Driving module and mobility vehicle including the same
An embodiment driving module includes a drive unit including a wheel and a drive motor configured to operate the wheel, a suspension unit having a first side coupled to the drive unit, and a steering unit configured to steer the wheel and having a side coupled to a second side of the suspension unit.
1 . A driving module comprising:
a drive unit comprising a wheel and a drive motor configured to operate the wheel;
a suspension unit having a first side coupled to the drive unit; and
a steering unit configured to steer the wheel and having a side coupled to a second side of the suspension unit,
wherein the steering unit comprises:
a steering motor comprising a steering rotary shaft;
a speed reducer coupled to the steering rotary shaft;
an inner frame having an internal space formed through the inner frame in an upward/downward direction, the inner frame configured to rotate together with the speed reducer;
a slip ring disposed in the internal space of the inner frame and having a side coupled to the inner frame;
a first electric wire connected to the slip ring; and
a second electric wire connected to the slip ring and extending from the slip ring to the suspension unit,
wherein the suspension unit comprises:
a connection member fixedly coupled to a lower region of the inner frame;
a shaft member coupled to a lower region of the connection member and extending in the upward/downward direction;
a bushing member into which the shaft member is inserted, the bushing member being configured to be movable in the upward/downward direction along the shaft member; and
a knuckle member having a first side coupled to the bushing member and a second side coupled to the drive unit, and
wherein:
the second electric wire penetrates an internal space of the shaft member of the suspension unit and an internal space of the knuckle member of the suspension unit to connect to the drive unit, and
the first electric wire and the second electric wire are connected in series through the slip ring in the steering unit.
2 . The driving module of claim 1 , wherein the suspension unit is disposed adjacent to a side of the drive unit based on a leftward/rightward width direction.
3 . The driving module of claim 1 , wherein the steering unit is disposed above the drive unit and overlaps the wheel in a leftward/rightward width direction.
4 . The driving module of claim 1 , wherein the steering unit further comprises an encoder disposed at a side of the steering motor and configured to detect a rotation of the steering rotary shaft.
5 . The driving module of claim 4 , wherein the steering unit further comprises a pair of steering bearings configured to respectively support two opposite ends of the steering rotary shaft based on a longitudinal direction of the steering rotary shaft.
6 . The driving module of claim 4 , wherein the encoder is spaced apart upward from a pair of steering bearings.
7 . The driving module of claim 1 , wherein the steering unit further comprises:
an outer frame disposed outside the inner frame and configured to surround the inner frame; and
a first frame bearing disposed between the inner frame and the outer frame, wherein the first frame bearing is disposed outward in a leftward/rightward width direction from the slip ring.
8 . The driving module of claim 7 , wherein:
the steering unit further comprises a second frame bearing disposed in a region that is included in an upper region of the inner frame and faces the outer frame in the upward/downward direction; and
a first partial region of the second frame bearing is disposed outward in the leftward/rightward width direction from the speed reducer and a second partial region of the second frame bearing is disposed inward in the leftward/rightward width direction from the speed reducer.
9 . The driving module of claim 1 , wherein a central axis of the steering rotary shaft and a central axis of the slip ring are coaxially arranged.
10 . The driving module of claim 1 , wherein the steering unit further comprises a buffer member disposed in a region that is included in the lower region of the inner frame and faces the slip ring in the upward/downward direction.
11 . The driving module of claim 1 , wherein:
the steering unit further comprises a hollow shaft having a vacant space therein and extending in the upward/downward direction while penetrating the steering motor and the speed reducer, and
the first electric wire is connected to the slip ring through the vacant space in the hollow shaft.
12 . A driving module comprising:
a drive unit comprising a wheel and a drive motor configured to operate the wheel;
a suspension unit having a first side coupled to the drive unit; and
a steering unit configured to steer the wheel and having a side coupled to a second side of the suspension unit, the steering unit comprising:
a steering motor comprising a steering rotary shaft;
a speed reducer coupled to the steering rotary shaft;
an encoder disposed at a side of the steering motor and configured to detect a rotation of the steering rotary shaft;
an inner frame having an internal space formed through the inner frame in an upward/downward direction, the inner frame configured to rotate together with the speed reducer;
a slip ring disposed in the internal space of the inner frame and having a side coupled to the inner frame;
a hollow shaft having a vacant space therein and extending in the upward/downward direction while penetrating the steering motor and the speed reducer;
a first electric wire connected to the slip ring through the vacant space in the hollow shaft; and
a second electric wire connected to the slip ring and extending from the slip ring to the suspension unit,
wherein the suspension unit comprises:
a connection member fixedly coupled to a lower region of the inner frame;
a shaft member coupled to a lower region of the connection member and extending in the upward/downward direction;
a bushing member into which the shaft member is inserted, the bushing member being configured to be movable in the upward/downward direction along the shaft member; and
a knuckle member having a first side coupled to the bushing member and a second side coupled to the drive unit, and
wherein:
the second electric wire penetrates an internal space of the shaft member of the suspension unit and an internal space of the knuckle member of the suspension unit to connect to the drive unit, and
the first electric wire and the second electric wire are connected in series through the slip ring in the steering unit.
13 . The driving module of claim 12 , wherein the suspension unit further comprises a spring member into which the shaft member is inserted, the spring member being disposed at an upper side or a lower side of the bushing member.
14 . The driving module of claim 13 , wherein:
the suspension unit further comprises a guide member disposed between the spring member and the shaft member; and
the shaft member is inserted into the guide member.
15 . The driving module of claim 13 , further comprising a buffer seat disposed on a lower surface of the connection member and facing the spring member in the upward/downward direction.
16 . The driving module of claim 13 , wherein the suspension unit comprises:
a first suspension unit; and
a second suspension unit disposed rearward from the first suspension unit.
17 . The driving module of claim 12 , wherein the suspension unit further comprises a sealing member disposed between the bushing member and the knuckle member.