Lean actuator and mobility including the same

Abstract

According to the present embodiments, a lean actuator including a motor, an input shaft connected to the motor shaft of the motor, a reducer having an output shaft to which a lean bar is connected and connected to the input shaft, and a housing that accommodates the reducer and to which the motor is connected, and a mobility including the same can be provided.

Description

[Technical Field]

[0001] The present embodiments relate to a lean actuator and a lean mobility including the same. [Background technology]

[0002] Recently, there has been growing interest in compact mobility vehicles, which can be utilized as urban mobility vehicles suitable for short-distance travel with a small number of passengers.

[0003] However, small mobility vehicles have a problem in that the body is light and the center of gravity is high, which reduces driving safety when turning, such as cornering.To solve this problem and allow the driver to enjoy a dynamic driving experience, small mobility vehicles can be equipped with a so-called lean system that performs a lean function by tilting the body depending on the direction of travel.

[0004] The lean system of a small mobility vehicle includes a lean actuator for tilting the vehicle body. However, due to the characteristics of the lean function that tilts the vehicle body, there is a significant safety risk, so high precision in lean angle control is required.

[0005] The compact mobility vehicle further includes a steering input device to which the driver's steering wheel operation is input, and a steering actuator that generates a steering force for steering the wheels in response to the driver's steering wheel operation.

[0006] However, when considering the small size of the vehicle body and the applications of the miniature mobility vehicle, various devices provided in the mobility vehicle must be small in size. Summary of the Invention [Problem to be solved by the invention]

[0007] The present embodiments have been devised in light of the above background, and relate to a lean actuator having a compact structure and capable of sensing a lean angle with high precision, and a mobility including the same. [Means for solving the problem]

[0008] According to the present embodiments, a lean actuator can be provided that includes a motor, an input shaft connected to a motor shaft of the motor, a reducer having an output shaft to which a lean bar is connected and connected to the input shaft, and a housing that accommodates the reducer and to which the motor is connected.

[0009] Furthermore, according to the present embodiments, a mobility device including a lean actuator can be provided, the lean actuator including a motor, an input shaft connected to the motor shaft of the motor, a reducer having an output shaft to which a lean bar is connected and connected to the input shaft, and a housing that accommodates the reducer and to which the motor is connected. [Effects of the Invention]

[0010] According to the present embodiments, a lean actuator having a compact structure and capable of sensing the lean angle with high precision and a mobility including the same can be provided. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is an exploded perspective view of a lean actuator according to the present embodiment. [Figure 2] FIG. 2 is a perspective view of the lean actuator according to the present embodiment. [Figure 3] FIG. 3 is a cross-sectional view of the lean actuator according to the present embodiment. [Figure 4] FIG. 4 is an exploded perspective view of a part of the lean actuator according to the present embodiment. [Figure 5] FIG. 5 is a front view of a portion of the lean actuator according to the present embodiment. [Figure 6]FIG. 6 is a front view of a portion of the lean actuator according to the present embodiment. [Figure 7] FIG. 7 is an exploded perspective view of a part of the lean actuator according to the present embodiment. [Figure 8] 8a, 8b, and 8c are diagrams for explaining the lean actuator and mobility according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Some embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. When adding reference numerals to components in each drawing, identical components may be assigned the same numerals as much as possible, even if they appear in different drawings. Furthermore, when describing the embodiments, if it is determined that a detailed description of related known structures or functions may obscure the gist of the present technical concept, such a detailed description may be omitted. When terms such as "include," "have," and "be made" are used in this specification, other terms may be added unless "only" is used. When a component is expressed in the singular, it may also include a plural unless otherwise expressly stated.

[0013] Furthermore, in describing components of the present disclosure, terms such as "first," "second," "A," "B" (a) (b), etc., may be used. These terms are merely used to distinguish the components from other components, and do not limit the nature, order, sequence, or number of the corresponding components.

[0014] In describing the positional relationship of components, when two or more components are described as being "coupled," "coupled," or "connected," it should be understood that the two or more components can be directly "coupled," "coupled," or "connected," but that the two or more components can also be "coupled," "coupled," or "connected" through an additional "intervening" component. Here, the other component can be included in one or more of the two or more components that are "coupled," "coupled," or "connected" to each other.

[0015] In describing the temporal flow relationship associated with components, operating methods, manufacturing methods, etc., when the temporal or flow sequence relationship is described using, for example, "after," "following," "next," or "before," it may also include cases where the relationship is not consecutive, unless "immediately" or "directly" is used.

[0016] On the other hand, when a numerical value or its corresponding information (e.g., level, etc.) for a component is mentioned, the numerical value or its corresponding information may be interpreted as including an error range that may occur due to various factors (e.g., process factors, internal or external impact, noise, etc.), even if not otherwise explicitly stated.

[0017] FIG. 1 is an exploded perspective view of the lean actuator according to the present embodiments, FIG. 2 is a perspective view of the lean actuator according to the present embodiments, FIG. 3 is a cross-sectional view of the lean actuator according to the present embodiments, FIG. 4 is an exploded perspective view of a portion of the lean actuator according to the present embodiments, FIG. 5 is a front view of a portion of the lean actuator according to the present embodiments, FIG. 6 is a front view of a portion of the lean actuator according to the present embodiments, FIG. 7 is an exploded perspective view of a portion of the lean actuator according to the present embodiments, and FIGS. 8a, 8b, and 8c are drawings for explaining the lean actuator and mobility according to the present embodiments.

[0018] According to the present embodiments, a lean actuator 100 can be provided, including a motor 110, an input shaft 120 connected to a motor shaft 110a of the motor 110, a reducer 130 having an output shaft 131 to which a lean bar is connected and connected to the input shaft, and a housing 140 that accommodates the reducer 130 and to which the motor 110 is connected.

[0019] Furthermore, according to the present embodiments, mobility including the lean actuator 100 can be provided.

[0020] First, let us take a closer look at the lean function of the mobility according to the present embodiment with reference to Figures 8a, 8b, and 8c. Figure 8a shows a state in which the lean function of the mobility according to the present embodiment is not being performed, which may be a stopped, straight ahead, or reverse state.

[0021] Figures 8b and 8c show the state in which the lean function of the mobility according to the present embodiments is performed, where Figure 8b shows the state in which the vehicle body tilts due to the lean function when turning, and Figure 8c shows the state in which the difference in height between the left and right wheels is offset by the lean function on uneven terrain.

[0022] In other words, the lean function can be used to improve driving safety when cornering, provide the driver with a dynamic driving environment, and also provide a suspension function that absorbs ground irregularities.

[0023] The mobility device according to the present embodiment includes a lean bar 800, both ends of which are connected to left and right wheels to perform a lean function. Both ends of the lean bar 800 are connected to the left and right wheels via a linkage structure. The wheels connected to the lean bar 800 may be front wheels or rear wheels.

[0024] The mobility according to the present embodiment includes a lean actuator 100, and the lean bar 800 is rotated by the lean actuator 100 to perform the lean function.

[0025] 1 to 3, the lean actuator 100 according to the present embodiment includes a motor 110, an input shaft 120, a reducer 130 having an output shaft 131, and a housing 140.

[0026] The power of the motor 110 is transmitted to the reducer 130 through the input shaft 120, and the reduced power is transmitted to the output shaft 131. A lean bar is connected to the output shaft 131. Therefore, the lean bar can be rotated by the power of the motor 110.

[0027] According to one embodiment, the lean actuator 100 according to the present embodiments may further include an electronic control unit 111 that controls the rotation direction and rotation speed of the motor 110. The electronic control unit 111 may receive information sensed by various sensors provided in the mobility, such as the steering angle of the steering wheel of the driver, the rotation angle of the lean bar, the vehicle speed, and the yaw rate, and control the motor 110 based on the received information.

[0028] According to one embodiment, serrations 110b, 120b may be formed on at least one side of the motor shaft 110a and the input shaft 120, and they may be coupled together. FIG. 3 shows that serrations 110b, 120b are formed on both sides.

[0029] The input shaft 120 coupled to the motor shaft 110a is housed in the housing cover 150 together with the locking gear 121. An end of the input shaft 120 protrudes from the sensor cover 210 and is coupled to the reducer 130. A locking member 160 is coupled to one side of the housing cover 150.

[0030] According to one embodiment, the output shaft 131 may have a coupling portion 131a having serrations formed thereon to which a lean bar is coupled.

[0031] The housing 140 accommodates the reducer 130, and a coupling portion 131a of the output shaft 131 protrudes from the housing 140. A lean bar is coupled to the coupling portion 131a of the output shaft 131 protruding from the housing 140. The coupling portion 131a of the lean bar is coupled to the serration, and a nut for fixing the lean bar to the output shaft 131 can be coupled to the coupling portion 131a.

[0032] According to one embodiment, a bearing 311 that supports the rotation of the output shaft 131 may be coupled to the housing 140. As will be described in detail below, one end of the output shaft 131 may be provided as a gear portion 131b between the fixed gear 132 and the rotating cam 133, and the other end of the output shaft 131 may be provided as a coupling portion 131a to which a lean bar is coupled. The bearing 311 may support the middle portion of the output shaft 131 in the housing 140.

[0033] Referring to Figures 3 and 4, according to one embodiment, the reducer 130 includes a rotating cam 133 to which the input shaft 120 is coupled, and a fixed gear 132 coupled to the housing 140, and the output shaft 131 includes a gear portion 131b coupled to the rotating cam 133 and meshing with the fixed gear 132.

[0034] That is, the reducer 130 includes an output shaft 131, a rotating cam 133, and a fixed gear 132, and the output shaft 131 can include a coupling portion 131a and a gear portion 131b.

[0035] Although omitted in Figures 1 to 4 for ease of illustration and understanding, as shown in Figure 5, a gear may be formed on the inner surface of the fixed gear 132, whose outer surface is supported and coupled to the housing 140, and a gear that meshes with the gear of the fixed gear 132 may be formed on the outer surface of the gear portion 131b of the output shaft 131.

[0036] The gear portion 131b of the output shaft 131 is formed as a hollow elliptical shape, and has a gear on its outer surface that meshes with the gear of the fixed gear 132, and a rotating cam 133 is coupled to its inner surface. A bearing may be provided between the rotating cam 133 and the gear portion 131b.

[0037] The rotating cam 133 is coupled to the input shaft 120 and is rotated by the power of the motor 110, and the power of the motor 110 is reduced by the rotating cam 133, the gear portion 131b, and the fixed gear 132 and output to the output shaft 131. According to one embodiment, the reducer 130 may be a harmonic reducer.

[0038] According to one embodiment, a key pin 120a may be coupled to an outer surface of the input shaft 120, and a key groove 133a into which the key pin 120a engages may be formed in the rotating cam 133. A recessed groove may be formed in the outer surface of the input shaft 120, and the key pin 120a may be inserted into the recessed groove to be coupled to the input shaft 120. The key pin 120a may be inserted into the key groove 133a of the rotating cam 133, so that the input shaft 120 and the rotating cam 133 may be fixed in the circumferential direction.

[0039] 1 and 6, the lean actuator 100 according to the present embodiment may further include a locking member 160 for restricting the rotation of the lean bar.

[0040] The rotation of the lean bar is restricted by the operation of the locking member 160, which may prevent the lean function of the mobility of the present embodiment from being performed. For example, in situations where the lean function is not required, such as when moving forward or backward, or when the vehicle is stopped, or when the vehicle needs to be kept upright, the locking member 160 operates to maintain the lean bar in a horizontal position.

[0041] According to one embodiment, the locking member 160 can lock the rotation of the input shaft 120 to limit the rotation of the lean bar.

[0042] According to one embodiment, a locking gear 121 is coupled to the input shaft 120, and the locking member 160 may include a locking pin 161 that is advanced to engage with the locking gear 121 or advanced backward to separate from the locking gear 121, and a drive portion 162 that advances or reverses the locking pin 161.

[0043] The locking pin 161 may be advanced or retracted by the driving part 162. When the locking pin 161 is advanced, the end thereof meshes with the gear of the locking gear 121, and therefore, the rotation of the locking gear 121 and the input shaft 120 to which the locking gear 121 is coupled may be restricted, and the rotation of the lean bar 800 may be restricted.

[0044] When the locking pin 161 is moved backward, the end thereof is separated from the gear of the locking gear 121, so that the input shaft 120 and the lean bar can be rotated by the motor 110. The locking gear 121 can be coupled to the input shaft 120 and serrations.

[0045] 3 and 7, the lean actuator 100 according to the present embodiment may further include a sensor unit 210 that senses the rotation angle of the output shaft 131. That is, the sensor unit 210 may sense the rotation angle of a lean bar coupled to the output shaft 131.

[0046] The rotation angle information of the output shaft 131 sensed by the sensor unit 210 is transmitted to the electronic control device 111, and the electronic control device 111 can control the motor 110 using the rotation angle information of the output shaft 131.

[0047] According to one embodiment, the sensor unit 210 may include a rotary shaft 212 that rotates in conjunction with the output shaft 131 and a sensor 213 that senses the rotation angle of the rotary shaft 212. The sensor 213 senses the rotation angle of the output shaft 131 and the lean bar from the rotation angle of the rotary shaft 212. The sensor 213 and the rotary shaft 212 may be housed inside a sensor cover 211 that is coupled to the housing 140.

[0048] According to one embodiment, the gear ratio of the rotary shaft 212 to the output shaft 131 may be greater than 1. Therefore, the sensor 213, which senses the rotation angle of the output shaft 131 from the rotation angle of the rotary shaft 212, can sense the rotation angle of the output shaft 131 more precisely.

[0049] Since the gear ratio of the rotary shaft 212 to the output shaft 131 is greater than 1, the precision of the sensor 213 is improved compared to when the rotation angle of the output shaft 131 is directly sensed.

[0050] According to one embodiment, one end of the rotating shaft 212 may be coupled to the sensor 213, and the other end of the rotating shaft 212 may be supported by a bearing 212a coupled to the housing 140. That is, both ends of the rotating shaft 212 may be supported by the sensor 213 and the bearing 212a, respectively.

[0051] According to one embodiment, the output shaft 131 and the rotating shaft 212 may be connected by a belt 214. That is, the output shaft 131 and the rotating shaft 212 are arranged in parallel and connected by the belt 214, so that the rotating shaft 212 can be rotated in conjunction with the output shaft 131.

[0052] According to one embodiment, a pulley 215 around which a belt 214 is wound may be coupled to the output shaft 131. A gear that meshes with the pulley 215 may be formed on the rotating shaft 212 as shown in the drawing. Alternatively, a pulley around which the belt 214 is wound may be coupled to the rotating shaft 212.

[0053] According to one embodiment, the diameter of the pulley 215 may be larger than the diameter of the rotating shaft 212. Therefore, the gear ratio of the rotating shaft 212 to the output shaft 131 is greater than 1, and the precision of the sensor 213 may be improved.

[0054] According to one embodiment, a bearing 216 may be provided that presses the outer surface of the belt 214. The bearing 216 is supported on the outer surface of the belt 214 and presses the belt 214. This maintains the tension of the belt 214, preventing sliding or jumping between the belt 214 and the pulley 215 and / or between the belt 214 and the rotating shaft 212.

[0055] A lean actuator having such a structure and a mobility including the same can provide a compact structure and can sense the lean angle with high precision.

[0056] The above description merely exemplifies the technical concept of the present disclosure, and various modifications and variations may be made by a person skilled in the art without departing from the essential characteristics of the technical concept. Furthermore, the present examples are intended to illustrate, not limit, the technical concept of the present disclosure, and therefore the scope of the technical concept of the present disclosure should not be limited by these examples. The scope of protection of the present disclosure should be interpreted by the following claims, and all technical concepts within the scope equivalent thereto should be interpreted as being included in the scope of rights of the present disclosure.

Claims

1. A motor; an input shaft coupled to a motor shaft of the motor; a reducer including an output shaft to which a lean bar is connected and connected to the input shaft; a housing that accommodates the reducer and to which the motor is coupled; Lean actuator including.

2. The lean actuator of claim 1 further comprising an electronic controller that controls the motor.

3. 2. The lean actuator according to claim 1, wherein serrations are formed on at least one side of the motor input shaft.

4. The lean actuator according to claim 1 , wherein the output shaft has a coupling portion to which the lean bar is coupled.

5. 2. The lean actuator according to claim 1, wherein a bearing for supporting rotation of the output shaft is coupled to the housing.

6. the reducer includes a rotating cam to which the input shaft is coupled and a fixed gear coupled to the housing; The lean actuator according to claim 1 , wherein the output shaft includes a gear portion coupled to the rotating cam and meshing with the fixed gear.

7. 2. The lean actuator according to claim 1, wherein the reducer is a harmonic reducer.

8. A key pin is coupled to the outer surface of the input shaft, 7. The lean actuator according to claim 6, wherein the rotating cam is formed with a key groove into which the key pin engages.

9. The lean actuator of claim 1 further comprising a locking member for limiting rotation of said lean bar.

10. 10. The lean actuator according to claim 9, wherein the locking member locks the rotation of the input shaft to limit the rotation of the lean bar.

11. A locking gear is coupled to the input shaft, The locking member is a locking pin that is advanced to engage with the locking gear or retracted to disengage from the locking gear; and 10. The lean actuator of claim 9, further comprising: a drive portion that moves the locking pin forward or backward.

12. 2. The lean actuator according to claim 1, further comprising a sensor unit for sensing a rotation angle of the output shaft.

13. The sensor unit a rotating shaft that rotates in conjunction with the output shaft; and The lean actuator according to claim 12, further comprising: a sensor that senses a rotation angle of the rotary shaft.

14. 14. The lean actuator of claim 13, wherein a gear ratio of the rotary shaft to the output shaft is greater than one.

15. One end of the rotating shaft is coupled to the sensor, The lean actuator according to claim 13, wherein the other end of the rotary shaft is supported by a bearing coupled to the housing.

16. 14. The lean actuator according to claim 13, wherein the output shaft and the rotary shaft are connected by a belt.

17. 17. The lean actuator according to claim 16, wherein a pulley around which the belt is wound is coupled to the output shaft.

18. 18. The lean actuator of claim 17, wherein the diameter of the pulley is greater than the diameter of the rotating shaft.

19. 17. The lean actuator of claim 16, further comprising a bearing that presses against an outer surface of the belt.

20. Mobility comprising a lean actuator according to claim 1.

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