KR20140045684A - Active suspension apparatus for vehicle - Google Patents

Active suspension apparatus for vehicle Download PDF

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Publication number
KR20140045684A
KR20140045684A KR1020120111726A KR20120111726A KR20140045684A KR 20140045684 A KR20140045684 A KR 20140045684A KR 1020120111726 A KR1020120111726 A KR 1020120111726A KR 20120111726 A KR20120111726 A KR 20120111726A KR 20140045684 A KR20140045684 A KR 20140045684A
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KR
South Korea
Prior art keywords
wheel
ground
sensor
obstacle
lift module
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KR1020120111726A
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Korean (ko)
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KR101393931B1 (en
Inventor
김주남
강경현
안기환
용남중
이재석
남종용
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현대자동차주식회사
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Priority to KR1020120111726A priority Critical patent/KR101393931B1/en
Publication of KR20140045684A publication Critical patent/KR20140045684A/en
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Publication of KR101393931B1 publication Critical patent/KR101393931B1/en

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    • 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
    • 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
    • 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
    • B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • 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
    • B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0165—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
    • 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
    • B60G17/019—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 type of sensor or the arrangement thereof
    • 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
    • B60G2204/12—Mounting of springs or dampers
    • B60G2204/124—Mounting of coil springs
    • 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
    • B60G2204/419—Gears
    • B60G2204/4192—Gears rack and pinion
    • 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
    • B60G2204/419—Gears
    • B60G2204/4193—Gears worm gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B60G2400/823—Obstacle sensing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
    • F16H1/16—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising worm and worm-wheel
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/04—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising a rack

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

Abstract

The present invention relates to a suspension apparatus for a vehicle which can pass an obstacle (7), without the vehicle wheels (1) coming into direct contact with the obstacle, and which always maintains a vehicle body (2) in a horizontal state when passing the obstacle, thereby excessively improving the stability of an occupant seated in a vehicle seat or an object transported by the vehicle. [Reference numerals] (50) Obstacle detection sensor; (60) Controller

Description

차량용 능동 서스펜션 장치{ACTIVE SUSPENSION APPARATUS FOR VEHICLE}TECHNICAL FIELD [0001] The present invention relates to an active suspension system for a vehicle,

본 발명은 차량용 능동 서스펜션 장치에 관한 것으로, 보다 상세하게는 주행방향에 장애물이 존재하는 경우 장애물과의 접촉없이 바퀴만 독립적으로 높이조절이 되면서 장애물을 통과할 수 있는 차량용 능동 서스펜션 장치에 관한 기술이다.
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an active suspension system for a vehicle, and more particularly, to an active suspension system for a vehicle capable of passing an obstacle independently of a wheel without contacting an obstacle when an obstacle is present in a traveling direction .

일반적으로, 차량에는 노면으로부터의 진동과 충격을 완화해서 승차감을 좋게 하는 서스펜션 장치가 구비되어 있는데, 상기 서스펜션 장치의 일례로는 도 1에 도시된 바와 같이 차륜(1)과 차체(2)를 연결하는 쇽업소버(3), 상기 쇽업소버(3)에 설치된 코일스프링(4) 등이 있다.Generally, a vehicle is equipped with a suspension device for relieving vibration and shock from the road surface to improve ride comfort. As an example of the suspension device, a wheel 1 and a vehicle body 2 are connected A coil spring 4 provided on the shock absorber 3, and the like.

상기 코일스프링(4)은 차륜(1)의 범프(bump) 및 리바운드(rebound)시에 충격을 흡수하고, 상기 쇽업소버(3)는 충격 흡수와 함께 코일스프링(4)의 진동을 신속히 감쇠시켜서 차고를 일정하게 유지하는 역할을 한다.The coil spring 4 absorbs impacts when the wheel 1 is bumped and rebounded and the shock absorber 3 quickly absorbs vibration and damps the vibration of the coil spring 4 It keeps the garage constant.

상기와 같은 종래의 서스펜션 장치는 주행방향에 존재하는 장애물에 차륜(1)이 직접 접촉함에 따라 발생하는 충격과 진동을 흡수하는 것으로, 차량에 탑승한 승객 또는 수송물에 충격이 그대로 전달되는 단점이 있고, 특히 장애물 통과시 차체가 수평상태를 지속적으로 유지하지 못하고 한쪽으로 기울어지는 현상이 발생하는 단점이 있다.The conventional suspension device as described above absorbs shocks and vibrations generated when the wheels 1 are in direct contact with obstacles existing in the traveling direction, and thus has a disadvantage in that the impact is directly transmitted to passengers or transported goods on the vehicle In particular, when the obstacle is passed, the vehicle body can not maintain the horizontal state continuously, and the vehicle body tilts to one side.

상기와 같은 단점은 위험물(폭발물) 수송차량, 응급환자 수송차량, 휠체어를 탑재한 장애인 수송차량, 작업시 안전한 자세를 요구하는 중장비 차량 등에 특히 악영향을 주게 된다.Such disadvantages are particularly adversely affecting dangerous goods (explosives) transportation vehicles, emergency patient transportation vehicles, transportation vehicles for persons with disabilities equipped with wheelchairs, and heavy equipment vehicles requiring a safe posture at work.

상기의 배경기술로서 설명된 사항들은 본 발명의 배경에 대한 이해 증진을 위한 것일 뿐, 이 기술분야에서 통상의 지식을 가진 자에게 이미 알려진 종래기술에 해당함을 인정하는 것으로 받아들여져서는 안 될 것이다.
It should be understood that the foregoing description of the background art is merely for the purpose of promoting an understanding of the background of the present invention and is not to be construed as an admission that the prior art is known to those skilled in the art.

대한민국공개특허공보 10-1997-0040360호.Korean Patent Publication No. 10-1997-0040360.

이에 본 발명은 상기한 단점을 해소하기 위해 안출된 것으로서, 차체와 상관없이 차륜만 독립적으로 높이조절이 가능한 차량용 능동 서스펜션 장치를 제공함으로써, 차륜이 장애물과 접촉됨에 없이 통과할 수 있게 됨에 따라 차체쪽으로 충격전달을 최대한 예방하고, 차체를 지속적으로 수평상태로 유지할 수 있게 됨에 따라 승객 및 수송물의 안정성을 한층 더 향상시킬 수 있도록 하는 데에 그 목적이 있다.
SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an active suspension system for a vehicle capable of independently adjusting the height of a wheel independently of a vehicle body, The object of the present invention is to prevent the shock transmission as much as possible and to keep the vehicle body continuously in a horizontal state, thereby further improving the stability of passengers and transported goods.

상기한 바의 목적을 달성하기 위한 본 발명 차량용 능동 서스펜션 장치는, 차륜의 구동축을 회전시킬 수 있도록 상기 구동축과 동력전달이 가능하게 연결된 구동모터; 상기 구동모터와 연결되게 설치되어서 차륜의 지면유착상태를 검출하는 지면유착센서; 상기 지면유착센서와 차체를 연결하면서 상기 차륜의 높이를 조절할 수 있도록 길이가 가변되게 동작하는 리프트모듈; 주행방향의 전방에 존재하는 장애물을 감지할 수 있도록 차체에 장착된 장애물감지센서; 및 상기 지면유착센서와 장애물감지센서로부터 신호를 전달받아서 구동모터의 동작과 리프트모듈의 동작을 제어하는 제어기;를 포함하는 것을 특징으로 한다.According to an aspect of the present invention, there is provided an active suspension system for a vehicle including: a drive motor connected to the drive shaft so as to transmit power so as to rotate a drive shaft of the wheel; A ground adhesion sensor connected to the drive motor for detecting a ground adhesion state of the wheel; A lift module operable to vary the length of the wheel so as to adjust the height of the wheel while connecting the ground adhesion sensor to the vehicle body; An obstacle detection sensor mounted on a vehicle body so as to detect obstacles existing in front of the traveling direction; And a controller which receives signals from the ground adhesion sensor and the obstacle detection sensor and controls operation of the driving motor and operation of the lift module.

상기 지면유착센서와 리프트모듈에 양단이 지지되도록 설치되어서 상기 차륜의 상하 이동시에 발생하는 충격을 흡수하는 코일스프링을 더 포함하는 것을 특징으로 한다.And a coil spring installed to support the ground adhesion sensor and the lift module at both ends to absorb an impact generated when the wheel is moved up and down.

상기 지면유착센서는 상기 차륜이 지면에 접촉하고 있는 상태 및 접촉하고 있지 않은 상태에 따라 온(ON) 또는 오프(OFF)되는 온오프 스위치인 것을 특징으로 한다.And the ground adhesion sensor is an on-off switch that is turned on or off according to a state in which the wheel is in contact with the ground and a state in which the wheel is not in contact.

상기 지면유착센서는 상기 차륜이 지면에 접촉하고 있는 상태 및 접촉하고 있지 않은 상태에 따라 빛의 양을 감지하는 포토센서인 것을 특징으로 한다.The ground adhesion sensor is a photosensor that senses the amount of light depending on whether the wheel is in contact with the ground or not.

상기 리프트모듈은 상기 차체에 일단이 연결되도록 설치된 실린더형상의 고정부재; 및 상기 지면유착센서에 일단이 연결되고 상기 고정부재속에 타단이 삽입되게 설치되어서 상기 차륜의 높이를 변화시킬 수 있도록 고정부재를 따라 이동하는 막대형상의 가동부재를 포함하는 것을 특징으로 한다.The lift module includes: a cylinder-shaped fixing member having one end connected to the vehicle body; And a rod-shaped movable member which is connected to the ground adhesion sensor at one end and is inserted into the fixing member so as to insert the other end, and moves along the fixing member so as to change the height of the wheel.

상기 장애물감지센서는 차체의 전방과 후방쪽에 위치하도록 장착된 것을 특징으로 한다.The obstacle detecting sensor is mounted on the front and rear sides of the vehicle body.

상기 제어기는 차륜의 상하방향 움직임을 차륜마다 각각 독립적으로 제어할 수 있게 구성된 것을 특징으로 한다.And the controller is configured to control the upward and downward movement of the wheels independently for each wheel.

상기 리프트모듈은 상기 고정부재에 코일이 권선되고, 상기 코일에 전류 인가시 상기 가동부재가 직선 이동하는 리니어 액추에이터인 것을 특징으로 한다.The lift module is a linear actuator in which a coil is wound on the fixing member and the movable member moves linearly when a current is applied to the coil.

상기 리프트모듈은 상기 가동부재를 동작시키는 구동부재를 더 포함하고; 상기 가동부재와 구동부재는 랙 앤 피니언 기어이거나 또는 웜기어인 것을 특징으로 한다.
Wherein the lift module further comprises a driving member for operating the movable member; Wherein the movable member and the driving member are rack-and-pinion gears or worm gears.

본 발명에 따른 차량용 능동 서스펜션 장치에 의하면, 차륜이 장애물과 직접 접촉함에 없이 장애물을 그대로 통과할 수 있게 됨에 따라 차체쪽으로 충격전달을 최대한 예방할 수 있게 되고, 특히 차륜이 장애물 통과시에도 차체를 항상 수평상태로 유지할 수 있게 됨에 따라 차량에 탑승한 승객 또는 수송물의 안정성을 크게 향상시킬 수 있는 효과가 있다.
According to the active suspension system for a vehicle according to the present invention, since an obstacle can pass through without directly contacting an obstacle, the impact transmission to the vehicle body can be prevented as much as possible. In particular, It is possible to greatly improve the stability of the passenger or transported vehicle on the vehicle.

도 1은 종래의 서스펜션 장치를 설명하기 위한 도면,
도 2는 본 발명에 따른 능동 서스펜션 장치를 구비한 차량에 대한 도면,
도 3은 본 발명에 따른 능동 서스펜션 장치의 정면도,
도 4와 본 발명에 따른 지면유착센서가 온오프 스위치로 구성된 일 실시예의 도면,
도 5는 본 발명에 따른 지면유착센서가 포토센서로 구성된 다른 실시예의 도면,
도 6은 본 발명에 따른 능동 서스펜션 장치의 작동상태를 보여주기 위한 도면이다.1 is a view for explaining a conventional suspension device,
2 is a view of a vehicle having an active suspension device according to the present invention,
3 is a front view of the active suspension device according to the present invention,
4 is a view of an embodiment in which the ground adhesion sensor according to the present invention is configured as an on-off switch,
5 is a view of another embodiment in which the ground adhesion sensor according to the present invention is constituted by a photosensor,
6 is a view for showing an operating state of the active suspension device according to the present invention.

이하에서는 첨부된 도면을 참조하여 본 발명의 바람직한 실시 예에 따른 차량용 능동 서스펜션 장치에 대해 살펴보기로 한다.Hereinafter, an active suspension system for a vehicle according to a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

본 발명에 따른 차량용 능동 서스펜션 장치는 도 2 내지 도 6에 도시된 바와 같이 차륜(1)의 구동축(5)을 회전시킬 수 있도록 상기 구동축(5)과 동력전달이 가능하게 연결된 구동모터(10); 상기 구동모터(10)와 연결되게 설치되어서 차륜(1)의 지면유착상태를 검출하는 지면유착센서(20); 상기 지면유착센서(20)와 차체(2)를 연결하면서 상기 차륜(1)의 높이를 조절할 수 있도록 길이가 가변되게 동작하는 리프트모듈(30); 주행방향의 전방에 존재하는 장애물(7)을 감지할 수 있도록 차체(2)에 장착된 장애물감지센서(50); 및 상기 지면유착센서(20)와 장애물감지센서(50)로부터 신호를 전달받아서 구동모터(10)의 동작과 리프트모듈(30)의 동작을 제어하는 제어기(60);를 포함한다.2 to 6, the active suspension system for a vehicle according to the present invention includes a driving motor 10 connected to the driving shaft 5 so as to transmit power so as to rotate the driving shaft 5 of the wheel 1, ; A ground adhesion sensor 20 connected to the driving motor 10 to detect a ground adhesion state of the wheel 1; A lift module 30 which is operated in a variable length so as to adjust the height of the wheel 1 while connecting the ground adhesion sensor 20 and the vehicle body 2; An obstacle detection sensor (50) mounted on the vehicle body (2) so as to detect an obstacle (7) present in front of the traveling direction; And a controller 60 receiving signals from the ground adhesion sensor 20 and the obstacle detection sensor 50 to control the operation of the drive motor 10 and the operation of the lift module 30. [

또한, 본 발명은 상기 지면유착센서(20)와 리프트모듈(30)에 양단이 지지되도록 설치되어서 상기 차륜(1)의 상하 이동시에 발생하는 충격을 흡수하는 코일스프링(40)을 더 포함한다.The present invention further includes a coil spring 40 installed at both ends of the ground adhesion sensor 20 and the lift module 30 so as to absorb an impact generated when the wheel 1 moves up and down.

여기서, 상기 차륜(1)은 리프트모듈(30)의 길이가 가변될 때 상하로 이동하게 되고, 상하 이동시에는 지면(6)으로부터 떨어지거나 또는 지면(6)과 접촉하게 된다.Here, the wheel 1 moves up and down when the length of the lift module 30 is variable, and falls off the ground 6 or comes into contact with the ground 6 when the lift module 30 is vertically moved.

상기 리프트모듈(30)은 상기 차체(2)에 일단이 연결되도록 설치된 실린더형상의 고정부재(31); 및 상기 지면유착센서(20)에 일단이 연결되고 상기 고정부재(31)속에 타단이 삽입되게 설치되어서 상기 차륜(1)의 높이를 변화시킬 수 있도록 고정부재(31)를 따라 이동하는 막대형상의 가동부재(32)를 포함한다.The lift module (30) includes a cylindrical fixing member (31) having one end connected to the vehicle body (2); And a rod-like shape moving along the fixing member 31 so as to change the height of the wheel 1, one end of which is connected to the ground adhesion sensor 20 and the other end is inserted into the fixing member 31, And a movable member (32).

여기서, 상기 리프트모듈(30)은 일례로 상기 고정부재(31)에 코일이 권선되고, 상기 코일에 전류 인가시 상기 가동부재(32)가 고정부재(31)를 따라 직선 이동하는 리니어 액추에이터로 구성될 수 있다.The lift module 30 includes a linear actuator in which a coil is wound on the fixing member 31 and the movable member 32 linearly moves along the fixing member 31 when a current is applied to the coil .

그리고, 상기 리프트모듈(30)은 다른 예로 상기 가동부재(32)를 동작시키는 구동부재(미도시)를 더 포함하고, 상기 가동부재(32)와 구동부재는 랙 앤 피니언 기어이거나 또는 웜기어로 구성될 수도 있다.The lift module 30 may further include a driving member (not shown) for operating the movable member 32. The movable member 32 and the driving member may be rack-and-pinion gears or worm gears .

상기 가동부재(32)는 코일스프링(40)의 내부를 관통한 구성이며, 이로 인해 상기 코일스프링(40)의 상단은 고정부재(31)의 하단부에 지지되고 상기 코일스프링(40)의 하단은 지면유착센서(20)의 윗면에 지지된 구조가 된다.The upper end of the coil spring 40 is supported by the lower end of the fixing member 31 and the lower end of the coil spring 40 is supported by the upper end of the coil spring 40. [ And is supported on the upper surface of the ground adhesion sensor 20.

한편, 상기 지면유착센서(20)는 온오프 스위치로 구성되거나 또는 포토센서로 구성될 수 있다.On the other hand, the ground adhesion sensor 20 may be constituted by an on-off switch or a photo sensor.

도 4는 지면유착센서(20)가 온오프 스위치인 경우를 일례로서 도시한 것으로 도 4(A)는 차륜(1)이 지면(6)과 접촉하고 있는 상태이고, 도 4(B)는 차륜(1)이 지면(6)으로부터 떨어진 상태이다.4 (A) is a state in which the wheel 1 is in contact with the paper surface 6, and Fig. 4 (B) is a state in which the wheel 1 is in contact with the ground 6, (1) is separated from the paper surface (6).

상기 지면유착센서(20)는 암,수스위치의 개념인 제1,2스위치(21,22)로 구성되고, 상기 제1스위치(21)에는 상하방향으로 연장된 슬릿모양의 가이드홀(21a)이 형성되고, 상기 제2스위치(22)에는 가이드홀(21a)을 관통하는 가이드돌기(22a)가 형성된다.The ground adhesion sensor 20 is composed of first and second switches 21 and 22 which are the concept of female and male switches. The first switch 21 is provided with a slit-shaped guide hole 21a extending in the vertical direction, And the second switch 22 is formed with a guide protrusion 22a passing through the guide hole 21a.

상기 지면유착센서(20)가 제1,2스위치(21,22)로 구성된 것은 일례로서 제시한 구성이기에 필요에 따라 다양한 형태로 구성될 수 있으며, 또한 상기 가이드홀(21a)은 가동부재(32)에 형성될 수도 있고, 이에 따라 가이드홀(21a)과 가이드돌기(22a)의 구성도 필요에 따라 다양한 형태로 구성할 수 있다.Since the ground adhesion sensor 20 is composed of the first and second switches 21 and 22 as an example, it can be configured in various forms as required. Further, the guide hole 21a is formed by the movable member 32 The guide holes 21a and the guide protrusions 22a may be formed in various shapes according to need.

도 4(A)는 차륜(1)이 지면(6)과 접촉하고 있는 상태이며, 이때 제1,2스위치(21,22)는 서로 접촉해서 온(ON) 상태를 유지하고 있게 된다.4 (A) shows a state in which the wheel 1 is in contact with the paper surface 6, and the first and second switches 21 and 22 are in contact with each other at this time, and are kept in the ON state.

상기의 상태에서 리프트모듈(30)이 작동함에 따라 가동부재(32)가 상승하게 되면, 차륜(1)이 함께 상승해서 지면(6)으로부터 떨어지게 되고, 동시에 제1스위치(21)는 함께 상승하고(화살표 M1), 제2스위치(22)는 차륜(1)의 자중에 의해 하강하게 되는 바(화살표 M2), 이로 인해 제1,2스위치(21,22)는 서로 떨어져서 오프(OFF) 상태가 된다.When the movable member 32 rises as the lift module 30 is operated in this state, the wheels 1 are lifted together from the ground 6, and at the same time, the first switches 21 rise together (Arrow M1), and the second switch 22 is lowered by the weight of the wheel 1 (arrow M2). As a result, the first and second switches 21, do.

도 4(A)와 같이 차륜(1)이 지면(6)과 접촉하고 동시에 제1,2스위치(21,22)가 서로 접촉해서 온(ON) 상태를 유지할 때에는 구동모터(10)로 전원이 공급됨에 따라 차륜(1)은 지속적으로 회전하고 있는 상태가 된다.When the wheel 1 is brought into contact with the paper surface 6 and the first and second switches 21 and 22 are in contact with each other and maintained in an ON state as shown in Fig. 4A, power is supplied to the drive motor 10 The wheel 1 is continuously rotated.

그리고, 도 4(B)와 같이 차륜(1)이 지면(6)으로부터 떨어지고 동시에 제1,2스위치(21,22)가 서로 떨어져서 오프(OFF) 상태를 유지할 때에는 구동모터(10)가 구동하지 않게 되고, 이로 인해 차륜(1)은 회전이 종료된 상태를 유지한다.When the wheel 1 is separated from the paper surface 6 and the first and second switches 21 and 22 are apart from each other and remain OFF as shown in Fig. 4B, the drive motor 10 is not driven So that the wheel 1 maintains the state in which the rotation is finished.

상기와 같은 리프트모듈(30)의 동작 및 구동모터(10)의 동작은 차량에 구비된 제어기(60)에 의해 제어되는 구성이고, 상기 차량에는 주행방향의 장애물(7) 및 전방 지형(장애물의 수직높이)을 감지하는 장애물감지센서(50)가 구비된다.The operation of the lift module 30 and the operation of the drive motor 10 are controlled by the controller 60 provided in the vehicle and the vehicle is provided with the obstacle 7 in the running direction and the front terrain A vertical height) of the obstacle detection sensor 50 is detected.

상기 장애물감지센서(50)는 차체(2)의 전방쪽 위치에 장착되거나 또는 전방과 후방쪽 위치에 모두 장착될 수 있으며, 주행 중 장애물감지센서(50)가 장애물을 감지하면 제어기(60)는 장애물감지센서(50)로부터 신호를 전달받아서 리프트모듈(30)의 동작 및 구동모터(10)의 동작을 제어하게 되고, 이를 통해 차륜(1)은 장애물과의 접촉없이 장애물을 통과할 수 있게 된다.The obstacle detection sensor 50 may be mounted on the front side of the vehicle body 2 or both the front side and the rear side. When the obstacle detection sensor 50 senses an obstacle, the controller 60 A signal is received from the obstacle detection sensor 50 to control the operation of the lift module 30 and the operation of the drive motor 10 so that the wheel 1 can pass through the obstacle without contact with the obstacle .

상기 장애물감지센서(50)는 적외선센서로 구성되는 것이 바람직하지만, 이에 한정되는 것은 아니다.The obstacle detection sensor 50 is preferably an infrared sensor, but is not limited thereto.

상기 제어기(60)는 차륜(1)의 상하방향 움직임을 차륜(1)마다 각각 독립적으로 제어할 수 있게 구성된 것을 원칙으로 한다.It is a principle that the controller 60 is configured to independently control the upward and downward movement of the wheel 1 for each of the wheels 1 independently.

그리고, 도 5에는 지면유착센서(20)가 포토센서로 구성된 경우가 일례로서 도시되어 있는 바, 도 5(A)는 차륜(1)이 지면(6)과 접촉하고 있는 상태이고, 도 5(B)는 차륜(1)이 지면(6)으로부터 떨어진 상태이며, 이에 대한 구성은 도 4의 상태와 동일하므로 상세한 설명은 생략한다.5 (A) shows a state in which the wheel 1 is in contact with the paper surface 6, and Fig. 5 (A) shows a state in which the wheel 1 is in contact with the paper surface 6, B is a state in which the wheel 1 is separated from the paper surface 6, and the configuration thereof is the same as that in Fig. 4, and thus a detailed description thereof will be omitted.

제1스위치(21)에는 가리개(21b)가 구비되고, 제2스위치(22)에는 가리개(21b)가 삽입될 수 있는 삽입홈(22b)이 구비되며, 상기 삽입홈(22b) 주변에 서로 마주 대하는 발광부(22c) 및 수광부(22d)가 구비된 구성이다.The first switch 21 is provided with a shield 21b and the second switch 22 is provided with an insertion groove 22b into which the shield 21b can be inserted. The light emitting portion 22c and the light receiving portion 22d are provided.

도 5(A)와 같이 차륜(1)이 지면(6)과 접촉하고 동시에 가리개(21b)가 삽입홈(22b)으로 삽입되면 포토센서는 온(ON) 상태를 유지하게 되고, 이때에는 구동모터(10)로 전원이 공급됨에 따라 차륜(1)은 지속적으로 회전하게 된다.When the wheel 1 is brought into contact with the paper surface 6 and the cover 21b is inserted into the insertion groove 22b as shown in Fig. 5A, the photosensor is kept ON, The wheel 1 is continuously rotated as power is supplied to the wheel 10.

그리고, 도 5(B)와 같이 차륜(1)이 지면(6)으로부터 떨어지고 동시에 가리개(21b)가 삽입홈(22b)으로부터 빠지게 되면 포토센서는 오프(OFF) 상태를 유지하게 되고, 이때에는 구동모터(10)가 구동하지 않음에 따라 차륜(1)은 회전이 종료된 상태를 유지하게 된다.
When the wheel 1 is separated from the paper surface 6 and the cover 21b is removed from the insertion groove 22b as shown in Fig. 5B, the photosensor is kept in the OFF state. At this time, As the motor 10 is not driven, the wheel 1 is maintained in a state in which the rotation is completed.

이하, 본 발명 실시예의 작용에 대해 설명한다.Hereinafter, the operation of the embodiment of the present invention will be described.

차량 주행 중 장애물감지센서(50)가 장애물(7)을 감지하게 되면 이때의 신호는 제어기(60)로 전달되고, 상기 제어기(60)는 차륜(1) 중 1열의 차륜(1)이 장애물(7)에 접촉하기 전에 1열 차륜(1)의 리프트모듈(30)로 제어신호를 보내서 상기 리프트모듈(30)을 동작시키게 된다.When the obstacle detecting sensor 50 senses the obstacle 7, the signal at this time is transmitted to the controller 60. The controller 60 determines whether the wheel 1 of the first row of the wheels 1 is the obstacle The lift module 30 is operated by sending a control signal to the lift module 30 of the first-row wheel 1 before coming into contact with the lift module 30 of the first row.

즉, 제어기(60)의 신호에 의해 1열 차륜(1)과 연결된 가동부재(32)가 상승하게 되면, 1열 차륜(1)이 함께 상승해서 지면(6)으로부터 떨어지게 되고, 동시에 제1스위치(21)는 함께 상승하고 반대로 제2스위치(22)는 1열 차륜(1)의 자중에 의해 하강하게 되며, 이로 인해 제1,2스위치(21,22)는 서로 떨어져서 오프(OFF) 상태가 된다.That is, when the movable member 32 connected to the first-wheel 1 is raised by the signal of the controller 60, the first-wheel 1 is lifted together with the ground 6, The second switch 22 is lowered by the self weight of the first wheel 1 and the first and second switches 21 and 22 are separated from each other and turned off do.

상기 1열 차륜(1)은 장애물(7)과 접촉하지 않을 정도로 충분히 상승되는 것을 원칙으로 한다.It is a principle that the one-row wheel 1 is raised sufficiently to not contact the obstacle 7.

상기와 같이 1열 차륜(1)의 지면유착센서(20)가 오프(OFF) 상태가 되면 1열 차륜(1)의 구동모터(10)로 전원이 공급되지 않음에 따라 구동모터(10)는 구동하지 않게 되고, 이로 인해 1열 차륜(1)은 회전이 종료된 상태를 유지하게 되며, 나머지 2열 이상의 차륜(1)은 계속해서 회전을 하고 있게 된다.When the ground adhesion sensor 20 of the one-row wheel 1 is turned off as described above, power is not supplied to the driving motor 10 of the first-row wheel 1, So that the first-row wheel 1 is maintained in a state where the rotation is completed, and the remaining two or more rows of the wheels 1 continue to rotate.

따라서, 차량에 구비된 차륜(1) 중에서 1열 차륜(1)만 상승하고 나머지 열의 차륜(1)들은 계속해서 지면(6)과 접촉한 상태로 회전을 하게 되므로 차량은 계속해서 주행속도의 변화없이 주행을 하게 되고, 상승한 1열 차륜(1)은 장애물(7)과 접촉하지 않고 그대로 통과하게 된다.Therefore, among the wheels 1 provided in the vehicle, only the first-wheel 1 rises and the remaining wheels 1 continue to rotate in contact with the ground 6. Therefore, And the ascending first-row wheel 1 passes without being in contact with the obstacle 7.

1열 차륜(1)이 장애물(7)을 통과하게 되면 제어기(60)의 신호에 의해 1열 차륜(1)의 가동부재(32)는 하강하고, 떨어져 있던 제1,2스위치(21,22)는 다시 접촉해서 온(ON) 상태가 되며, 지면유착센서(20)의 온(ON) 신호에 따라 구동모터(10)는 다시 구동하게 되고, 1열 차륜(1)은 다시 지면(6)과 접촉한 상태로 구동을 하게 된다.When the one-row wheel 1 passes the obstacle 7, the movable member 32 of the one-row wheel 1 descends by the signal of the controller 60 and the first and second switches 21 and 22 The drive motor 10 is driven again in response to the ON signal of the ground adhesion sensor 20 and the first row wheel 1 is again driven to the ground 6, And is driven in a state of being in contact.

그리고, 2열 차륜(1)이 다시 장애물(7) 앞에 위치하게 되면 전술한 1열 차륜과 같이 상승해서 장애물과의 접촉없이 장애물을 통과하게 되고, 나머지의 차륜들도 동일하게 작동하게 된다.
When the two-row wheel 1 is positioned in front of the obstacle 7 again, it rises like the above-mentioned one-row wheel, passes through the obstacle without contact with the obstacle, and the remaining wheels operate in the same manner.

이상 설명한 바와 같이 본 발명에 따른 서스펜션 장치는 차륜(1)이 장애물(7)과 직접 접촉함에 없이 장애물을 그대로 통과할 수 있게 됨에 따라, 차체쪽으로 충격전달을 최대한 예방할 수 있게 되고, 이로 인해 차량에 탑승한 승객 또는 수송물의 안정성을 크게 향상시킬 수 있게 된다.As described above, according to the suspension device of the present invention, since the wheel 1 can pass through the obstacle without directly contacting the obstacle 7, the shock transmission to the vehicle body can be prevented as much as possible, It is possible to greatly improve the stability of the passenger or the transported goods.

또한, 본 발명의 실시예는 장애물(7)을 통과하는 차륜(1)은 차체(2)와 상관없이 독립적으로 상승 및 하강 동작을 하는 구성으로, 차륜이 장애물 통과시에도 차체를 항상 수평상태로 유지할 수 있게 되며, 이를 통해 안정성을 한층 더 향상시킬 수 있게 된다.In the embodiment of the present invention, the wheel 1 passing through the obstacle 7 is configured to independently move up and down independently of the vehicle body 2, so that the vehicle body is always in a horizontal state So that the stability can be further improved.

특히, 본 발명에 따른 서스펜션 장치는 충격 및 차체의 기울어짐에 취약한 단점이 있는 위험물(폭발물) 수송차량, 응급환자 수송차량, 휠체어를 탑재한 장애인 수송차량, 작업시 안전한 자세를 요구하는 중장비 차량 등에 유용하게 활용할 수 있는 장점이 있다.Particularly, the suspension device according to the present invention is applicable to a dangerous substance (explosive) transportation vehicle, an emergency patient transportation vehicle, a disabled person transportation vehicle equipped with a wheelchair, a heavy equipment vehicle requiring a safe posture at work, etc., which are vulnerable to shocks and tilting of the vehicle body There is an advantage that it can be utilized effectively.

본 발명은 특정한 실시예에 관련하여 도시하고 설명하였지만, 이하의 특허청구범위에 의해 제공되는 본 발명의 기술적 사상을 벗어나지 않는 한도 내에서, 본 발명이 다양하게 개량 및 변화될 수 있다는 것은 당업계에서 통상의 지식을 가진 자에게 있어서 자명할 것이다.
While the present invention has been particularly shown and described with reference to specific embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the following claims It will be apparent to those of ordinary skill in the art.

1 - 차륜 2 - 차체
5 - 구동축 10 - 구동모터
20 - 지면유착센서 30 - 리프트모듈
31 - 고정부재 32 - 가동부재
40 - 코일스프링 50 - 장애물감지센서
60 - 제어기1 - wheel 2 - bodywork
5 - drive shaft 10 - drive motor
20 - Ground adhesion sensor 30 - Lift module
31 - fixing member 32 - movable member
40 - coil spring 50 - obstacle detection sensor
60 - controller

Claims (9)

차륜(1)의 구동축(5)을 회전시킬 수 있도록 상기 구동축(5)과 동력전달이 가능하게 연결된 구동모터(10);
상기 구동모터(10)와 연결되게 설치되어서 차륜(1)의 지면유착상태를 검출하는 지면유착센서(20);
상기 지면유착센서(20)와 차체(2)를 연결하면서 상기 차륜(1)의 높이를 조절할 수 있도록 길이가 가변되게 동작하는 리프트모듈(30);
주행방향의 전방에 존재하는 장애물(7)을 감지할 수 있도록 차체(2)에 장착된 장애물감지센서(50); 및
상기 지면유착센서(20)와 장애물감지센서(50)로부터 신호를 전달받아서 구동모터(10)의 동작과 리프트모듈(30)의 동작을 제어하는 제어기(60);를 포함하는 차량용 능동 서스펜션 장치.A drive motor (10) connected to the drive shaft (5) so as to transmit power so as to rotate the drive shaft (5) of the wheel (1);
A ground adhesion sensor 20 connected to the driving motor 10 to detect a ground adhesion state of the wheel 1;
A lift module 30 which is operated in a variable length so as to adjust the height of the wheel 1 while connecting the ground adhesion sensor 20 and the vehicle body 2;
An obstacle detection sensor (50) mounted on the vehicle body (2) so as to detect an obstacle (7) present in front of the traveling direction; And
And a controller (60) for controlling the operation of the driving motor (10) and the operation of the lift module (30) by receiving signals from the ground adhesion sensor (20) and the obstacle detection sensor (50). 청구항 1에 있어서,
상기 지면유착센서(20)와 리프트모듈(30)에 양단이 지지되도록 설치되어서 상기 차륜(1)의 상하 이동시에 발생하는 충격을 흡수하는 코일스프링(40)을 더 포함하는 것을 특징으로 하는 차량용 능동 서스펜션 장치.The method according to claim 1,
Further comprising a coil spring (40) installed to support both ends of the ground adhesion sensor (20) and the lift module (30) so as to absorb an impact generated when the wheel (1) moves up and down. Suspension device. 청구항 1에 있어서,
상기 지면유착센서(20)는 상기 차륜(1)이 지면에 접촉하고 있는 상태 및 접촉하고 있지 않은 상태에 따라 온(ON) 또는 오프(OFF)되는 온오프 스위치인 것을 특징으로 하는 차량용 능동 서스펜션 장치.The method according to claim 1,
Wherein the ground adhesion sensor 20 is an on-off switch that is turned on or off according to a state in which the wheel 1 is in contact with the ground and a state in which the wheel 1 is not in contact with the ground. . 청구항 1에 있어서,
상기 지면유착센서(20)는 상기 차륜(1)이 지면에 접촉하고 있는 상태 및 접촉하고 있지 않은 상태에 따라 빛의 양을 감지하는 포토센서인 것을 특징으로 하는 차량용 능동 서스펜션 장치.The method according to claim 1,
Wherein the ground adhesion sensor (20) is a photosensor that detects the amount of light according to a state in which the wheel (1) is in contact with the ground and a state in which the wheel (1) is not in contact. 청구항 1에 있어서,
상기 리프트모듈(30)은 상기 차체(2)에 일단이 연결되도록 설치된 실린더형상의 고정부재(31); 및
상기 지면유착센서(20)에 일단이 연결되고 상기 고정부재(31)속에 타단이 삽입되게 설치되어서 상기 차륜(1)의 높이를 변화시킬 수 있도록 고정부재(31)를 따라 이동하는 막대형상의 가동부재(32)를 포함하는 것을 특징으로 하는 차량용 능동 서스펜션 장치.The method according to claim 1,
The lift module (30) includes a cylindrical fixing member (31) having one end connected to the vehicle body (2); And
A rod-like movement (not shown) that moves along the fixing member 31 so as to change the height of the wheel 1 and is provided with one end connected to the ground adhesion sensor 20 and the other end inserted into the fixing member 31, Member (32). ≪ Desc / Clms Page number 13 > 청구항 1에 있어서,
상기 장애물감지센서(50)는 차체(2)의 전방과 후방쪽에 위치하도록 장착된 것을 특징으로 하는 차량용 능동 서스펜션 장치.The method according to claim 1,
Wherein the obstacle detecting sensor (50) is mounted on the front and rear sides of the vehicle body (2). 청구항 1에 있어서,
상기 제어기(60)는 차륜(1)의 상하방향 움직임을 차륜(1)마다 각각 독립적으로 제어할 수 있게 구성된 것을 특징으로 하는 차량용 능동 서스펜션 장치.The method according to claim 1,
The controller (60) is an active suspension device for a vehicle, characterized in that configured to independently control the vertical movement of the wheel (1) for each wheel (1). 청구항 5에 있어서,
상기 리프트모듈(30)은 상기 고정부재(31)에 코일이 권선되고, 상기 코일에 전류 인가시 상기 가동부재(32)가 직선 이동하는 리니어 액추에이터인 것을 특징으로 하는 차량용 능동 서스펜션 장치.The method of claim 5,
Wherein the lift module (30) is a linear actuator in which a coil is wound on the fixing member (31) and the movable member (32) linearly moves when a current is applied to the coil. 청구항 5에 있어서,
상기 리프트모듈(30)은 상기 가동부재(32)를 동작시키는 구동부재를 더 포함하고;
상기 가동부재(32)와 구동부재는 랙 앤 피니언 기어이거나 또는 웜기어인 것을 특징으로 하는 차량용 능동 서스펜션 장치.The method of claim 5,
The lift module (30) further includes a driving member for operating the movable member (32);
Wherein the movable member (32) and the driving member are rack-and-pinion gears or worm gears.
KR1020120111726A 2012-10-09 2012-10-09 Active suspension apparatus for vehicle KR101393931B1 (en)

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KR102129904B1 (en) * 2019-01-04 2020-07-06 주식회사 만도 Suspension control system, method and apparatus
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WO2007079346A2 (en) * 2005-12-30 2007-07-12 Olsen Christopher J Articulated wheel assemblies and vehicles therewith
KR20100054918A (en) * 2008-11-17 2010-05-26 두산디에스티주식회사 Linear type active suspension device for special purpose vehecles
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US10293653B2 (en) 2015-09-29 2019-05-21 Ford Global Technologies, Llc Obstacle avoidance system with active suspensions
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US11541712B2 (en) 2019-01-04 2023-01-03 Hl Klemo Ve Corp. Suspension control system, suspension control method and suspension control apparatus
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