JP2001080336A - Vehicle attitude control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stabilize a vehicle attitude by restraining a roll, pitch and bounce during traveling with a low consumption energy and improve controllability and ride comfort performance. SOLUTION: Based on sensor information detecting a vehicle condition, an actuator 6 disposed between an unsprung member and a sprung member of each of wheels is driven thereby controlling a vehicle posture. The actuator 6 comprises a first coil spring 22A which absorbs vibration of the sprung member, a shock absorber which has constant damping force characteristics and restrain free vibration of the first coil spring 22A, a spring seat 34 which supports a lower end of the first coil spring 22A, and a seat vertical movement mechanism 32 which moves the spring seat 34 in a vertical direction based on the sensor information.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle attitude control device for controlling a vehicle attitude by operating an actuator provided between an unsprung member and a sprung member.

[0002]

2. Description of the Related Art As a vehicle attitude control device, an actuator provided between an unsprung member and a sprung member of a wheel is operated to generate a relative displacement between the unsprung member and the sprung member, thereby controlling the vehicle posture. Devices are known that perform this. As this type of technology, for example, Japanese Patent Application Laid-Open No. 5-85131 (hereinafter referred to as Conventional Technology 1) and Japanese Patent Application Laid-Open No. 8-108721 (hereinafter referred to as Conventional Technology 2) are known.

[0003] The prior art 1 is a suspension device having an actuator coaxially with a coil spring. The actuator is a cylinder in which a piston connected to an intermediate portion of a piston rod is arranged in a cylinder, and the piston is filled with hydraulic oil. This is a double-rod double-acting cylinder partitioned into a first oil chamber and a second oil chamber. Then, the upper end of the piston rod is connected to the vehicle body, the rack & pinion mechanism is connected to the lower end of the piston rod, and the housing incorporating the rack & pinion mechanism is connected to the axle side,
This is a device that controls the vehicle height by moving the piston rod of the actuator up and down with respect to the axle side by operating the rack and pinion mechanism.

The prior art 2 is a suspension device including a shock absorber cylinder and a coil spring disposed on the outer periphery of the cylinder. The suspension device adjusts a screwing amount of the spring into an outer thread portion of the shock absorber cylinder. By screwing the receiving plate, lock washer and lock nut in order, the stroke of the shock absorber cylinder and the spring force of the coil spring are set to predetermined values to adjust the vehicle height, and to reduce unevenness on the ground and shocks when starting and stopping. It is a device that absorbs.

[0005]

However, in the prior art 1, since the actuator is incorporated in parallel (coaxial) with the coil spring, the sensitivity to vibration input from the road surface is increased, and particularly, the power in the high frequency region is increased. There is a problem that the feeling becomes worse. Further, the structure in which the rack and pinion mechanism is connected to the lower end of the piston rod becomes a large-sized device, and the degree of freedom of the vehicle layout is greatly restricted.

Further, in prior art 2, when a wheel load of a vehicle is applied to a shock absorber cylinder, a large friction is generated in an outer thread portion and a lock nut of the shock absorber cylinder, and the outer thread portion and the lock nut are relatively rotated. Therefore, large rotational energy is required. In addition to the prior arts 1 and 2, a device for controlling the posture by using a shock absorber using hydraulic pressure or air pressure has been put into practical use, but durability problems due to air or oil leakage are likely to occur. In addition, there is a problem in terms of equipment cost, since expensive control valves and the like must be used.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and it is possible to stabilize a vehicle posture while traveling with low energy consumption with high accuracy, to improve durability, to reduce the size and weight, and to reduce the cost. It is an object of the present invention to provide an intended vehicle attitude control device.

[0008]

According to a first aspect of the present invention, there is provided an actuator arranged between a sprung member and a sprung member of each wheel based on sensor information for detecting a vehicle state. In the vehicle attitude control device that controls the vehicle attitude by operating the actuator, the actuator,
A first spring for reducing vibration of the sprung member, a shock absorber having a constant damping force characteristic for suppressing free vibration of the sprung member and the unsprung member, and a spring for supporting a lower end of the first spring The suspension member includes a seat and a seat up-down movement mechanism for moving the spring seat up and down based on the sensor information.

According to the present invention, the roll, pitch, and bounce during traveling can be suppressed by simply performing the simple operation of changing the vertical position of the first spring by operating the seat vertical movement mechanism based on the sensor information. As a result, the vehicle posture can be stabilized, and the maneuverability and ride comfort are improved.
According to a second aspect of the present invention, in the vehicle attitude control device according to the first aspect, the first spring is constituted by a first coil spring coaxially arranged on an outer periphery of the shock absorber, and the seat vertical movement mechanism is provided. Was provided along the outer periphery of the shock absorber.

According to the present invention, the attitude of a vehicle equipped with a suspension in which a shock absorber and a first coil spring are arranged coaxially can be easily controlled, and
Since the seat vertical movement mechanism is provided along the outer periphery of the shock absorber, the actuator becomes a small actuator. According to a third aspect of the present invention, in the vehicle attitude control device according to the first aspect, the lower end of the shock absorber is
The first spring is coupled to a wheel support member of each of the wheels, and the first spring is disposed on the outer periphery of the shock absorber with its axis being offset to the outside in the vehicle width direction with respect to the axis of the shock absorber. The seat vertical movement mechanism is constituted by a first coil spring, and is provided along the outer periphery of the shock absorber.

According to the present invention, the posture of a vehicle equipped with a strut suspension can be easily controlled, and the seat up / down moving mechanism is provided along the outer periphery of the shock absorber.
According to a fourth aspect of the present invention, in the vehicle attitude control device according to the first aspect, the shock absorber and the first spring are separately disposed on top of other suspension members, respectively, and the first spring is provided. Is constituted by a first coil spring, and the seat vertical movement mechanism is provided at an axial position of the first coil spring.

According to the present invention, the posture of a vehicle equipped with, for example, a full trailing arm type suspension in which a shock absorber and a first spring are separately arranged can be easily controlled, and the seat vertical movement mechanism can be provided by the first coil spring. , The actuator becomes compact. According to a fifth aspect of the present invention, in the vehicle attitude control device according to the second or third aspect, the seat up / down moving mechanism forms a feed external thread on an outer periphery and distributes the male screw on the outer periphery of the outer cylinder of the shock absorber. A cylindrical feed member provided, a moving nut in which an internal female screw is screwed into the male screw for feeding, and connects the spring seat, and one of the moving nut and the feed member is moved in the forward and reverse directions. A rotation driving force generating means for rotating the spring seat up and down to rotate.

Also, According to a sixth aspect of the present invention, in the vehicle attitude control device according to the fourth aspect, the seat up-down movement mechanism has a feed external thread formed on an outer periphery thereof, and
A cylindrical feed member disposed on the outer periphery of a column fixed to the upper portion of the other suspension member, which coincides with the axis of the coil spring; and a female screw on the inner periphery is screwed into the male feed screw and connects the spring seat. And a rotational driving force generating means for vertically moving the spring seat by relatively rotating one of the moving nut and the feed member in forward and reverse directions.

According to the fifth and sixth aspects of the present invention, it is possible to provide a seat vertical moving mechanism for moving the spring seat in the vertical direction with a simple structure.
According to a seventh aspect of the present invention, in the vehicle attitude control device according to the fifth or sixth aspect, a shock absorbing member for absorbing vibration is provided on an inner periphery of the feed member. According to the present invention, even when vibration is input to the feed member when the vehicle travels on a rough road or the like, the vibration absorbing member absorbs the vibration, so that a poor screwing state is not generated in the seat vertical movement mechanism.

According to an eighth aspect of the present invention, in the vehicle attitude control device according to any one of the fifth to seventh aspects, the rotational driving force generating means is coaxial with the rotating moving nut or the feed member. , A driving force transmitting gear that meshes with the ring gear, and a driving motor that transmits forward and reverse rotational forces to the driving force transmitting gear via a flexible shaft.

According to the present invention, the degree of freedom of arrangement of the driving motor for rotating the driving force transmission gear is increased. Also,
According to a ninth aspect of the present invention, in the vehicle attitude control device according to the eighth aspect, when a flexible shaft having a different magnitude of torsional rigidity is used in the forward and reverse rotation directions, the flexible shaft is moved in a direction of small torsional rigidity. When rotating, the rotational force is transmitted from the driving motor to the driving force transmission gear via the flexible shaft, so that the spring seat moves downward.

Normally, the operation of the seat up-down movement mechanism in which the spring seat moves down is performed when there is a relatively large response time, such as during kneeling. Therefore,
As in the present invention, when the flexible shaft rotates in the direction of small torsional rigidity, the rotational force is transmitted from the driving motor to the driving force transmission gear via the flexible shaft so that the spring seat moves downward. Then, the control responsiveness of the seat vertical movement mechanism is not affected.

The invention according to claim 10 is the invention according to claim 5
The vehicle attitude control device according to any one of claims 1 to 7,
The rotation driving force generating means is configured to rotate the moving nut or the feed member in the forward and reverse directions by generating a magnetic force, and facing the permanent magnet provided on the outer periphery of the rotating moving nut or the feed member. And the magnetic force generating section.

According to the present invention, the moving nut or the feed member is rotated by the permanent magnet and the magnetic force generating portion, so that the apparatus can be simplified. According to an eleventh aspect of the present invention, in the vehicle attitude control device according to any one of the first to tenth aspects, a spring force for supporting a wheel load of the vehicle is provided between the spring seat and the unsprung member. The second spring having a.

According to the present invention, since the wheel load of the vehicle is hardly applied to the seat vertical moving mechanism, the durability is further improved. According to a twelfth aspect of the present invention, in the vehicle attitude control device according to any one of the third, fifth, and seventh to tenth aspects, the spring of the first coil spring in which the second spring is arranged offset. It was arranged so that the spring force acts on the side opposite to the direction in which the force acts.

According to the present invention, the moment by the offset first coil spring can be transmitted to the shock absorber via the second spring, and the original offset effect (the original offset effect) can be obtained without generating a stress in the seat vertical movement mechanism. (Lateral force reduction effect) is exhibited. Claim 1
According to a third aspect of the present invention, in the vehicle attitude control device according to the eleventh or twelfth aspect, the support load of the second spring is
It was set to be substantially the same as the wheel load of the vehicle. According to the present invention, the preload due to the wheel load of the vehicle applied to the seat vertical movement mechanism becomes almost zero.

The invention according to claim 14 is the first invention.
14. The vehicle attitude control device according to any one of 1 to 13, wherein the second spring is formed by a disc spring. According to a fifteenth aspect of the present invention, in the vehicle attitude control device according to any one of the eleventh to thirteenth aspects, the second spring is configured by a leaf spring in which at least two or more second springs are stacked.

According to the fourteenth and fifteenth aspects,
Further, the size and weight of the device can be reduced. Further, since the second spring is constituted by a plurality of leaf springs, the spring force of the second spring can be easily changed only by changing the number of the springs. The invention according to claim 16 is the invention according to claim 11.
In the vehicle attitude control device according to any one of the first to fifteenth aspects, the seat vertical movement mechanism is provided in an inner space of the first coil spring at a position above and separated from the second spring.

According to the present invention, since the space inside the first coil spring is effectively used, the apparatus can be made smaller. According to a seventeenth aspect of the present invention, in the vehicle attitude control device according to any one of the fifth to sixteenth aspects,
An electrical resistance value between the upper end of the feed member and the moving nut, and a vertical position of the spring seat is detected from a difference between an electrical resistance value between the lower end of the feed member and the movable nut, A vehicle height sensor for calculating the vehicle height based on the detection result of the position is provided.

According to the present invention, the vehicle height sensor has a simple structure, and the apparatus cost can be further reduced. Further, according to an eighteenth aspect of the present invention, in the vehicle attitude control device according to any one of the fifth to seventeenth aspects, a seat positioning means for restraining rotation of the spring seat with respect to the movable nut and holding the spring coaxially. Was provided.

According to the present invention, since the seat positioning means prevents backlash in the direction perpendicular to the axis of the first spring seat, abnormal noise during running of the vehicle is prevented.

[0027]

According to the first to fourth aspects of the present invention, a simple operation of changing the vertical position of the first spring by operating the seat vertical movement mechanism based on the sensor information is performed. Roll, pitch and bounce during running can be suppressed to stabilize the vehicle posture, thereby improving maneuverability and ride comfort. In addition, since the shock absorber has the characteristic of having a constant damping force, control of hydraulic pressure, pneumatic pressure, and the like is not required, so that the cost of the apparatus can be reduced.

In particular, according to the second to fourth aspects of the present invention, it is possible to easily control the attitude of the vehicle with respect to a suspension, a strut type suspension, and a full trailing arm type suspension in which the shock absorber and the first coil spring are arranged coaxially. In addition, since the seat vertical movement mechanism is provided at a position along the outer periphery of the shock absorber and at the axial center of the first coil spring, a small actuator can be obtained.

According to the fifth and sixth aspects of the present invention, it is possible to obtain a seat vertical moving mechanism for moving the spring seat in the vertical direction with a simple structure. In addition, according to the invention described in claim 7, even if vibration is input to the feed member side when the vehicle travels on a rough road, the shock absorbing member absorbs the vibration, so that the durability of the seat vertical movement mechanism is improved. be able to.

According to the eighth, ninth and tenth aspects of the present invention, the size and weight of the apparatus can be reduced. In particular, according to the ninth aspect of the invention, even when a flexible shaft having different torsional rigidities in the forward and reverse directions is used, the control responsiveness can be kept constant. Claim 11
According to the described invention, since the wheel load of the vehicle is hardly applied to the seat vertical movement mechanism, the durability of the seat vertical movement mechanism is further improved.

According to the twelfth aspect of the invention, the moment of the offset first coil spring can be transmitted to the shock absorber via the second spring, so that a stress is generated in the seat vertical movement mechanism. Without this, the original offset effect (lateral force reduction effect) can be obtained. Further, according to the thirteenth aspect, the preload due to the wheel load of the vehicle on the seat up-down movement mechanism can be made almost zero.

According to the fourteenth aspect of the present invention, since the second spring is formed of a disc spring, the size and weight of the apparatus can be further reduced. According to the invention of claim 15, since the second spring is composed of a plurality of leaf springs, the spring force of the second spring can be easily changed only by changing the number of the springs.

According to the invention of claim 16, since the space inside the first coil spring is effectively used as a space for arranging the seat up-and-down moving mechanism, a further smaller apparatus can be provided. According to the seventeenth aspect of the present invention, a vehicle height sensor having a simple structure can be provided, so that the cost of the apparatus can be further reduced.

Further, according to the invention of claim 18,
Since the seat positioning means prevents backlash in the direction perpendicular to the axis of the first spring seat, it is possible to surely prevent abnormal noise during running of the vehicle.

[0035]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vehicle attitude control device according to the present invention will be described below with reference to the drawings. FIG. 1 shows a schematic configuration diagram of a vehicle, and reference numerals 2FL to 2R in the drawing.
R indicates a front left wheel to a rear right wheel, and reference numeral 4 indicates an attitude control device.

The attitude control device 4 includes an actuator 6 provided between the unsprung member and the sprung member of each of the wheels 2FL to 2RR.
A controller 16 for detecting a vehicle state based on signals detected from the steering angle sensor 8, the vehicle height sensor 10, the lateral acceleration sensor 12, the vertical acceleration sensor 13, and the keyless entry system 14, and outputting attitude control information; And a drive circuit 18 that outputs an operation signal to each actuator 6 based on the attitude control information input from the actuator 16.

The actuator 6 is, as shown in FIG.
The shock absorber 20 and the shock absorber 2
First coil spring 22 coaxially arranged at the outer peripheral position
A and a second coil spring 22B, and first and second coil springs 22A and 22B supporting the first and second coil springs 22A and 22B.
Spring seat 34 and second spring seat 36
And a seat vertical movement mechanism 32 for vertically moving the first spring seat 34.

That is, in the shock absorber 20, a rod 20b having a lower end connected to a piston 20a is a cylinder 20c.
And oil is sealed in the cylinder 20c. The piston 20a is provided with an orifice,
When the rod 20b expands and contracts, the piston 20a moves in the oil, but a damping force is generated by the resistance of the oil passing through the orifice. And the cylinder 20c
Of the rod 20b is elastically coupled to a link member 26 connected to a knuckle (not shown) and the suspension member 24, and the tip of the rod 20b is
8 and is elastically connected to the vehicle body 30.

The seat vertical movement mechanism 32 is shown in FIGS.
As shown in the figure, a cylindrical feed member 32a, which is externally fitted to the outer periphery of the cylinder 20c at a substantially central position in the vertical direction via a buffer material 38 and has a male screw for feed formed on the outer periphery, and an internal female screw on the inner periphery Moving nut 32b screwed to the feed male screw
And a ring gear 32c fixed to the outer periphery of the moving nut 32b and having outer teeth formed thereon, and a driving force transmitting gear having a rotating shaft supported by the first spring seat 34 and meshing with the outer teeth of the ring gear 32c. 32d, an electric motor 32e fixed on the suspension member 24, and a flexible shaft 32f for transmitting the driving force of the electric motor 32e to the driving force transmission gear 32d as a rotational driving force. Note that a predetermined drive current corresponding to the state of the vehicle is output from the drive circuit 18 to the electric motor 32e. The flexible shaft 32f is generally
Since the magnitude of the torsional stiffness differs depending on the rotation direction, the downward movement, such as the time of kneeling, which has a relatively long response time, is set to the rotation on the side with the lower torsional stiffness.

Here, the lead angles of the feed male screw of the feed member 32a and the female screw of the moving nut 32b are set to small values, and an external force in the vertical direction is input to the moving nut 32b, and the component force of the external force moves. Even when acting in the rotation direction of the nut 32b, the rotation of the moving nut 32b is prevented by the static frictional force between the male screw and the female screw.

Further, the first spring seat 34 is provided as shown in FIG.
As shown in FIG. 5, a gear holding portion 34b for holding the rotation axis of the driving force transmission gear 32d in the vertical direction, a flange-shaped upper spring holding portion 34c for supporting a lower end of the first coil spring 22A, and a second coil A flange-shaped lower spring holding portion 34d that supports the upper end of the spring 22B, an upper spring holding portion 34c, and a lower spring holding portion 3
In the state where the axis of 4d is substantially aligned with the axis of the cylinder 20c, the first
And a rotary connecting portion 34a for connecting the entire spring seat 34 to the seat vertical movement mechanism 32 so as to be relatively rotatable.

[0042] The rotational connecting portion 34a is an annular recess 34a ₁ which opens toward the outer periphery of the cylindrical 20c is formed,
This annular recess 34a ₁ is fixed to the traveling nut 32b upper end of the seat up and down moving mechanism 32 by placing the annular member 32g extending in the horizontal direction, opposite to the upper and lower surfaces and these surfaces of the annular member 32g annular recess 34 in which a plurality of thrust bearings 34a ₂ between the upper and lower inner surfaces of the annular recess 34a ₁ to place, facing the outer periphery of the circular member 32g to the surface
a structure in which a radial bearing 34a ₃ between the inner peripheral surface of a _1, the traveling nut 32b is rotated, the support in the vertical direction the thrust bearing 34a ₂ is without rotating the first spring seat 34 while rolling and, and restrains movement of the (direction perpendicular to the axis P ₁ of the cylinder 20c) perpendicular to the axis direction of the first spring seat 34 while the radial bearing 34a ₃ is rolling.

The lower end of the first coil spring 22A is supported by the upper spring holding portion 34c of the first spring seat 34, and the upper end of the first coil spring 22A is in contact with the vehicle body via the rubber sheet 39 to be coaxial with the outer periphery of the shock absorber 20. And the second coil spring 22B
The lower end is supported by the second spring seat 36 and the upper end is the lower spring holding portion 3 of the first spring seat 34.
4d, it is arranged coaxially on the outer periphery of the shock absorber 20 in contact with 4d.

A cylindrical first dust cover 40 is mounted between the upper part of the cylinder 20c and the upper spring holding part 34c of the first spring seat 34, and the lower part of the cylinder 20c and the lower part of the first spring seat 34 Spring holding part 3
4d, a cylindrical second dust cover 42 is mounted, and the first and second dust covers 40 and 42 form a feed member 32a and a moving nut 32b that constitute the sheet vertical moving mechanism 32. Intrusion of dust into the air is prevented.

The actuator 6 having the above-described structure is driven by the electric motor 32e in the forward direction to rotate the flexible shaft 32f.
Is rotated in the normal rotation direction Ra, the driving force transmission gear 32d rotates around the axis, the rotation of the driving force transmission gear 32d is transmitted to the moving nut 32b via the annular gear 32c, and the moving nut 32b rotates while the feed member rotates. It moves upward to a predetermined stroke along 32a. Then, as the moving nut 32b moves upward, the first spring seat 34 connected via the rotary connecting portion 34a also moves upward, so that the lower end of the coil of the first coil spring 22A also moves upward.

When the flexible shaft 32f rotates in the reverse rotation direction Rb by the reverse rotation of the electric motor 32e, the driving force transmission gear 32d rotates around the axis, and the annular gear 32 rotates.
The moving nut 32b, to which the rotational force has been transmitted via the rotating member 32c, rotates in a direction opposite to the above-described rotating direction, and the feed member 32a
Along a predetermined stroke. Then, since the moving nut 32b moves downward while rotating, and the first spring seat 34 also moves downward, the lower end of the coil of the first coil spring 22A also moves downward.

The controller 16 includes a microcomputer (not shown) including an input detection device, an arithmetic processing device, a control circuit to be executed by the arithmetic processing device, a storage circuit for storing the operation result, and an output circuit. The arithmetic processing unit obtains a control value for stabilizing the vehicle attitude based on signals detected by the steering angle sensor 8, the vehicle height sensor 10, the lateral acceleration sensor 12, the vertical acceleration sensor 13, and the keyless entry system 14. , And outputs a control signal corresponding to the control value to the drive circuit 18. Then, the drive circuit 18 outputs a control current to the electric motor 32e of the actuator 6 provided on each of the wheels 2FL to 2RR.

Controls for stabilizing the vehicle attitude include, for example, roll control when the vehicle turns a corner, pitch control when the vehicle is braking or starting, and bounce control when the vehicle travels on a rough road. When the vehicle turns a corner, the sensor detects an inertial force for rolling the vehicle body, but the controller 16 drives the electric motor 32e of the outer-wheel-side actuator 6 forward based on the detected value, In addition, a control signal is output to the drive circuit 18 such that the electric motor 32e of the actuator 6 on the inner wheel side is driven to rotate in the reverse direction.
The outer wheel side actuator 6 driven forward by the electric motor 32e rotates the lower end of the coil of the first coil spring 22A upward due to the upward movement of the first spring seat 34, so that the vehicle height on the outer wheel side increases. Further, the actuator 6 on the inner wheel side, in which the electric motor 32e is driven in reverse rotation under the control of the controller 16, moves the first coil spring 2 by the downward movement of the first spring seat 34.
Since the lower end of the 2A coil moves downward, the vehicle height on the inner wheel side decreases. As described above, when turning at a corner, the controller 16 controls the actuators 6 so that the vehicle height on the outer wheel side becomes higher and the vehicle height on the inner wheel side becomes lower. Therefore, the vehicle body is canceled by inertia force and roll is prevented. You.

When the vehicle is braked, the sensor detects an inertial force for pitching the vehicle body. The controller 16 controls the electric motor 32e of the actuator 6 of the front wheel based on the detected value to drive the electric motor 32e forward. And the electric motor 32 of the actuator 6 of the rear wheel
A control signal is output to the drive circuit 18 so that e rotates in the reverse direction. Thereby, the actuator 6 of the front wheel has a higher vehicle height because the lower end of the coil of the first coil spring 22A moves upward, and the actuator 6 of the rear wheel has the lower end of the coil of the first coil spring 22A. Since the vehicle moves downward, the vehicle height is reduced, so that the inertia of the vehicle body is canceled and the nose dive is suppressed. Also,
At the time of starting, the inertia force acts on the opposite side, so that the control opposite to the above-described control is performed.

When the vehicle travels on a rough road or the like, the vehicle body bounces in the vertical direction due to an input from the road surface. The sensor detects the absolute speed of the vehicle body in the vertical direction. Then, a control signal is output to the drive circuit 18 such that the electric motor 32e of the actuator 6 of each wheel drives forward or reverse. As a result, the vehicle height of the actuator 6 of each wheel increases or decreases, so that the input from the road surface is canceled.

When the electric motor 32e of the actuator 6 of each wheel is driven forward or backward by a predetermined amount based on the signal detected by the keyless entry system 14 immediately before the vehicle stops, the vehicle height is maintained at the optimum value. In this state, the vehicle can be stopped. As described above, the attitude control device 4 of the present embodiment outputs a control signal to each of the electric motors 32e of the actuators 6 provided on the wheels 2FL to 2RR, and outputs the control signals to the first coil springs 2 of the actuators 6.
Since the position of the lower end of the coil of 2A is changed in the vertical direction to adjust the vehicle height on each wheel 2FL to 2RR side appropriately, the roll, pitch and bounce during traveling are suppressed, and the vehicle posture is stabilized, Drivability and riding comfort can be improved.

Further, since the lead angles of the feed male screw of the feed member 32a and the female screw of the moving nut 32b are set to small values, the rotation of the moving nut 32b is prevented even when an external force in the vertical direction is applied to the moving nut 32b. Therefore, when the first coil spring 22A is held at a predetermined position to stabilize the vehicle posture, the electric motor 32e
The first coil spring 22A can be held at a predetermined position without constantly driving the motor, and the energy-saving attitude control device 4 with low power consumption can be provided.

FIG. 4 is a schematic view of the present embodiment, in which the wheel load of the vehicle input to the first coil spring 22A is applied to the moving nut 32 of the seat vertical moving mechanism 32.
b and the second coil spring 22B
The second coil spring 22B disposed below the first spring seat 34 bears most of the wheel load. For this reason, friction when the moving nut 32b of the seat vertical moving mechanism 32 rotates is reduced, so that the small electric motor 32 having a small driving force is used.
Even in e, the rotation of the moving nut 32b becomes possible, and the size and weight of the device can be reduced.

Further, using a small electric motor 32e,
Moreover, since the coil springs 22A and 22B and the spring seats 34 and 36 are arranged on the outer periphery of the shock absorber 20, the degree of freedom of the vehicle layout can be greatly improved. As is clear from FIG. 4, the shock absorber 20 does not perform any hydraulic control, and has a simple structure in which the strength of the damping force changes according to the expansion and contraction speed of the piston 20a.
The durability can be improved, and the cost of the apparatus can be reduced.

Further, the rotation connecting portion 34a is
2b rotates, the thrust bearing 34a_TwoRolling
The axial direction of the first spring seat 34 that does not rotate while rotating
And the radial bearing 34a_ThreeIs the first spring
The first sprocket is contacted with the outer periphery of the
To prevent the ring seat 34 from moving in a direction perpendicular to the axis.
ing. As a result, the rotation connecting portion 34a
Aling 34a_TwoAre above and below the first spring seat 34
To prevent backlash, radial bearing 34a _ThreeIs the first
The backlash in the direction perpendicular to the axis of the spring seat 34 is prevented.
Therefore, abnormal noise during running of the vehicle can be prevented.

Further, even when vibration is transmitted from the road surface to the cylinder 20c when the vehicle travels on a rough road, the cushioning member 38 interposed between the cylinder 20c and the feed member 32a absorbs most of the vibration. Thereby, the feed member 3 when traveling on rough roads
Since the poorly engaged state of the 2a and the moving nut 32b and the poorly engaged state of the ring gear 32c and the driving force transmission gear 32d are prevented, the durability of the attitude control device 4 can be improved.

FIG. 5 shows a specific configuration of the vehicle height sensor 10 for outputting vehicle height information to the controller 16. The vehicle height sensor 10 includes an upper contact 10a electrically connected to an upper end of a feed member 32a constituting the seat vertical movement mechanism 32, and a lower contact electrically connected to a lower end of the feed member 32a. 10b, an intermediate contact 10c electrically connected to the moving nut 32b,
A vehicle height calculator 10d that calculates the vehicle height based on the electric resistance value detected from these contacts 10a to 10c.

When the moving nut 32b screwed to the male screw of the feed member 32a moves vertically, the upper contact 10
a and the intermediate contact 10b, the electric resistance value between the lower contact 10
The electric resistance value between c and the intermediate contact 10b changes as needed. Therefore, the vehicle height calculator 10d is connected to the upper contact 10
a and the lower contact 1
The position of the first spring seat 34 is detected from the difference between the electric resistance between the first contact point 0c and the intermediate contact 10b, and the vehicle height is calculated based on this value and output to the controller 16.

Next, FIGS. 6 and 7 show a second embodiment according to the present invention.
1 shows an embodiment. The same components as those of the first embodiment are denoted by the same reference numerals, and description thereof will be omitted. This embodiment is different from the structure of the first embodiment for preventing the backlash (perpendicular to the axis P ₁ of the cylinder 20c) perpendicular to the axis direction of the first spring seat 34.

[0060] structure of the present embodiment, the outer circumference of the feed member of the seat vertical movement mechanism 32, two longitudinal grooves 32a in the direction along the axis P ₁ of the cylinder 20c ₁ at positions symmetrical to each other relative to the axis P ₁ , 32a ₂ are formed. The projections 34c ₁ and 34c ₂ projecting from the inner diameter of the upper spring holding portion 34c of the first spring seat 34 enter into these two vertical grooves 32a ₁ and 32a ₂ . The vertical grooves 32a ₁ , 32a ₂ and the projection 3
4c ₁ and 34c ₂ correspond to the sheet positioning means of the present invention.

Thus, when the moving nut 32b rotates and moves in the vertical direction, the projections 34c ₁ and 34c ₂ move in the vertical grooves 32a ₁ and 32a ₂ in the vertical direction. Is prevented from moving in the direction perpendicular to the axis, and the movement of the first spring seam 34 in the rotation direction is restricted. Thereby, also in the present embodiment, the thrust bearing 34a ₂ is connected to the first spring seat 34.
Of preventing the vertical play, flutes 32a _1, the protrusion portion 3 of the first spring seat 34 which has entered into 32a within ₂
Since 4c ₁ and 34c ₂ prevent backlash in the direction perpendicular to the axis of the first spring seat 34, abnormal noise during running of the vehicle can be prevented. In addition, the same effects as in the first embodiment can be obtained.

Next, FIGS. 8 and 9 show a third embodiment according to the present invention.
1 shows an embodiment. This embodiment is also different structures from the first embodiment in order to prevent the backlash (perpendicular to the axis P ₁ of the cylinder 30c) perpendicular to the axis direction of the first spring seat 34. The structure of the present embodiment is such that the annular groove 32g ₁
Are formed. Then, in the annular groove 32g in _1,
Upper spring holding portion 34 of first spring seat 34
It has entered the projecting piece 34c ₃ projecting downwardly c. From Incidentally, an annular groove 32 g ₁ and the projection piece 34c _3, corresponding to the sheet positioning means of the present invention.

[0063] Thus, when the traveling nut 32b is moved in the vertical direction by rotating the first spring seat 34 by the inner wall of the annular groove 32 g ₁ to restrain the protruding pieces 34c ₃
Is prevented from moving in the direction perpendicular to the axis. Thus, also in the present embodiment, the thrust bearing 34a ₂ is
Prevent vertical rattling of the spring seat 34, to prevent the axis-perpendicular direction of the backlash of the first spring seat 34 by annular grooves 32g ₁ of the circular member 32g to restrain the protruding pieces 34c ₃ of the first spring seat Therefore, it is possible to prevent abnormal noise while the vehicle is running.

[0064] In the present embodiment, although the projection piece 34c ₃ is a structure that enters into the annular groove 32 g _1, the protrusion of the annular from the upper spring retaining portion 34c of the first spring seat 34 protrudes downward, the Annular projection 34c
₃ have a structure which enters the annular groove 32g in _1, it is possible to obtain the same effect. Next, FIG. 10 shows a fourth embodiment according to the present invention. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

The actuator 52 according to the present embodiment includes a first
It has a different structure from the seat vertical movement mechanism 32 used in the embodiment. That is, the sheet vertical movement mechanism 54 of the present embodiment is a cylindrical feed member which is fitted around the outer periphery of the cylinder 20c at a substantially central position in the vertical direction via the cushioning material 38, and has a male feed screw formed on the outer periphery. 32a, and a moving nut 32b having an internal female screw threadedly engaged with the male feed screw.
A permanent magnet 54a fixed to the outer periphery of the moving nut 32b at a predetermined interval, and a first spring seat 34.
And a magnetic force generating portion 54b fixed to the inside and opposed to the permanent magnet 54a. Although not shown, the magnetic force generating portion 54b has a predetermined The drive current is output.

In the actuator 52 having the above-described structure, the magnetic force generator 54b to which the drive current is input from the drive circuit 18 generates a magnetic force line in a predetermined direction, and generates an attractive force and a repulsive force with the permanent magnet 54a. The moving nut 32b is rotated and moved up and down to a predetermined stroke. The first spring seat 34 connected via the rotation connecting portion 34a together with the upward movement of the moving nut 32b.
Also move vertically, so that the lower end of the coil of the first coil spring 22A is moved vertically, and each wheel 2FL-
Adjust the vehicle height on the 2RR side appropriately.

The actuator 52 of the present embodiment uses the permanent magnet 54a and the magnetic force generator 54b as a mechanism for rotating the moving nut 32b, and the gear mechanism of the first embodiment (the driving force transmission gear 32d and the ring gear 32c). Since the structure is simpler than that of the first embodiment, it is possible to provide the attitude control device 4 which is further reduced in size and weight. next,
FIG. 11 shows a fifth embodiment according to the present invention. In the present embodiment, the same components as those in the first embodiment include:
The same reference numerals are given and the description is omitted.

The actuator 56 according to the present embodiment includes a first
A seat vertical movement mechanism 60 for vertically moving the spring seat 58 is provided. That is, the seat vertical movement mechanism 60 is rotatably supported around the axis by the cushioning member 38 disposed on the outer periphery of the cylinder 20c and the bearings 62 disposed on the outer periphery of the cushioning member 38 and disposed on the upper and lower sides. A cylindrical feed member 60a having a male screw for feeding formed on the outer periphery, a ring gear 60b formed with outer peripheral teeth and coaxially fixed to the lower end of the feed member 60a, and a second spring seat 64 are rotated. A driving force transmission gear 32d whose shaft is supported and meshes with the outer peripheral teeth of the ring gear 60b, an electric motor 32e (not shown) fixed on a suspension member, and a driving force transmission gear for driving the electric motor 32e. 32d and a flexible shaft 32f that transmits the rotational driving force to the shaft 32d.

In the first spring seat 58, a moving nut 58a formed with a female screw to be screwed with the male feed screw of the feed member 60a is formed on the inner peripheral portion. When the flexible shaft 32f rotates in the normal rotation direction Ra due to the forward rotation of the electric motor 32e, the actuator 56 having the above configuration rotates the driving force transmission gear 32d around the axis, and the rotation of the driving force transmission gear 32d is transmitted to the feed member 60a. The feed member 60a is transmitted and rotated in the forward direction while being supported by the bearing 62. When the feed member 60a rotates, the first spring seat 58, on which the moving nut 58a is screwed, moves upward, and the lower end of the coil of the first coil spring 22A also moves upward.

When the flexible shaft 32f rotates in the reverse rotation direction Rb by the reverse rotation of the electric motor 32e, the driving force transmission gear 32d rotates around the axis, and the rotation of the driving force transmission gear 32d is transmitted to the feed member 60a, and the bearing The feed member 60a rotates in the opposite direction while being supported by 62. When the feed member 60a rotates in the reverse direction, the first spring seat 58, on which the moving nut 58a is screwed, moves downward, and the lower end of the coil of the first coil spring 22A also moves downward. .

The seat vertical movement mechanism 60 of the present embodiment
Since traveling nut 58a of the first spring seat 58 to feed male thread provided on the outer circumference of the feed member 60a to rotate is in the screwed construction, to prevent backlash or the axis-perpendicular direction of the backlash axially P ₁ Therefore, abnormal noise during running of the vehicle can be prevented. In addition, since most of the wheel load of the vehicle is supported by the second coil spring 22B disposed below the first spring seat 58, friction when the moving nut 58a of the first spring seat 58 moves up and down is reduced. However, even the small electric motor 32e having a small driving force can rotate the feed member 60a, and the size and weight of the apparatus can be reduced.

Further, the attitude control device 4 equipped with the actuator 56 of the present embodiment adjusts the vehicle height on the wheels 2FL to 2RR side appropriately, so that the running roll,
The pitch and bounce can be suppressed to stabilize the vehicle posture, and the maneuverability and ride comfort can be improved.
e, the first coil spring 22A can be held at a predetermined position without constantly driving it, thereby providing the energy-saving attitude control device 4 with low power consumption and greatly improving the degree of freedom in vehicle layout. Can provide a compact name device capable of performing the following.

Further, even if vibration is transmitted from the road surface to the cylinder 20c when the vehicle travels on a rough road, the cushioning member 38 interposed between the cylinder 20c and the feed member 60a absorbs most of the vibration. In addition, it is possible to prevent the feed member 60a and the moving nut 58a from being screwed in a bad state when traveling on a rough road, and to improve the durability of the attitude control device 4. Next, FIG. 12 shows a sixth embodiment according to the present invention.

The actuator 66 of this embodiment is arranged on the front right wheel 2FR side. In this embodiment, the first
The same components as those of the embodiment are denoted by the same reference numerals, and description thereof will be omitted. Actuator 66 of the present embodiment
, Together with the lower end of the shock absorber 20 is coupled to the steering knuckle 3 of the front right wheel 2FR, the outer periphery of the shock absorber 20, the outside of the vehicle width direction on the axis P ₂ with respect to the axis P ₁ of the shock absorber 20 This is a strut type suspension in which the first coil spring 22A is arranged so as to be inclined to the side.

Further, the second coil spring 22B disposed below the first spring seat 34 has a coil upper end 2B.
2B ₁ contacts the outer side of the lower spring holding portion 34d of the first spring seat 34 in the vehicle width direction, and the coil lower end 2
2B ₂ is configured to abut on the outer side of the second spring seat 36 in the vehicle width direction. The actuator 66 of the present embodiment is applied to a strut type suspension.

In this actuator 66, since the wheel load input point of the vehicle is near the center of the wheel 2FR in the tire width direction, the wheel load input point deviates from the load support point on the vehicle body in plan view, and the suspension A moment is generated throughout. Thus moment is generated, in order but the lateral force is generated between the cylinder 20c and the rod 20b of the shock absorber 20, to offset it, the axis P ₂ of the first coil spring 22A to the axis P ₁ of the shock absorber 20 Generally, the first coil spring 22A is installed so as to be offset so as to be inclined with respect to the first coil spring 22A.

At this time, the offset torque generated by the offset first coil spring 22A is transmitted from the second coil spring 22B to the cylinder 20c of the shock absorber 20 via the second coil spring 22B without passing through the seat vertical movement mechanism 32. 22B ₁ and the lower spring holding portion 34d of the first spring seat 34, the contacts of the coil lower end 22B ₂ and the second spring seat 36 is arranged a second coil spring 22B so that the wheels 2FR. In this manner, the moment by the first coil spring 22A that is offset is transferred to the second coil spring 22A.
B can be transmitted to the cylinder 20c of the shock absorber 20, and the original offset effect (lateral force reduction effect) can be obtained without generating stress on the driving force transmission gear 32d of the seat vertical movement mechanism 32 and the like. be able to.

Therefore, the first coil spring 22A
Also, as a strut-type suspension in which is disposed in an offset manner, the seat vertical movement mechanism 32 becomes the actuator 66 that operates smoothly, and the same operation and effect as in the first embodiment can be obtained. Next, FIG. 13 shows a seventh embodiment according to the present invention. The actuator 68 of the present embodiment is also a strut type suspension,
Two leaf springs 70a and 70b are arranged instead of the second coil spring 22B used in the embodiment.

That is, the leaf springs 70a and 70b are superimposed on each other and elastically deformed into a substantially U-shape so that the U-shaped opening is directed outward in the vehicle width direction.
Spring seat 72 provided on the outer side in the vehicle width direction
And the upper ends 70d of the lower spring holding portions 34d of the first spring seats 34 on the outer side in the vehicle width direction.
And is disposed below the first spring seat 34.

The actuator 68 of the present embodiment also has the sixth
In the same manner as in the embodiment, the lower end portion is formed so that the offset torque generated by the offset first coil spring 22A is transmitted from the leaf springs 70a, 70b to the cylinder 20c of the shock absorber 20 without passing through the seat vertical movement mechanism 32. The leaf springs 70a and 70b are arranged so that the contact points between the upper and lower ends 70c and 70d and the first and second spring seats 34 and 72 become the wheels 2FR. By doing so, the first coil spring 2 which is offset and arranged
2A can be transmitted to the cylinder 20c of the shock absorber 20 via the second coil spring 22B, and the gear portions 32a, b of the seat vertical movement mechanism 32
Thus, the original offset effect (lateral force reduction effect) can be obtained without generating stress.

In this embodiment, two leaf springs 70 are used.
Although a and 70b were used, when the spring force is increased, the number of sheets may be further increased. Further, the leaf springs 70a and 70b are elastically deformed into a substantially U-shape. However, if a spring force is generated inward in the vehicle width direction,
The same operation and effect can be obtained even if the shape is elastically deformed to another shape.

Next, FIG. 14 shows an eighth embodiment according to the present invention. Actuator 74 of the present embodiment
Is also a strut type suspension, but the moving nut 3 constituting the seat up / down moving mechanism 32 of the second embodiment.
2b, driving force transmission gear 32d, driving force transmission gear 32d
Are located above and separated from the second coil spring 22B, and are disposed in the space inside the first coil spring 22A.

According to the actuator 74 having this configuration,
Since the space inside the first coil spring 22A is effectively used, a smaller actuator 74 can be provided. Next, FIG. 15 shows a ninth embodiment according to the present invention.
1 shows an embodiment. The present embodiment is an actuator 78 in which the shock absorber 20 (not shown) and the first and second coil springs 22A and 22B are arranged at different positions.

That is, the actuator 78 includes a seat vertical moving mechanism 82 provided on a link member 80 near each wheel, a spring seat 84 that moves vertically by driving the seat vertical moving mechanism 82, and a spring A first coil spring 22A disposed between the seat 84 and the vehicle body 30, and a second coil spring 22B disposed between the link member 80 and the spring seat 84
And

The seat vertical movement mechanism 82 is provided with the link member 8.
0, a cylindrical shape rising from the center of the recess 80a
The pillar 82a, the outer periphery of the pillar 82a
Fits and has a cylindrical external thread formed on the outer circumference.
The feed member 32a and the inner diameter portion 82b₁The female screw formed in
A rotary elevating portion 82b screwed to the male screw for feeding,
The rotating shaft is supported by the spring seat 84 and the rotating elevating unit
Outer diameter portion 82b of 82b _TwoMeshed with the inner teeth formed in
Drive transmission gear 32d and a suspension (not shown)
An electric motor 32e fixed on the member;
Drive force of the motor 32e to the drive force transmission gear 32d.
And the flexible shaft 32f transmitting as
Have been.

The spring seat 84 includes a gear holding portion 84b for holding the rotating shaft of the driving force transmission gear 32d in the vertical direction and a flange-shaped first spring holding portion for supporting the lower end of the first coil spring 22A. 84c and the first
A flange-shaped second spring holding portion 84d that supports the upper end of the second coil spring 22B so that the second coil spring 22B is coaxially located on the outer periphery on the lower end side of the coil spring 22A, and moves the entire spring seat 84 up and down the seat. A rotation connecting portion 84a that is connected to the mechanism 82 so as to be relatively rotatable.

In the rotary connecting portion 84a, an annular member 82g fixed to the lower end of the moving portion 82b is disposed in an annular concave portion opening toward the outer periphery of the column 82a, and a plurality of annular members 82g are provided on the upper and lower surfaces of the annular member 82g. is a structure in which a thrust bearing 84a _2. Here, the outer diameter part 82b of the rotary elevating part 82b
Radial bearings 84a ₃ is disposed between the inner circumference of the spring seat 84 and.

The actuator 78 having the above-described structure is driven by the electric motor 32e in the forward direction to rotate the flexible shaft 32.
When f rotates in the normal rotation direction Ra, the driving force transmission gear 32d rotates around an axis, and the rotation of the driving force transmission gear 32d is transmitted to the moving elevating unit 82b, and the moving elevating unit 82b rotates along the feed member 32a while rotating. To move up to a predetermined stroke. Then, the spring seat 84 also moves upward along with the upward movement of the movable elevating unit 82b, so that the lower end of the coil of the first coil spring 22A moves upward.

When the flexible shaft 32f rotates in the reverse rotation direction Rb by the reverse rotation of the electric motor 32e, the driving force transmission gear 32d rotates in the reverse direction around the axis, and the rotation of the driving force transmission gear 32d is transmitted to the moving elevating portion 82b. ,
The moving elevating unit 82b moves downward along the feed member 32a to a predetermined stroke while rotating. Then, the spring seat 8 is moved together with the downward movement of the movable elevating section 82b.
4 also moves downward, so that the first coil spring 2
The lower end of the 2A coil moves downward.

The attitude control device 4 of the present embodiment also changes the position of the lower end of the coil of the first coil spring 22A in the vertical direction in the actuator 78 in which the shock absorber 20 and the first coil spring 22A are separately disposed. Since the vehicle height on each of the wheels 2FL to 2RR is appropriately adjusted, the roll, pitch, and bounce during traveling can be suppressed to stabilize the vehicle posture, thereby improving maneuverability and ride comfort.

Further, the wheel load of the vehicle input to the first coil spring 22A is covered by the second coil spring 22B disposed below the spring seat 84, so that the moving elevating portion 82b of the seat vertical moving mechanism 82 rotates. Friction at the time can be reduced. Therefore, even the small electric motor 32e having a small driving force can rotate the moving elevating / lowering portion 82b, and the device can be reduced in size and weight.

[0092] Further, even when rotated moves the lifting unit 82b, the thrust bearing 84a ₂ is supported in the axial direction of the spring seat 84, since the radial bearing 84a ₃ restrains movement in the axial direction perpendicular of the spring seat 84, a spring The backlash of the seat 84 in the vertical direction and the direction perpendicular to the axis is prevented, so that abnormal noise during running of the vehicle can be prevented. Further, the same effects as those of the other embodiments can be obtained in terms of the degree of freedom of the vehicle layout, durability, and device cost.

Next, FIG. 16 shows a tenth embodiment according to the present invention. Actuator 8 of the present embodiment
6, a disc spring 88 is provided in a recess 80a provided in the link member 80 in place of the second coil spring 22B of the ninth embodiment.
Has been arranged. According to the present embodiment, the disc spring 88 disposed below the spring seat 84 bears the wheel load of the vehicle input to the first coil spring 22A.
It is possible to reduce friction when the moving elevating part 82b of the sheet vertical moving mechanism 82 rotates.

Further, since the desired spring force is generated even if the length of the disc spring 88 is small in the axial direction, the size and weight of the apparatus can be further reduced. Next, FIG.
Shows an eleventh embodiment according to the present invention. The actuator 90 of the present embodiment includes a seat up / down movement mechanism 92 and a spring seat 94 having different configurations from those of the ninth embodiment.

The seat vertical moving mechanism 92 is provided with the link member 8.
0 rises from the recess 80a provided in
A rotary shaft 98 rotatably supported on the rotary shaft 98, and a cylindrical feed member 6 mounted on the outer periphery of the rotary shaft 98 via a buffer material 38 and formed with a male feed screw on the outer circumference.
0a, outer ring teeth are formed, a ring gear 60b coaxially fixed to the lower end of the feed member 60a, and a moving nut 94a in which an inner female screw is screwed to the male feed screw.
A ring gear 60b which is externally fitted to a lower portion of the rotating shaft 98 and has outer teeth formed thereon, and a ring gear 6 having the rotating shaft supported by the bottom surface of the recess 80a and the spring seat 94.
0b, a driving force transmission gear 32d meshed with the outer teeth;
Although not shown, it is composed of an electric motor 32e fixed on the suspension member, and a flexible shaft 32f for transmitting the driving force of the electric motor 32e to the driving force transmission gear 32d as a rotational driving force.

Further, the spring seat 94 has a moving nut 94a formed with an internal thread to be screwed to the feeding external thread of the feeding member 60a formed on an inner peripheral portion thereof, and a first nut.
A collar-shaped spring holding portion 94 that supports the lower end of the coil spring 22A and the upper end of the second coil spring 22B.
b is formed. Actuator 90 having the above configuration
When the flexible shaft 32f rotates in the normal rotation direction Ra by the forward rotation of the electric motor 32e, the driving force transmission gear 32d rotates around the axis, and the rotation of the driving force transmission gear 32d is transmitted to the ring gear 60b, The feed member 60a rotates in the forward direction along with the rotation of the supported rotating shaft 98. When the feed member 60a rotates, the spring seat 94 having the moving nut 94a screwed around its outer periphery moves upward, and the first coil spring 2
The lower end of the coil of 2A moves upward.

When the electric motor 32e rotates in the reverse direction to rotate the flexible shaft 32f in the reverse rotation direction Rb, the driving force transmission gear 32d rotates around the axis. The rotation of the driving force transmission gear 32d is transmitted to the ring gear 60b, and the bearing 94 The feed member 60a rotates in the opposite direction along with the rotation of the rotating shaft 98 supported by the shaft. When the feed member 60a rotates, the spring seat 94 having the moving nut 94a screwed on its outer periphery moves downward, and the lower end of the coil of the first coil spring 22A moves downward.

The seat vertical movement mechanism 92 of this embodiment is
Since the moving nut 94a of the spring seat 94 is screwed to a male feed screw provided on the outer periphery of the rotating feed member 60a, rattling in the axial direction and the direction perpendicular to the axial direction is prevented, and abnormal noise during vehicle running is achieved. Can be prevented. In the present embodiment, the same effects as those of the ninth embodiment can be obtained.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing a vehicle equipped with a posture control device of the present invention.

FIG. 2 is a view showing an actuator according to the first embodiment of the present invention.

FIG. 3 is a diagram illustrating a structure of a seat vertical movement mechanism and a spring seat of the actuator according to the first embodiment.

FIG. 4 is a schematic view illustrating an operation of the actuator according to the first embodiment.

FIG. 5 is a diagram showing a vehicle height sensor employed in the actuator of the first embodiment.

FIG. 6 is a view showing an actuator according to a second embodiment of the present invention.

FIG. 7 is a diagram illustrating a sheet positioning unit provided in an actuator according to a second embodiment.

FIG. 8 is a view showing an actuator according to a third embodiment of the present invention.

FIG. 9 is a diagram illustrating a sheet positioning unit provided in an actuator according to a third embodiment.

FIG. 10 is a view showing an actuator according to a fourth embodiment provided with a permanent magnet and a magnetic force generating unit according to the present invention.

FIG. 11 is a view showing an actuator according to a fifth embodiment having a structure in which a feed member according to the present invention rotates.

FIG. 12 is a view showing an actuator according to a sixth embodiment configured as a strut type suspension according to the present invention.

FIG. 13 is a view showing an actuator of a seventh embodiment configured as another strut type suspension according to the present invention.

FIG. 14 is a view showing an actuator according to an eighth embodiment configured as still another strut type suspension according to the present invention.

FIG. 15 is a view showing an actuator according to a ninth embodiment configured as a full trailing arm type suspension according to the present invention.

FIG. 16 is a view showing an actuator according to a tenth embodiment configured as another full trailing arm type suspension according to the present invention.

FIG. 17 is a view showing an actuator of an eleventh embodiment configured as still another full trailing arm type suspension according to the present invention.

[Explanation of symbols]

2FL ~ 2RR Wheel 3 Steering knuckle (wheel support member) 4 Attitude control device 6, 52, 56, 66, 68, 74, 78, 86, 90
Actuator 16 controller 18 drive circuit 20 shock absorber 20c cylinder (outer cylinder) 22A first coil spring (first spring) 22B second coil spring (second spring) 32 and 82 seat vertical movement mechanism 32a feeding member 32a _1, 32a ₂ longitudinal groove 32b, 58a, 94a move the nut 32c, 60b ring gear 32d driving force transmission gear 32e electric motor (driving motor) 32f flexible shaft 32 g ₁ annular groove 34c _1, 34c ₂ protrusion 34c ₃ projecting piece 34,58 first spring seat (Spring Seat) 36 Second Spring Seat 38 Buffer Member 54a Permanent Magnet 54b Magnetic Force Generating Unit 70a, 70b Leaf Spring (Second Spring) 80 Link Member (Suspension Member) 82a Support 84, 94 Spring Over preparative 88 disc spring (second spring)

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Yosuke Akatsu F-term (reference) 3D001 AA02 BA01 DA01 DA17 EA01 EA08 EA36 EB00 ED02 3J069 AA50 CC01 DD39

Claims (18)

[Claims] 1. A vehicle attitude control device that controls a vehicle attitude by operating an actuator disposed between a sprung member and a sprung member of each wheel based on sensor information for detecting a vehicle state. A first spring for reducing vibration of the sprung member, a shock absorber having a constant damping force characteristic for suppressing free vibration of the sprung member and the unsprung member, and a spring for supporting a lower end of the first spring An attitude control device for a vehicle, comprising: a suspension member including a seat and a seat vertical movement mechanism for vertically moving the spring seat based on the sensor information. 2. The apparatus according to claim 1, wherein the first spring is constituted by a first coil spring coaxially arranged on an outer periphery of the shock absorber, and the seat up / down moving mechanism is provided along an outer periphery of the shock absorber. The vehicle attitude control device according to claim 1. 3. A lower end of the shock absorber is connected to a wheel support member of each of the wheels, and the first spring is tilted outward with respect to an axis of the shock absorber in a vehicle width direction with respect to an axis of the shock absorber. 2. The attitude of the vehicle according to claim 1, wherein the first and second coil springs are arranged along the outer periphery of the shock absorber, the first coil spring being arranged on the outer periphery of the shock absorber so as to be offset. Control device. 4. The apparatus according to claim 1, wherein the shock absorber and the first spring are separately disposed on top of another suspension member, and the first spring is constituted by a first coil spring. 2. The vehicle attitude control device according to claim 1, wherein the attitude control device is provided at an axial center position of the first coil spring. 5. The seat vertical movement mechanism includes a cylindrical feed member formed on the outer circumference of an outer cylinder of the shock absorber, the male screw being formed on the outer circumference of the outer cylinder of the shock absorber. A moving nut screwed together and connecting the spring seat; and a rotational driving force generating means for vertically moving the spring seat by relatively rotating one of the moving nut and the feed member in forward and reverse directions. The vehicle attitude control device according to claim 2 or 3, wherein 6. The seat vertical movement mechanism has a feed external thread formed on the outer periphery, and is disposed on the outer periphery of a column fixed to the upper portion of the other suspension member that coincides with the axis of the first coil spring. A cylindrical feed member, a moving nut having an internal female screw screwed into the feed male screw and connecting the spring seat, and relatively rotating one of the moving nut and the feed member in forward and reverse directions. The vehicle attitude control device according to claim 4, further comprising: a rotation driving force generating means for vertically moving the spring seat. 7. The vehicle attitude control device according to claim 5, wherein a buffer member for absorbing vibration is disposed on an inner periphery of the feed member. 8. The rotation driving force generating means includes: a ring gear coaxially fixed to the rotating moving nut or the feed member; a driving force transmission gear meshing with the ring gear; and a flexible shaft connected to the driving force transmission gear. The vehicle attitude control device according to any one of claims 5 to 7, further comprising: a drive motor that transmits rotational force in forward and reverse directions through the drive motor. 9. When a flexible shaft having different torsional stiffnesses in forward and reverse directions of rotation is used, when the flexible shaft rotates in a direction in which the torsional stiffness is small, the flexible shaft is driven by a drive motor via the flexible shaft. 9. The vehicle attitude control device according to claim 8, wherein a rotational force is transmitted to a force transmission gear to move the spring seat downward. 10. The rotation driving force generating means includes a rotating movable nut or a permanent magnet provided on the outer periphery of the feed member, and a permanent magnet opposed to the permanent magnet, and generates the magnetic force to move the movable nut or the feed member. The attitude control device for a vehicle according to any one of claims 5 to 7, further comprising: the magnetic force generator configured to rotate in a forward / reverse direction. 11. The vehicle according to claim 1, wherein a second spring having a spring force for supporting a wheel load of a vehicle is arranged between the spring seat and the unsprung member. The attitude control device for a vehicle according to any one of the preceding claims. 12. The apparatus according to claim 3, wherein the second spring is arranged so that the spring force acts in a direction opposite to a direction in which the spring force of the offset first coil spring acts. The vehicle attitude control device according to any one of 5, 7 to 10. 13. The vehicle attitude control device according to claim 11, wherein a support load of the second spring is set to be substantially the same as a wheel load of the vehicle. 14. The vehicle attitude control device according to claim 11, wherein the second spring is formed by a disc spring. 15. The method according to claim 15, wherein the second spring has at least two positions.
The vehicle attitude control device according to any one of claims 11 to 13, wherein the vehicle attitude control device is configured by a leaf spring that is formed by stacking at least two sheets. 16. The seat vertical movement mechanism according to claim 2, wherein
The attitude control device for a vehicle according to any one of claims 11 to 15, wherein the attitude control apparatus is provided in a space inside the first coil spring at an upper position away from the spring. 17. The vertical direction of the spring seat from the difference between the electric resistance between the upper end of the feed member and the moving nut and the electric resistance between the lower end of the feed member and the movable nut. 17. The vehicle attitude control device according to claim 5, further comprising a vehicle height sensor that detects a position and calculates a vehicle height based on a result of the detection of the position. 18. The vehicle attitude control according to claim 5, further comprising seat positioning means for restraining rotation of the spring seat with respect to the moving nut and holding the spring coaxially. apparatus.