KR101028058B1 - Self-alignment suspension for multi-axis in-wheel motor vehicle - Google Patents

Self-alignment suspension for multi-axis in-wheel motor vehicle Download PDF

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KR101028058B1
KR101028058B1 KR1020090029234A KR20090029234A KR101028058B1 KR 101028058 B1 KR101028058 B1 KR 101028058B1 KR 1020090029234 A KR1020090029234 A KR 1020090029234A KR 20090029234 A KR20090029234 A KR 20090029234A KR 101028058 B1 KR101028058 B1 KR 101028058B1
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South Korea
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wheel
axis
self
motor vehicle
suspension device
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KR1020090029234A
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Korean (ko)
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KR20100110946A (en
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이경훈
김지웅
김석환
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현대로템 주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G3/00—Resilient suspensions for a single wheel
    • B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
    • B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
    • B60G3/26—Means for maintaining substantially-constant wheel camber during suspension movement ; Means for controlling the variation of the wheel position during suspension movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
    • B60G17/0157—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/40—Indexing codes relating to the wheels in the suspensions
    • B60G2200/445—Self-steered wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/40—Indexing codes relating to the wheels in the suspensions
    • B60G2200/462—Toe-in/out
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/18—Mounting of vehicle engines
    • B60G2204/182—Electric motor on wheel support
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/30—In-wheel mountings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
    • B60G2204/422—Links for mounting suspension elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2206/00—Indexing codes related to the manufacturing of suspensions: constructional features, the materials used, procedures or tools
    • B60G2206/01—Constructional features of suspension elements, e.g. arms, dampers, springs
    • B60G2206/50—Constructional features of wheel supports or knuckles, e.g. steering knuckles, spindle attachments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D17/00—Means on vehicles for adjusting camber, castor, or toe-in
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

본 발명은 다축 인휠모터 차량용 자가 정렬 현가 장치에 관한 것으로, 특히 다축 인휠 모터 차량에서 제자리 회전시 발생되는 타이어 횡방향에서의 노면과의 마찰 저항을 저감하여 타이어의 마멸 현상 및 현가 장치에 미치는 저항력을 줄이고, 제자리 회전에 소요되는 구동 모터의 소요 동력 및 회전력을 저감할 수 있는 다축 인휠 차량용 자가 정렬 현가 장치를 제공하는 것을 과제로 한다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-aligning suspension device for a multi-axis in-wheel motor vehicle. In particular, the present invention relates to a tire wear phenomenon and a resistance to the suspension device by reducing frictional resistance with the road surface in the transverse direction of the tire generated when the vehicle is rotated in place. It is an object of the present invention to provide a self-aligning suspension device for a multi-axis in-wheel vehicle which can reduce the required power and rotational force of the drive motor required for in-situ rotation.

상기 과제를 해결하기 위한 본 발명에 따른 다축 인휠모터 차량용 자가 정렬 현가 장치는 차체의 상하 진동을 감쇠하기 위한 완충 스프링이 상면에 설치되어 있고, 휠과 차체를 연결하는 주축암과, 일단이 상기 완충 스프링의 근방에서 상기 주축암에 연결되는 조향 링크와, 상기 조향 링크의 타단에 연결되는 완충 장치를 포함하며, 상기 완충 장치는 제자리 회전시 전륜의 일측이 토우인되고, 상기 토우인되는 전륜과 대각선 방향에 위치한 후륜이 토우 아웃 되도록 압축 구동되는 것을 특징으로 한다.Self-aligning suspension device for a multi-axis in-wheel motor vehicle according to the present invention for solving the above problems is provided with a shock absorbing spring for attenuating the vertical vibration of the vehicle body, the main shaft arm connecting the wheel and the vehicle body, one end is the buffer A steering link connected to the spindle arm in the vicinity of the spring, and a shock absorber connected to the other end of the steering link, wherein the shock absorber is tow-in at one side of the front wheel when the wheel is rotated in place, and is in a diagonal direction with the tow-in front wheel. The rear wheel is characterized in that it is compression driven to tow out.

제자리 회전, 투우인, 토우아웃, 현가 장치, 자가 정렬 Rotate, bullfighting, towout, suspension, self-aligning

Description

다축 인휠 모터 차량용 자가 정렬 현가 장치{SELF-ALIGNMENT SUSPENSION FOR MULTI-AXIS IN-WHEEL MOTOR VEHICLE}Self-aligning suspension device for multi-axis in-wheel motor vehicle {SELF-ALIGNMENT SUSPENSION FOR MULTI-AXIS IN-WHEEL MOTOR VEHICLE}

본 발명은 다축 인휠모터 차량용 자가 정렬 현가 장치에 관한 것으로, 특히 다축 인휠 모터 차량에서 제자리 회전(피보팅; pivoting)시 발생되는 타이어 횡방향에서의 노면과의 마찰 저항을 저감하여 타이어의 마멸 현상 및 현가 장치에 미치는 저항력을 줄이고, 제자리 회전에 소요되는 구동 모터의 소요 동력 및 회전력을 저감할 수 있는 다축 인휠 모터 차량용 자가 정렬 현가 장치에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-aligning suspension device for a multi-axis in-wheel motor vehicle. In particular, the wear resistance and suspension of a tire are reduced by reducing frictional resistance with the road surface in a tire transverse direction generated during pivoting in a multi-axis in-wheel motor vehicle. The present invention relates to a self-aligning suspension device for a multi-axis in-wheel motor vehicle capable of reducing the resistance to the device and reducing the power and rotational force of the driving motor required to rotate in place.

최근, 직렬형 하이브리드 차량 및 무인 전기 동력 차량에서 다축(예컨대, 3축 이상) 인휠 모터 차량이 많이 이용되고 있다.In recent years, multi-axis (for example, three-axis or more) in-wheel motor vehicles have been widely used in series hybrid vehicles and unmanned electric powered vehicles.

도 5에 도시한 바와 같이, 제자리 회전은 좌우 바퀴를 서로 다른 방향으로 회전시켜 회전 모멘트(yaw moment)를 발생시킴으로써 차량이 회전중심축에 대해서 제자리에서 회전운동하는 것을 말한다.As shown in FIG. 5, the in-situ rotation refers to the vehicle rotating in place with respect to the rotation center axis by generating a rotation moment by rotating the left and right wheels in different directions.

이와 같은 제자리 회전 운동시, 노면과 차량 측면방향으로의 미끄럼 운동에 의해 타이어 횡방향으로 마찰 저항(103)이 발생한다. 이러한 마찰 저항은 타이어의 마멸을 야기한다. 또한, 상기 마찰 저항이 커질수록 제자리 회전에 소요되는 구동 모터의 소요 동력 및 회전력이 커지게 된다.In this in-situ rotational movement, frictional resistance 103 is generated in the tire transverse direction by sliding movement in the road surface and the vehicle side direction. This frictional resistance causes tire wear. In addition, as the frictional resistance increases, the driving force and rotational force of the driving motor required to rotate in place become larger.

또한, 상기 마찰력 발생으로 인하여 현가장치의 각 요소에 저항력이 발생하게 되고, 이와 같은 저항력에 의하여 현가 장치의 각 부품 요소의 구조 강성 및 내구성이 영향을 받게 된다.In addition, the frictional force is generated, the resistance is generated to each element of the suspension, the structural rigidity and durability of each component element of the suspension is affected by this resistance.

이에, 본 발명은 전술한 종래기술의 문제점을 해결하기 위해 안출된 것으로, 본 발명의 목적은 다축 인휠 모터 차량에서 제자리 회전시 발생되는 타이어 횡방향에서의 노면과의 마찰 저항을 저감하여 타이어의 마멸 현상 및 현가 장치에 미치는 저항력을 줄이고, 제자리 회전에 소요되는 구동 모터의 소요 동력 및 회전력을 저감할 수 있는 다축 인휠 모터 차량용 자가 정렬 현가 장치를 제공하는 것이다.Accordingly, the present invention has been made to solve the above-described problems of the prior art, an object of the present invention is to reduce the frictional resistance of the road surface in the tire transverse direction generated during in-situ rotation in a multi-axis in-wheel motor vehicle wear of the tire It is to provide a self-aligning suspension device for a multi-axis in-wheel motor vehicle that can reduce the resistance to the development and suspension, and to reduce the power and rotational force of the drive motor required to rotate in place.

상기 목적을 달성하기 위한 본 발명에 따른 다축 인휠 모터 차량용 자가 정렬 현가 장치는, 차체의 상하 진동을 감쇠하기 위한 완충 스프링이 상면에 설치되어 있고, 휠과 차체를 연결하는 주축암과, 일단이 상기 완충 스프링의 근방에서 상기 주축암에 연결되는 조향 링크와, 상기 조향 링크의 타단에 연결되는 완충 장치를 포함하며, 상기 완충 장치는 제자리 회전시 전륜의 일측이 토우인되고, 상기 토우인되는 전륜과 대각선 방향에 위치한 후륜이 토우아웃 되도록 압축 구동되는 것을 특징으로 한다.Self-aligning suspension device for a multi-axis in-wheel motor vehicle according to the present invention for achieving the above object is a buffer spring for damping the up and down vibration of the vehicle body is installed on the upper surface, the main shaft arm connecting the wheel and the vehicle body, one end is A steering link connected to the spindle arm in the vicinity of the shock absorbing spring, and a shock absorber connected to the other end of the steering link, wherein the shock absorber is tow-in at one side of the front wheel when the wheel is rotated in place, and the tow-in front wheel is in a diagonal direction. It is characterized in that the rear wheel located in the compression drive to tow out.

또한, 상기 완충 장치는 하우징과, 상기 하우징 내부의 길이방향 일측에 설치된 스프링 지지판과, 상기 하우징의 일부에 형성된 가이드 슬릿 내에서 가이드되어, 상기 조향 링크와 연동하는 슬라이딩 가이드와, 상기 지지판과 상기 슬라이딩 가이드 사이에 설치된 탄성 스프링을 포함하는 것을 특징으로 한다.The shock absorber may include a housing, a spring support plate provided at one side of the housing in a longitudinal direction, a guide in a guide slit formed in a portion of the housing, and a sliding guide interlocked with the steering link, the support plate, and the sliding member. It characterized in that it comprises an elastic spring provided between the guides.

또한, 상기 완충 장치는 상기 탄성 스프링에 인가되는 프리로드(preload)를 설정할 수 있는 장력 조절 수단을 더 포함하는 것을 특징으로 한다.In addition, the shock absorber is characterized in that it further comprises a tension adjusting means for setting a preload applied to the elastic spring.

또한, 상기 주축암의 차체 연결 조인트와 차륜 중심축은 동일 축선 상에 위치하는 것을 특징으로 한다.In addition, the vehicle body joint and the wheel center axis of the main shaft arm is characterized in that located on the same axis.

본 발명의 다축 인휠 차량용 자가 정렬 현가 장치에 따르면, 다축 인휠 모터 차량에서 제자리 회전시 발생되는 타이어 횡방향에서의 노면과의 마찰 저항을 저감함으로써, 타이어의 마멸 현상 및 노면 마찰음을 저감할 수 있는 효과가 있다. 상기 마찰 저항이 감소함으로써 현가 장치에 미치는 저항력 또한 저감할 수 있다.According to the self-aligning suspension device for a multi-axis in-wheel vehicle of the present invention, by reducing the frictional resistance with the road surface in the tire transverse direction generated when the multi-axis in-wheel motor vehicle is rotated in place, it is possible to reduce the tire wear phenomenon and road surface friction sound There is. By reducing the frictional resistance, the resistive force on the suspension device can also be reduced.

또한, 제자리 회전에 소요되는 구동 모터의 소요 동력 및 회전력을 저감할 수 있는 효과가 있다.In addition, there is an effect that can reduce the required power and rotational force of the drive motor required for in-situ rotation.

또한, 부가적 엑츄에이터 및 제어 로직이 없이도 원활한 제자리 회전 조향을 구현할 수 있다.In addition, smooth in-place rotational steering can be achieved without the need for additional actuators and control logic.

본 발명의 실시예들을 설명하기 위해 사용되는 단수 형태들은 문구들이 이와 명백히 반대의 의미를 나타내지 않는 한 복수 형태들도 포함하는 의미이다. 그리고 "포함한다"의 의미는 특정 특성, 영역, 정수, 단계, 동작, 요소 및 /또는 성분을 구체화하며 다른 특정 특성, 영역, 정수, 단계, 동작, 요소, 성분 및/또는 군의 존재나 부가를 제외하는 것은 아니다.The singular forms used to describe the embodiments of the present invention are intended to include the plural forms as well, unless the phrases clearly indicate the opposite. And “comprises” means specific features, regions, integers, steps, actions, elements and / or components, and the presence or addition of other specific features, regions, integers, steps, actions, elements, components and / or groups. It is not excluded.

이하, 첨부된 도면들을 참조하여 본 발명의 바람직한 실시예에 따른 다축 인휠 모터 차량용 자가 정렬 현가 장치를 도면을 참조하여 상세하게 설명하겠지만, 본 발명이 하기의 실시예에 제한되는 것은 아니다. 따라서, 해당 분야에서 통상의 지식을 가진 자라면 본 발명의 기술적 사상을 벗어나지 않는 범위 내에서 본 발명을 다양하게 변경할 수 있음은 자명하다.Hereinafter, a self-aligning suspension device for a multi-axis in-wheel motor vehicle according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings, but the present invention is not limited to the following embodiments. Therefore, it will be apparent to those skilled in the art that the present invention may be variously modified without departing from the technical spirit of the present invention.

도 1 은 본 발명의 일 실시예에 따른 3축 인휠 모터 차량용 자가 정렬 현가 장치를 차체에 장착한 상태를 도시하는 사시도이며, 도 2는 본 발명의 일 실시예에 따른 3축 인휠 모터 차량의 자가 정렬 현가장치의 구성도이며, 도 3은 도 2에 도시한 자가 정렬 현가장치의 차륜 중심축과 주축암의 차체 연결 조인트가 동일 축선에 위치하는 것을 설명하는 도면으로서, (a)는 그것의 평면도이고, (b)는 (a)의 A-A 방향에서 본 측면도이고, 도 4는 본 발명의 일 실시예에 따른 완충 장치의 구성을 도시하는 도면으로서, (a)는 그것의 사시도이고, (b)는 (a)의 B-B 라인을 따른 단면도이며, 도 5는 제자리 회전시 발생하는 힘의 구성도이고, 도 6은 본 발명의 일 실시예에 따른 3축 인휠 모터 차량의 자가 정렬 현가장치의 제자리 회전시 자가 정렬 토우인/아웃 상태를 설명하는 도면이다.1 is a perspective view showing a state in which a self-aligning suspension device for a three-axis in-wheel motor vehicle according to an embodiment of the present invention is mounted on a vehicle body, and FIG. 2 is a self-assembly of a three-axis in-wheel motor vehicle according to an embodiment of the present invention. 3 is a diagram illustrating the alignment suspension, and FIG. 3 is a view for explaining that the body center joint of the wheel center axis and the main shaft arm of the self-aligning suspension shown in FIG. 2 are located on the same axis, and (a) is a plan view thereof. (B) is a side view seen from the AA direction of (a), and FIG. 4 is a view showing the configuration of a shock absorber according to an embodiment of the present invention, (a) is a perspective view thereof, (b) 5 is a cross-sectional view along the line BB of Figure (a), Figure 5 is a block diagram of the force generated during in-situ rotation, Figure 6 is the in-situ rotation of the self-aligned suspension of a three-axis in-wheel motor vehicle according to an embodiment of the present invention When describing the self-aligning to / in state A surface.

도 1 내지 도 6에 도시한 바와 같이, 본 발명의 일 실시예에 따른 3축 인휠 모터 차량용 자가 정렬 현가 장치(1)는 크게 차체(2)의 상하 진동을 감쇠하기 위한 완충 스프링(40)이 상면에 설치되어 있고, 휠(3)과 차체(2)를 연결하는 주축암(10)과, 일단이 상기 완충 스프링(40)의 근방에서 상기 주축암(10)에 연결되는 조향 링크(30)와, 상기 조향 링크(30)의 타단에 연결되는 완충 장치(20)를 포함하여 구성된다.1 to 6, the self-aligning suspension device 1 for a three-axis in-wheel motor vehicle according to an embodiment of the present invention has a buffer spring 40 for largely damping the up and down vibration of the vehicle body (2) It is provided on the upper surface, the spindle arm 10 for connecting the wheel 3 and the vehicle body 2, and the steering link 30, one end of which is connected to the spindle arm 10 in the vicinity of the buffer spring (40) And a shock absorber 20 connected to the other end of the steering link 30.

상기 주축암(10)은 휠(3) 및 타이어(4)를 지지하고 있다. 전/후륜 주축 암(10)은 제 1 차체 연결부(12)에 의해 차체(2)에 고정되며, 상기 주축암(10)과 차체 연결부(12)의 사이에는 구형 조인트(11)가 설치되어 있다. 또한, 중륜 주축암(50)은 제 2 차체 연결부(52)에 의해 차체(2)에 연결되며, 상기 중륜 주축암(50)과 차체 연결부(52) 사이에는 연결 조인트(51)가 설치된다.The spindle arm 10 supports the wheel 3 and the tire 4. The front / rear wheel spindle arm 10 is fixed to the vehicle body 2 by the first vehicle body connecting portion 12, and a spherical joint 11 is provided between the spindle arm 10 and the vehicle body connecting portion 12. . In addition, the middle wheel spindle arm 50 is connected to the vehicle body 2 by the second vehicle body connecting portion 52, and a connection joint 51 is installed between the middle wheel spindle arm 50 and the vehicle body connecting portion 52.

상기 구형 조인트(11)와 차륜 중심축은 동일 축선상에 위치하도록 설계된다(도 3 참조). 이는, 조향시 횡력에 의한 자가 조향 방향의 역방향으로의 회전력을 발생시키지 않도록 하기 위함이다.The spherical joint 11 and the wheel center axis are designed to be located on the same axis (see FIG. 3). This is to prevent the rotational force in the reverse direction of the self-steering direction due to the lateral force during steering.

상기 완충 스프링(40)의 하단은 스프링-주축암 연결부(41)에 의해 주축암(10)과 연결되고, 상단은 차체-스프링 연결부(42)에 의해 차체에 연결된다.The lower end of the shock absorbing spring 40 is connected to the main shaft arm 10 by a spring-spindle arm connecting portion 41, and the upper end thereof is connected to the vehicle body by a body-spring connecting portion 42.

상기 완충 장치(20)는 구형 조인트(29)에 의해 상기 조향 링크(30)에 연결되며, 차체 고정부(27)에 의해 차체(2)에 고정된다.The shock absorber 20 is connected to the steering link 30 by a spherical joint 29 and is fixed to the vehicle body 2 by the vehicle body fixing part 27.

도 4에 상세히 도시한 바와 같이, 상기 완충 장치(20)는 하우징(21)과, 상기 하우징(21) 내부의 길이방향 일측에 설치된 스프링 지지판(22)과, 상기 하우징(21)의 일부에 형성된 가이드 슬릿(21a) 내에서 가이드 되어, 상기 조향 링크(30)와 연동하는 슬라이딩 가이드(23)와, 상기 지지판(22)과 상기 슬라이딩 가이드(23) 사이에 설치된 탄성 스프링(24)을 포함한다.As shown in detail in FIG. 4, the shock absorber 20 is formed in the housing 21, a spring support plate 22 provided at one side in the longitudinal direction of the inside of the housing 21, and a part of the housing 21. And a sliding guide 23 guided in the guide slit 21a and interlocked with the steering link 30, and an elastic spring 24 provided between the support plate 22 and the sliding guide 23.

상기 하우징(21)의 일측에는 장력 조절 나사(26)가 상기 지지판(22)을 통하여 상기 탄성 스프링(24)에 소정량의 프리로드(preload)를 인가할 수 있도록 설치되어 있다.At one side of the housing 21, a tension adjusting screw 26 is installed to apply a predetermined amount of preload to the elastic spring 24 through the support plate 22.

상기 장력 조절 나사(26)는, 차량의 제자리 회전시 비교적 큰 종방향(차체 길이방향)의 구동력이 발생하는 경우 자가정렬 현가장치(1)의 완충장치(20)가 압축구동되어 조향 링크(30)를 통하여 차륜의 원활한 조향이 이루어지고, 평상시 직진주행시의 비교적 작은 종방향 구동력이 발생하는 경우에는 상기 완충장치(2)가 압축 구동하지 않을 정도의 프리로드를 설정하기 위한 것이다. 프리로드는 장력 조절 나사(26)를 회전시켜 설정할 수 있다.The tension adjusting screw 26 is compressed by the shock absorber 20 of the self-aligning suspension device 1 when the driving force of a relatively long longitudinal direction (body longitudinal direction) is generated when the vehicle is rotated in place. In order to smoothly steer the wheel and to generate a relatively small longitudinal driving force in normal straight driving, the shock absorber 2 is configured to set a preload such that the shock absorber 2 does not compressively drive. The preload can be set by rotating the tension adjusting screw 26.

상기 하우징(21)의 내측 단부에는 상기 지지판(22)과 반대측에 스토퍼(25)가 설치되어 있다. 상기 스토퍼(25)는 상기 슬라이딩 가이드(23)가 상기 하우징(21)의 내측 단부와의 반복적인 충돌로 인하여 손상되는 것을 방지하도록 완충 기능이 있는 부재로 형성하는 것이 바람직하다. 상기 스토퍼(25)는 일정 시간 사용 후 교환가능하다.A stopper 25 is provided at an inner end of the housing 21 opposite to the support plate 22. The stopper 25 is preferably formed of a member having a shock absorbing function to prevent the sliding guide 23 from being damaged due to repeated collision with the inner end of the housing 21. The stopper 25 is replaceable after a certain time of use.

상기 조향 링크(30)의 일단은 레볼루션 조인트(31)를 통하여 상기 완충 스프링(40)의 근방에서 상기 주축암(10)에 연결되고, 타단은 구형 조인트(29)를 통하여 상기 완충 장치(20)와 연결된다.One end of the steering link 30 is connected to the spindle arm 10 in the vicinity of the shock absorbing spring 40 via a revolution joint 31, and the other end is connected to the shock absorber 20 through a spherical joint 29. Connected with

이하, 전술한 구성을 갖는 본 발명에 따른 다축 인휠 모터 차량용 자가 정렬 현가 장치(1)의 작용을 설명한다.Hereinafter, the operation of the self-aligning suspension device 1 for a multi-axis in-wheel motor vehicle according to the present invention having the above-described configuration will be described.

도 5 및 도 6에 상세히 도시한 바와 같이, 제자리 회전(도면에서 좌회전)시 다축 인휠모터 차량의 차륜(4)에 인가되는 종방향으로의 구동력(102)에 의해 제자리 회전운동(101)이 발생된다. 이때, 차륜(4)과 지면의 마찰저항에 따라 발생되는 횡방향으로의 저항력(103)이 발생하고, 차륜(4)에 발생하는 종방향 구동력에 의해 차체 회전축 방향으로의 모멘트(104)가 발생하게 된다.As shown in detail in FIGS. 5 and 6, in situ rotational motion 101 is generated by the driving force 102 in the longitudinal direction applied to the wheels 4 of the multi-axis in-wheel motor vehicle during in-situ rotation (left turn in the drawing). do. At this time, the resistance force 103 in the lateral direction generated according to the frictional resistance between the wheels 4 and the ground is generated, and the moment 104 in the vehicle body rotation axis direction is generated by the longitudinal driving force generated in the wheels 4. Done.

상기 모멘트(104)에 의해 전륜측의 우측륜 및 후륜측의 좌측륜은 조향 링크의 완충장치의 압축 작용에 의하여 좌향 조향이 이루어지게 된다. 즉, 제자리 회전시 전륜측의 우측륜이 토우인되고, 상기 토우인되는 전륜과 대각선으로 위치한 후륜측의 좌축륜이 토우아웃된다.By the moment 104, the right wheel on the front wheel side and the left wheel on the rear wheel side are steered leftward by the compression action of the shock absorber of the steering link. That is, the right wheel on the front wheel side toe-in during in-situ rotation, and the left wheel on the rear wheel side diagonally located with the front wheel toe-in is towed out.

이때, 전륜측의 좌측륜 및 후륜측의 우측륜은 완충장치(20) 내부의 스토퍼(25) 및 하우징(21)에 의해 조향이 이루어지지 않게 된다.At this time, the left wheel on the front wheel side and the right wheel on the rear wheel side are not steered by the stopper 25 and the housing 21 inside the shock absorber 20.

이에 따라, 조향이 이루어지는 측의 차륜의 종방향으로의 구동력에 의해 발생되는 제자리 회전 모멘트 팔(107)은 조향이 이루어지지 않은 차륜의 제자리 회전모멘트 팔(105)에 비하여 증가하게 된다. 이로 인하여, 회전 방향으로의 회전 모멘트가 증가한다.Accordingly, the in-situ rotation moment arm 107 generated by the driving force in the longitudinal direction of the wheel on which the steering is performed increases compared to the in-situ rotation moment arm 105 of the wheel on which steering is not performed. This increases the rotation moment in the rotational direction.

또한, 조향이 이루어지는 측 차륜의 횡방향으로의 저향력(103)에 의해 발생되는 제자리 회전에 대한 저항 모멘트 팔(108)은 조향이 이루어지지 않는 측 차륜의 제자리 회전에 대한 저항 모멘트 팔(106)에 비하여 감소가 이루어지게 된다. 이에 따라, 상대적으로 원활한 제자리 회전을 발생시킬 수 있다.In addition, the resistance moment arm 108 for in-situ rotation caused by the steering force 103 in the transverse direction of the side wheel on which steering is made is a resistance moment arm 106 for in-situ rotation of the side wheel on which steering is not made. In comparison with this, a reduction is achieved. Thus, relatively smooth in-situ rotation can be generated.

상기와 같이, 저항 모멘트가 작아짐에 따라 차륜과 노면 사이의 마찰이 그만큼 감소하고, 그에 따라 차륜의 미끄러짐에 의한 차륜의 마멸 및 마찰음이 저감하게 된다.As described above, as the resistance moment decreases, friction between the wheel and the road surface decreases accordingly, thereby reducing wear and friction noise of the wheel due to sliding of the wheel.

도 1 은 본 발명의 일 실시예에 따른 3축 인휠 모터 차량용 자가 정렬 현가 장치를 차체에 장착한 상태를 도시하는 사시도.1 is a perspective view showing a state in which a self-aligning suspension device for a three-axis in-wheel motor vehicle according to an embodiment of the present invention is mounted on a vehicle body.

도 2는 본 발명의 일 실시예에 따른 3축 인휠 모터 차량의 자가 정렬 현가장치의 구성도.2 is a block diagram of a self-aligning suspension of a three-axis in-wheel motor vehicle according to an embodiment of the present invention.

도 3은 도 2에 도시한 자가 정렬 현가장치의 차륜 중심축과 주축암의 차체 연결 조인트가 동일 축선에 위치하는 것을 설명하는 도면으로서, (a)는 그것의 평면도이고, (b)는 (a)의 A-A 방향에서 본 측면도.3 is a view for explaining that the wheel center axis of the self-aligning suspension shown in FIG. 2 and the body connecting joint of the main shaft arm are located on the same axis, (a) is a plan view thereof, and (b) is (a). Side view from the AA direction.

도 4는 본 발명의 일 실시예에 따른 완충 장치의 구성을 도시하는 도면으로서, (a)는 그것의 사시도이고, (b)는 (a)의 B-B 라인을 따른 단면도.4 is a view showing the configuration of a shock absorber according to an embodiment of the present invention, (a) is a perspective view thereof, (b) is a cross-sectional view along the B-B line of (a).

도 5는 제자리 회전시 발생되는 힘의 구성도.5 is a configuration diagram of a force generated when rotating in place.

도 6은 본 발명의 일 실시예에 따른 3축 인휠 모터 차량의 자가 정렬 현가장치의 제자리 회전시 자가 정렬 토우인/아웃 상태를 설명하는 도면.FIG. 6 is a view illustrating a self-aligning toe-in / out state of the self-aligning suspension of a three-axis in-wheel motor vehicle according to an embodiment of the present invention. FIG.

※ 도면의 주요 부분에 대한 부호의 설명 ※[Description of Reference Numerals]

1: 자가 정렬 현가 장치 10: 주축암1: self-aligning suspension device 10: spindle arm

11: 구형 조인트 12: 제 1 차체 연결부11: spherical joint 12: first body connection

20: 완충 장치 21: 하우징20: shock absorber 21: housing

21a: 가이드 슬릿(21a) 22: 지지판21a: guide slit 21a 22: support plate

23: 슬라이딩 가이드 24: 스프링23: sliding guide 24: spring

25: 스토퍼 26: 장력 조절 나사25: stopper 26: tension adjusting screw

27: 차체 고정부 28: 연결 링크27: body fixing part 28: connection link

29: 구형 조인트 30: 조향 링크29: spherical joint 30: steering link

31: 레볼루션 조인트 40: 완충 스프링31: Revolution joint 40: Shock spring

41: 스프링-주축암 연결부 42: 차체-스프링 연결부41: spring-spindle arm connection 42: body-spring connection

52: 제 2 차체 연결부52: second body connection

Claims (4)

다축 인휠 모터 차량용 자가 정렬 현가 장치로서,Self-aligning suspension for multi-axis in-wheel motor vehicles, 차체의 상하 진동을 감쇠하기 위한 완충 스프링이 상면에 설치되어 있고, 휠과 차체를 연결하는 주축암과,A shock absorbing spring is provided on the upper surface to damp the up and down vibration of the vehicle body, and the spindle arm connecting the wheel and the vehicle body; 일단이 상기 완충 스프링의 근방에서 상기 주축암에 연결되는 조향 링크와,A steering link, one end of which is connected to the spindle arm in the vicinity of the shock absorbing spring, 상기 조향 링크의 타단에 연결되는 완충 장치를 포함하며,A shock absorber connected to the other end of the steering link, 상기 완충 장치는 제자리 회전시 전륜의 일측이 토우인되고, 상기 토우인되는 전륜과 대각선 방향에 위치한 후륜이 토우아웃 되도록 압축 구동되는 것을 특징으로 하는 다축 인휠 모터 차량용 자가 정렬 현가 장치.The shock absorbing device is a self-aligned suspension device for a multi-axis in-wheel motor vehicle, characterized in that the one side of the front wheel is towed in when the in-turn rotation, and the rear wheel located in a diagonal direction with the front wheel being towed-in to be compressed out. 제 1 항에 있어서, 상기 완충 장치는,The method of claim 1, wherein the shock absorber, 하우징과,A housing, 상기 하우징 내부의 길이방향 일측에 설치된 스프링 지지판과,A spring support plate installed on one side of the housing in the longitudinal direction; 상기 하우징의 일부에 형성된 가이드 슬릿 내에서 가이드 되어, 상기 조향 링크와 연동하는 슬라이딩 가이드와,A sliding guide guided in a guide slit formed in a part of the housing and interlocked with the steering link; 상기 지지판과 상기 슬라이딩 가이드 사이에 설치된 탄성 스프링을 포함하는 것을 특징으로 하는 다축 인휠 모터 차량용 자가 정렬 현가 장치.Self-aligning suspension device for a multi-axis in-wheel motor vehicle, characterized in that it comprises an elastic spring installed between the support plate and the sliding guide. 제 2 항에 있어서, 상기 완충 장치는,The method of claim 2, wherein the buffer device, 상기 탄성 스프링에 인가되는 프리로드(preload)를 설정할 수 있는 장력 조절 수단을 더 포함하는 것을 특징으로 하는 다축 인휠 모터 차량용 자가 정렬 현가 장치.Self-aligning suspension device for a multi-axis in-wheel motor vehicle, characterized in that it further comprises a tension control means for setting a preload applied to the elastic spring. 제 1 항 내지 제 3 항 중 어느 한 항에 있어서,4. The method according to any one of claims 1 to 3, 상기 주축암의 차체 연결 조인트와 차륜 중심축은 동일 축선 상에 위치하는 것을 특징으로 하는 다축 인휠 모터 차량용 자가 정렬 현가 장치.The self-aligning suspension device for a multi-axis in-wheel motor vehicle, characterized in that the body connection joint and the wheel center axis of the main shaft arm is located on the same axis.
KR1020090029234A 2009-04-06 2009-04-06 Self-alignment suspension for multi-axis in-wheel motor vehicle KR101028058B1 (en)

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KR101265053B1 (en) * 2011-07-07 2013-05-16 김영렬 Apparatus of controlling pitch motion for electric vehicles with in-wheel motor
CN109624630A (en) * 2019-02-21 2019-04-16 杭叉集团股份有限公司 A kind of suspension and the tray carriage with the suspension
KR20220102283A (en) 2021-01-13 2022-07-20 현대위아 주식회사 In wheel system
KR20220117744A (en) 2021-02-17 2022-08-24 현대위아 주식회사 Suspension with independent steering
KR102569804B1 (en) * 2021-10-21 2023-08-22 김기범 Automated guided vehicle with double damper applied

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