aligned with the fixing pin 174. However, this is only an example. The positions of the air flow grooves 1713 and the air flow holes 1723 can be not limited to Figure 10 and Figure 11 the shapes shown, and can be arranged at various positions within the range where the fixing pin 174 can be detected.

[0129] The actuator 160 can be provided with a sensor 176 that detects the position of the piston 172 to detect the stroke distance of the stroke module 170. The sensor 176 can be joined to the cylinder block 171 and can detect the position and distance of the fixing pin 174 inserted into the piston 172. For example, the sensor 176 can include a proximity sensor, but the type of the sensor 176 is not particularly limited. According to various embodiments, the actuator 160 can not include the sensor 176.

[0130] The sensor 176 may be engaged with the cylinder block 171 to penetrate at least a part of the cylinder block 171. When the piston 172 moves inside the cylinder block 171 and reaches a predetermined position, the sensor 176 may be partially opposed to the fixed pin 174 (e.g., see Figure 12 ). A sensor engagement hole 1715 engaged with the sensor 176 may be formed in the cylinder block 171.

[0131] According to Figure 10 the illustrated embodiment, the sensor engagement hole 1715 may be formed at a position overlapping with the guide groove 1711 and connected to the guide groove 1711. However, this is an example, and the position of the sensor engagement hole 1715 is not limited to Figure 10 the illustrated shape. In addition, the sensor engagement hole 1715 may be disposed at various positions within a range where the fixed pin 174 can be detected.

[0132] Figure 12 is a cross-sectional view showing an operation of changing a stroke of the actuator 160 of the steering device 130 according to an embodiment of the present invention.

[0133] Figure 12 is a schematic view showing an operation of the actuator 160 increasing from a minimum stroke to a maximum stroke.

[0134] When describing Figure 12 , reference may be made to Figures 2 to 6 showing a structure in which the steering device 130 is connected to the wheel 120 and the vehicle body 110. In addition, reference may also be made to Figures 7 to 9 showing a detailed configuration of the actuator 160.

[0135] The actuator 160 may be operated to linearly reciprocate the piston 172 relative to the cylinder block 171 and the bracket 173. This is achieved by driving the screw shaft 182 to rotate by the motor 181 and moving the screw nut 183 on the screw shaft 182 due to the rotation of the screw shaft 182. The stroke of the actuator 160 may be increased or decreased according to the linear movement of the cylinder block 171.

[0136] The actuator 160 may be configured such that when the actuator 160 increases to its maximum stroke, the sensor 176 and the fixed pin 174 are aligned.

[0137] The steering device 130 may adjust the steering angle of the wheel 120 by rotating the knuckle 140 according to the strokes of the first actuator 160a and the second actuator 160b. For example, the steering device 130 may rotate the wheel 120 about the kingpin axis 145 by operating the first actuator 160a and the second actuator 160b with different strokes.

[0138] For example, as Figures 3 to 6As shown, when the first actuator 160a and the second actuator 160b are in the neutral state of maintaining the same stroke (or length), the vehicle 100 can travel straight in the forward and backward directions (①, ②). Based on the neutral state, when the stroke of the first actuator 160a decreases (e.g., operated in the direction opposite to the arrow in Figure 12 ), and the stroke of the second actuator 160b increases (e.g., operated in the direction of the arrow in Figure 12 ), the wheel 120 can be steered to turn the vehicle 100 to the left. Conversely, based on the neutral state, when the stroke of the first actuator 160a increases and the stroke of the second actuator 160b decreases, the wheel 120 can be steered to turn the vehicle 100 to the right.

[0139] Reference Figures 3 to 6 , the description of the operation of the actuator 160 is based on the steering device 130 and the wheel 120 arranged on the right side in front of the vehicle 100 (①). Since the steering device 130 corresponding to the paired front wheels 120a or the paired rear wheels 120b is symmetrically arranged with respect to the chassis module 111, the operation of the steering device 130 and the wheel 120 arranged on the left side can be opposite. In other words, when the stroke of the first actuator 160a decreases and the stroke of the second actuator 160b increases, the wheel 120 arranged on the left side can be steered to turn to the right. Additionally, when the stroke of the first actuator 160a increases and the stroke of the second actuator 160b decreases, the wheel 120 can be steered to turn to the left.

[0140] As described above, in the embodiment, the first actuator 160a (e.g., the body joint head 1731 of the bracket 173) can rotate relative to the vehicle body 110 about the X-axis and the Z-axis. Additionally, the second actuator 160b (e.g., the body joint head 1731 of the bracket 173) can rotate relative to the vehicle body 110 about the X-axis, but the rotation of the second actuator 160b about the Z-axis can be restricted. Additionally, the first actuator 160a and the second actuator 160b (e.g., the knuckle joint head 1721 of the piston 172) can rotate relative to the knuckle 140 about the X-axis and the Z-axis.

[0141] In the above embodiment, the rotation of the body joint head 1731 and the knuckle joint head 1721 about the X-axis can correspond to the height adjustment operation. Additionally, the rotation of the knuckle joint head 1721 about the Z-axis and the rotation of the body joint head 1731 of the first actuator 160a about the Z-axis can correspond to the steering angle adjustment operation.

[0142] In the above-described embodiment, when the vehicle 100 turns left and the stroke distance of the first actuator 160a is less than the stroke distance of the second actuator 160b, the first actuator 160a rotates about the Z axis to correspond to the distance by which the first joint point P1 moves in the X-axis direction in a state where the second actuator 160b is prevented from rotating about the Z axis.

[0143] Conversely, in the above-described embodiment, when the vehicle 100 turns right and the stroke distance of the first actuator 160a is greater than the stroke distance of the second actuator 160b, the first actuator 160a rotates about the Z axis to correspond to the distance by which the first joint point P1 moves in the X-axis direction in a state where the second actuator 160b is prevented from rotating about the Z axis.

[0144] However, the rotational degrees of freedom of the first actuator 160a and the second actuator 160b with respect to the vehicle body 110 are not limited to the above-described embodiment. According to various embodiments, both the first actuator 160a and the second actuator 160b can be arranged to be rotatable about the X axis and the Z axis with respect to the vehicle body 110.

[0145] According to an embodiment of the present invention, by optimizing the design of the joint points of the pair of linear actuators and the steering knuckles and the joint points of the lower arms and the steering knuckles, all available strokes of the linear actuators can be utilized and the maximum steering angle can be generated with the minimum length change.

[0146] In addition, according to an embodiment of the present invention, by causing the pair of linear actuators to perform the function of the arm structure, the linear actuators can be used as suspension elements.

[0147] Although the embodiments have been shown and described above, it should be apparent to those of ordinary skill in the art that modifications and changes can be made without departing from the scope of the present invention as defined by the appended claims.

[0148] In addition, the embodiments of the present invention can be implemented with some components omitted. The components of each embodiment can also be combined and configured with each other.

Claims

1. An independent steering device, comprising: a steering knuckle provided with a first upper engaging portion and a second upper engaging portion at an upper portion and a lower engaging portion at a lower portion; a first actuator rotatably engaged to the first upper engaging portion; a second actuator positioned adjacent to the first actuator and rotatably engaged to the second upper engagement portion; and a lower connecting member rotatably engaged to the lower engaging portion, The lower joint portion is located below the center between the first upper joint portion and the second upper joint portion of the steering knuckle.

2. The independent steering device according to claim 1, wherein: The steering knuckle is coupled to the wheel, The lower engaging portion passes through the center between the first upper engaging portion and the second upper engaging portion of the knuckle, and is positioned on the rear side based on a virtual first plane parallel to the rotation center axis of the wheel.

3. The independent steering device according to claim 2, wherein: The virtual first plane bisects a distance between a virtual second plane and a virtual third plane, the virtual second plane is parallel to the virtual first plane and passes through the first upper joining portion, and the virtual third plane is parallel to the virtual first plane and passes through the second upper joining portion.

4. The independent steering device according to claim 3, wherein: The first actuator is engaged to a first engagement point on the first upper engagement portion; the second actuator being engaged to a second engagement point on the second upper engagement portion; The lower connecting member is joined to a third joining point on the lower joining portion; The first joining point is located on the virtual second plane, the second joining point is located on the virtual third plane, and the third joining point is located between the virtual second plane and the virtual third plane.

5. The independent steering device according to claim 4, wherein: The third joining point is located between the virtual first plane and the virtual third plane.

6. The independent steering device according to claim 1, wherein: The other end portion of the first actuator and the other end portion of the second actuator are each joined to a vehicle body.

7. The independent steering device according to claim 6, further comprising: an upper connecting member connecting the second actuator and the vehicle body; The upper connecting member includes a first fastening portion coupled to at least a portion of the second actuator and a second fastening portion extending from the first fastening portion and coupled to the vehicle body.

8. The independent steering device according to claim 6, wherein: The lower connecting member includes a third fastening portion coupled to the lower coupling portion and a fourth fastening portion extending from the third fastening portion and coupled to a vehicle body.

9. The independent steering device according to claim 1, wherein: Each of the first actuator and the second actuator includes a travel module configured to connect a steering knuckle and a vehicle body; The stroke module includes a piston, a cylinder, and a bracket, wherein the piston is coupled to the steering knuckle, at least a portion of the piston is movably inserted into the cylinder, and the bracket is coupled to the cylinder and to the vehicle body; The inner surface of the cylinder is provided with a guide groove in the longitudinal direction of the cylinder, and the outer surface of the piston is provided with a guide protrusion, which is configured to be inserted into the guide groove.

10. The independent steering device according to claim 9, wherein: Each of the first actuator and the second actuator further includes a drive module that provides a drive force to linearly move the piston relative to the cylinder; The driving module includes a screw shaft, a screw nut and a motor, wherein the screw shaft is rotatably arranged inside the cylinder body, the screw nut is fastened to the screw shaft to convert the rotational motion of the screw shaft into the linear motion of the piston, and the motor provides rotational force to the screw shaft.

11. The independent steering device according to claim 10, wherein: The spindle nut is fixed to the interior of the piston.

12. The independent steering device according to claim 11, wherein: Each of the piston and the screw nut is provided with an insertion hole into which a fixing pin is inserted, and wherein an engagement position of the piston and the screw nut is fixed by the fixing pin inserted into the insertion hole.

13. The independent steering device according to claim 12, wherein: Each of the first actuator and the second actuator further comprises a sensor coupled to the cylinder and configured to detect a relative position of the piston with respect to the cylinder, and wherein the sensor is configured to detect the retaining pin.

14. The independent steering device according to claim 9, wherein: The inner peripheral surface of the cylinder is provided with an air flow groove for discharging air, and the piston is provided with an air flow hole for discharging air.

15. The independent steering device according to claim 2, wherein: When the wheel is viewed in the direction of the central axis of rotation, the independent steering device is located within the diameter of the wheel.

16. A vehicle comprising: Car body; wheels mounted on the vehicle body; and 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 provided with a first upper coupling portion and a second upper coupling portion at an upper portion and a lower coupling portion at a lower portion; a first actuator rotatably engaged to the first upper engaging portion; a second actuator positioned adjacent to the first actuator and rotatably engaged to the second upper engagement portion; and a lower connecting member rotatably engaged to the lower engaging portion, The lower engaging portion passes through the center between the first upper engaging portion and the second upper engaging portion of the steering knuckle and is positioned at the rear side based on a virtual first plane parallel to the rotation center axis of the wheel.

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