Lean actuator and mobility means comprising same

Abstract

According to the present embodiments, a lean actuator and a mobility means comprising same can be provided, the lean actuator comprising: a motor; an input shaft which is coupled to a motor shaft of the motor; a reducer which has an output shaft, to which a lean bar is coupled, and is coupled to the input shaft; and a housing which accommodates the reducer, and to which the motor is coupled.

Description

Lean actuators and mobility including them

[0001] The present embodiments relate to lean actuators and lean mobility including the same.

[0002] Interest in micromobility has been growing recently. These micromobility vehicles can be utilized as urban mobility solutions suitable for small passenger numbers and short-distance travel.

[0003] However, compact mobility vehicles are designed with lightweight bodies and high centers of gravity, which can compromise driving stability during cornering and other directional changes. To address this issue and enable drivers to enjoy dynamic driving, compact mobility vehicles can be equipped with a so-called lean system, which tilts the vehicle body according to the driving direction.

[0004] The lean system of a small mobility vehicle includes a lean actuator for tilting the vehicle body. However, due to the inherent safety risks inherent in leaning, high precision lean angle control is required.

[0005] Additionally, the small mobility further includes a steering input device for inputting a driver's steering wheel operation and a steering actuator for generating steering force for steering the wheels according to the driver's steering wheel operation.

[0006] However, considering the small body and intended use of small mobility vehicles, small sizes of various devices equipped in the mobility vehicles are required.

[0007] The present embodiments are conceived in the context of the above-mentioned background and relate to a lean actuator having a compact structure and capable of sensing a lean angle with high precision, and mobility including the same.

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

[0009] Additionally, according to the present embodiments, a mobility may be provided that includes a lean actuator having a motor, an input shaft coupled to a motor shaft of the motor, an output shaft to which a lean bar is coupled, a reducer coupled to the input shaft, and a housing that accommodates the reducer and to which the motor is coupled.

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

[0011] Figure 1 is an exploded perspective view of a lean actuator according to the present embodiments.

[0012] Fig. 2 is a perspective view of a lean actuator according to the present embodiments.

[0013] Fig. 3 is a cross-sectional view of a lean actuator according to the present embodiments.

[0014] Fig. 4 is an exploded perspective view of a part of a lean actuator according to the present embodiments.

[0015] Fig. 5 is a front view of a part of a lean actuator according to the present embodiments.

[0016] Fig. 6 is a front view of a part of a lean actuator according to the present embodiments.

[0017] Fig. 7 is an exploded perspective view of a part of a lean actuator according to the present embodiments.

[0018] FIG. 8a, FIG. 8b, and FIG. 8c are drawings for explaining the lean actuator and mobility according to the present embodiments.

[0019] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to exemplary drawings. When adding reference numerals to components in each drawing, identical components may have the same numerals as much as possible even if they are shown in different drawings. In addition, when describing the present embodiments, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the technical idea of ​​the present invention, the detailed description may be omitted. When "includes," "has," "consists of," etc. are used in this specification, other parts may be added unless "only" is used. When a component is expressed in the singular, it may include a case in which the plural is included unless specifically stated otherwise.

[0020] Additionally, terms such as first, second, A, B, (a), (b), etc. may be used to describe components of the present disclosure. These terms are only intended to distinguish the components from other components, and the nature, order, sequence, or number of the components are not limited by the terms.

[0021] In a description of the positional relationship of components, when it is described that two or more components are "connected," "combined," or "connected," it should be understood that the two or more components may be directly "connected," "combined," or "connected," but that the two or more components may also be further "interposed" with another component to be "connected," "combined," or "connected." Here, the other component may be included in one or more of the two or more components that are "connected," "combined," or "connected" to each other.

[0022] In the description of the temporal flow relationship related to components, operation methods, or manufacturing methods, for example, when the temporal or flow relationship is described as “after”, “following”, “next to”, “before”, etc., it may also include cases where it is not continuous, unless “immediately” or “directly” is used.

[0023] Meanwhile, when numerical values ​​or corresponding information (e.g., levels, etc.) for components are mentioned, even without separate explicit description, the numerical values ​​or 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.).

[0024] FIG. 1 is an exploded perspective view of a lean actuator according to the present embodiments, FIG. 2 is a perspective view of a lean actuator according to the present embodiments, FIG. 3 is a cross-sectional view of a lean actuator according to the present embodiments, FIG. 4 is an exploded perspective view of a part of a lean actuator according to the present embodiments, FIG. 5 is a front view of a part of a lean actuator according to the present embodiments, FIG. 6 is a front view of a part of a lean actuator according to the present embodiments, FIG. 7 is an exploded perspective view of a part of a lean actuator according to the present embodiments, and FIGS. 8A, 8B, and 8C are drawings for explaining a lean actuator and mobility according to the present embodiments.

[0025] According to the present embodiments, a lean actuator (100) can be provided, which includes a motor (110), an input shaft (120) coupled to a motor shaft (110a) of the motor (110), an output shaft (131) to which a lean bar is coupled and a reducer (130) coupled to the input shaft, and a housing (140) that accommodates the reducer (130) and to which the motor (110) is coupled.

[0026] Additionally, according to the present embodiments, mobility including a lean actuator (100) can be provided.

[0027] First, the lean function of the mobility according to the present embodiments will be examined with reference to FIGS. 8A, 8B, and 8C. FIG. 8A illustrates a state in which the lean function of the mobility according to the present embodiments is not performed, which may be, for example, a stopped state, a straight-line state, or a reverse state.

[0028] FIG. 8b and FIG. 8c show a state in which the lean function of the mobility according to the present embodiments is performed. FIG. 8b shows a state in which the vehicle body tilts due to the lean function during turning, and FIG. 8c shows a state in which the height difference between the left and right wheels is offset due to the lean function on a step terrain.

[0029] That is, by utilizing the lean function, driving stability can be improved during cornering driving, while providing the driver with a dynamic driving environment, and a suspension function that absorbs ground differences can also be provided.

[0030] The mobility according to the present embodiments includes a lean bar (800) whose ends are connected to the left and right wheels to perform lean functions. The ends of the lean bar (800) are connected to the left and right wheels via a linkage structure. The wheels to which the lean bar (800) is connected may be front or rear wheels.

[0031] The mobility according to the present embodiments includes a lean actuator (100), and a lean function is performed as a lean bar (800) is rotated by the lean actuator (100).

[0032] Next, referring to FIGS. 1 to 3, the lean actuator (100) according to the present embodiments includes a motor (110), an input shaft (120), a reducer (130) having an output shaft (131), and a housing (140).

[0033] 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 coupled to the output shaft (131). Therefore, the lean bar can be rotated by the power of the motor (110).

[0034] According to one embodiment, the lean actuator (100) according to the present embodiments may further include an electronic control device (111) that controls the rotational direction and rotational speed of the motor (110). The electronic control device (111) may receive information sensed by various sensors provided in the mobility, such as information on the steering wheel angle of the driver, the rotational angle of the lean bar, the vehicle speed, and the yaw rate, and control the motor (110) based on the received information.

[0035] According to one embodiment, serrations (110b, 120b) may be formed and coupled on at least one of the motor shaft (110a) and the input shaft (120), and FIG. 3 illustrates serrations (110b, 120b) formed on both sides.

[0036] The input shaft (120) coupled to the motor shaft (110a) is accommodated in the housing cover (150) together with the locking gear (121). The 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).

[0037] In one embodiment, the output shaft (131) may have a connecting portion (131a) formed with serrations to which the lean bar is connected.

[0038] The housing (140) accommodates the reducer (130), and the coupling portion (131a) of the output shaft (131) protrudes from the housing (140). The lean bar is coupled to the coupling portion (131a) of the output shaft (131) protruding from the housing (140). The lean bar and the coupling portion (131a) are coupled by serrations, and a nut for fixing the lean bar to the output shaft (131) can be coupled to the coupling portion (131a).

[0039] According to one embodiment, a bearing (311) that supports the rotation of an output shaft (131) may be coupled to the housing (140). As will be described in detail later, one end of the output shaft (131) may be provided as a gear portion (131b) between a fixed gear (132) and a rotary cam (133), and the other end of the output shaft (131) may be coupled as a coupling portion (131a) to which a lean bar may be coupled. In addition, the bearing (311) may support the middle of the output shaft (131) to the housing (140).

[0040] Referring to FIGS. 3 and 4, according to one embodiment, the reducer (130) includes a rotary cam (133) coupled to the input shaft (120) and a fixed gear (132) coupled to the housing (140), and the output shaft (131) may include a gear portion (131b) coupled to the rotary cam (133) and meshed with the fixed gear (132).

[0041] That is, the reducer (130) includes an output shaft (131), a rotary cam (133), and a fixed gear (132), and the output shaft (131) may include a coupling portion (131a) and a gear portion (131b).

[0042] Although omitted in FIGS. 1 to 4 for convenience of illustration and understanding, as shown in FIG. 5, gear teeth may be formed on the inner surface of a fixed gear (132) whose outer surface is supported by a housing (140) and coupled thereto, and gear teeth that mesh with the gear teeth of the fixed gear (132) may be formed on the outer surface of a gear portion (131b) of an output shaft (131).

[0043] The gear portion (131b) of the output shaft (131) is formed as a hollow body having an oval shape, and gear teeth that mesh with the gear teeth of the fixed gear (132) are formed on the outer surface, and a rotary cam (133) is coupled to the inner surface. A bearing may be provided between the rotary cam (133) and the gear portion (131b).

[0044] The rotary cam (133) is coupled to the input shaft (120) and rotates by the power of the motor (110), and the power of the motor (110) is reduced by the rotary cam (133), the gear unit (131b), and the fixed gear (132) and output to the output shaft (131). In one embodiment, the reducer (130) may be a harmonic reducer.

[0045] According to one embodiment, a key pin (120a) may be coupled to the outer surface of the input shaft (120), and a key groove (133a) may be formed in the rotary cam (133) in which the key pin (120a) engages. 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 and coupled to the input shaft (120). In addition, the key pin (120a) may be inserted into the key groove (133a) of the rotary cam (133), and the input shaft (120) and the rotary cam (133) may be fixed in the circumferential direction.

[0046] Referring to FIGS. 1 and 6, the lean actuator (100) according to the present embodiments may further include a locking member (160) for limiting the rotation of the lean bar.

[0047] The rotation of the lean bar is restricted by the operation of the locking member (160), and the lean function of the mobility according to the present embodiments may not be performed. For example, in situations where the lean function is unnecessary or the upright position of the vehicle body is required, such as in a straight or reverse driving state or a stationary state, the locking member (160) operates and the lean bar can be maintained in a horizontal state.

[0048] In one embodiment, the locking member (160) can lock the rotation of the input shaft (120) and limit the rotation of the lean bar.

[0049] According to one embodiment, a locking gear (121) is coupled to the input shaft (120), and a locking member (160) may include a locking pin (161) that advances and engages with the locking gear (121) or retreats and separates from the locking gear (121), and a driving unit (162) that advances or retreats the locking pin (161).

[0050] The locking pin (161) can be advanced or retreated by the driving unit (162). When the locking pin (161) is advanced, its end engages with the gear teeth of the locking gear (121), and thus, the rotation of the locking gear (121) and the input shaft (120) to which the locking gear (121) is coupled is restricted, and the rotation of the lean bar (800) can be restricted.

[0051] In addition, the locking pin (161) is separated from the gear teeth of the locking gear (121) at the end in the retracted state, so that the input shaft (120) and the lean bar can be rotated by the motor (110). The locking gear (121) can be connected to the input shaft (120) by serration.

[0052] Referring to FIGS. 3 and 7, the lean actuator (100) according to the present embodiments 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 the lean bar coupled to the output shaft (131).

[0053] 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).

[0054] According to one embodiment, the sensor unit (210) may include a rotation shaft (212) that rotates in conjunction with the output shaft (131) and a sensor (213) that senses the rotation angle of the rotation shaft (212). The sensor (213) senses the rotation angle of the output shaft (131) and the lean bar from the rotation angle of the rotation shaft (212). The sensor (213) and the rotation shaft (212) may be accommodated inside a sensor cover (211) that is coupled to the housing (140).

[0055] In one embodiment, the gear ratio of the rotational shaft (212) to the output shaft (131) may be greater than 1. Therefore, the sensor (213) that senses the rotational angle of the output shaft (131) from the rotational angle of the rotational shaft (212) can sense the rotational angle of the output shaft (131) more precisely.

[0056] Since the gear ratio of the rotation shaft (212) to the output shaft (131) is greater than 1, the precision of the sensor (213) is improved compared to the case where the rotation angle of the output shaft (131) is directly sensed.

[0057] In one embodiment, one end of the rotation shaft (212) may be coupled to a sensor (213), and the other end of the rotation shaft (212) may be supported by a bearing (212a) coupled to a housing (140). That is, both ends of the rotation shaft (212) may be supported by a sensor (213) and a bearing (212a), respectively.

[0058] In one embodiment, the output shaft (131) and the rotation shaft (212) can be connected by a belt (214). That is, the output shaft (131) and the rotation shaft (212) are arranged in parallel and connected by the belt (214), so that the rotation shaft (212) can rotate in conjunction with the output shaft (131).

[0059] In one embodiment, a pulley (215) around which a belt (214) is wound may be coupled to the output shaft (131). A gear tooth that meshes with the pulley (215) may be formed on the rotation shaft (212) as shown in the drawing. Alternatively, a pulley around which a belt (214) is wound may be coupled to the rotation shaft (212).

[0060] In one embodiment, the diameter of the pulley (215) may be larger than the diameter of the rotation shaft (212). Accordingly, the gear ratio of the rotation shaft (212) to the output shaft (131) may be greater than 1, and the precision of the sensor (213) may be improved.

[0061] In 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). Accordingly, the tension of the belt (214) is maintained, and slipping or jumping between the belt (214) and the pulley (215) and / or the belt (214) and the rotational shaft (212) is prevented.

[0062] A lean actuator having such a structure and a mobility including the same can provide a compact structure and sense a lean angle with high precision.

[0063] The above description is merely an illustrative example of the technical idea of ​​the present disclosure, and those skilled in the art to which the present disclosure pertains will appreciate that various modifications and variations can be made without departing from the essential characteristics of the technical idea of ​​the present disclosure. In addition, the present embodiments are not intended to limit the technical idea of ​​the present disclosure but rather to explain it, and therefore the scope of the technical idea of ​​the present disclosure is not limited by these embodiments. The scope of protection of the present disclosure should be interpreted by the claims below, and all technical ideas within a scope equivalent thereto should be interpreted as being included within the scope of the rights of the present disclosure.

Claims

1. Motor; An input shaft coupled to the motor shaft of the above motor; A reducer having an output shaft to which a link bar is coupled and coupled with the input shaft; A housing accommodating the above reducer and to which the motor is coupled; A lean actuator including:

2. In paragraph 1, A lean actuator further comprising an electronic control device for controlling the above motor.

3. In paragraph 1, A lean actuator characterized in that serrations are formed on at least one of the motor shaft and the input shaft.

4. In paragraph 1, A lean actuator, characterized in that the above output shaft has a coupling part to which the lean bar is coupled.

5. In paragraph 1, A lean actuator characterized in that a bearing that supports rotation of the output shaft is coupled to the housing.

6. In paragraph 1, The above reducer includes a rotating cam coupled with the input shaft and a fixed gear coupled to the housing, A lean actuator having the output shaft coupled with the rotating cam and including a gear portion meshing with the fixed gear.

7. In paragraph 1, A lean actuator characterized in that the above reducer is a harmonic reducer.

8. In paragraph 6, A lean actuator characterized in that a key pin is coupled to the outer surface of the input shaft, and a key groove is formed in the rotary cam in which the key pin engages.

9. In paragraph 1, A lean actuator further comprising a locking member for limiting rotation of the lean bar.

10. In paragraph 9, A lean actuator characterized in that the locking member locks the rotation of the input shaft and limits the rotation of the lean bar.

11. In paragraph 9, A locking gear is coupled to the above input shaft, The above locking member, A locking pin that advances and engages with the locking gear or retreats and disengages from the locking gear; and A driving unit that advances or retreats the above locking pin; A lean actuator including:

12. In paragraph 1, A lean actuator further comprising a sensor unit for sensing the rotation angle of the output shaft.

13. In paragraph 12, The above sensor part, A rotary shaft that rotates in conjunction with the above output shaft; and A sensor for sensing the rotation angle of the above rotation axis; A lean actuator including:

14. In paragraph 13, A lean actuator characterized in that the gear ratio of the rotation shaft to the output shaft is greater than 1.

15. In paragraph 13, A lean actuator, characterized in that one end of the rotation shaft is coupled with the sensor, and the other end of the rotation shaft is supported on a bearing coupled to the housing.

16. In paragraph 13, A lean actuator characterized in that the output shaft and the rotation shaft are connected by a belt.

17. In paragraph 16, A lean actuator characterized in that a pulley on which the belt is wound is coupled to the output shaft.

18. In paragraph 17, A lean actuator, characterized in that the diameter of the pulley is larger than the diameter of the rotating shaft.

19. In paragraph 16, A lean actuator characterized in that it comprises a bearing that pressurizes the outer surface of the belt.

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

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