Angle module and reconfigurable all-wheel independent steering drive-by-wire chassis

Abstract

The invention relates to an angle module and a reconfigurable all-wheel independent steering drive-by-wire chassis, the angle module comprises an angle module frame, a steering motor, a controller of the steering motor, a ball cage universal joint, a steering arm, a hub motor, a controller of the hub motor, a suspension unit, a brake unit and a battery, the suspension unit comprises an upper swing arm, a lower swing arm and a damping spring, the steering motor is connected with the upper swing arm, the upper swing arm is rotationally connected with an upper section bar of the angle module frame, the lower swing arm is connected with the steering arm through a spherical hinge, and the damping spring is connected with the steering arm. The lower swing arm is rotatably connected with the lower profile of the angle module frame; the upper and lower ends of the damping spring are rotatably connected with the angle module frame and the lower swing arm respectively; and the angle modules and the connecting modules are spliced to form the drive-by-wire chassis. According to the angle module and the drive-by-wire chassis, modular design is adopted, all-wheel independent steering can be achieved, and the size, configuration and dynamic performance of the chassis can be flexibly adjusted.

Description

Technical Field

[0001] The present invention relates to the technical field of wire-controlled chassis, and in particular to a corner module and a reconfigurable all-wheel independent steering wire-controlled chassis. Background Art

[0002] As a key technology in the field of new energy vehicles, the by-wire chassis technology replaces the traditional mechanical and hydraulic connections through electrical interaction and highly integrates the actuators in the chassis, achieving higher speed and lighter vehicle weight. On this basis, the concept of modular design is introduced into the design of the by-wire chassis. From the control system to the mechanical structure, the various functional modules of the chassis have gradually achieved a certain degree of decoupling. The flexibility of the chassis has been improved, and modular expansion can be carried out, providing more design interfaces, and comprehensively improving the vehicle's maneuverability by combining a richer combination of drive, braking, and steering modes.

[0003] In the existing technical solutions, it is proposed to use corner modules, single-axis modules or two-axis modules as the basic functional modules of the chassis, and the modules are mechanically connected to form a complete wire-controlled chassis. By increasing or reducing the number of basic modules used, the chassis configuration can be changed. However, these technical solutions still have defects. Some technical solutions (such as Chinese patents with publication numbers CN 114954656 A, CN 116476623 A, and CN 118220183 A) only contain one or two basic modules with fixed structures and functions, and can only achieve the expansion of the longitudinal dimensions of the wire-controlled chassis. The chassis configuration transformation form is single, and the dynamic performance is determined by the number and structure of modules and cannot be adjusted, and the adaptability is not significantly improved. Some other technical solutions (such as Chinese patents with publication numbers CN108995711 A, CN 118769778 A, CN 117901945 A, and CN 106741142 A) propose corner modules that can change their configuration to a certain extent. By fixing four corner modules to an integrated frame, a wire-controlled chassis with a four-wheel configuration is formed. However, the corner module is only a design module and still requires an integrated chassis frame as the main body for installation. It is difficult to expand as an independent structural module. This type of wire-controlled chassis is only modularly designed. The variability of the chassis configuration to a certain extent comes from the adjustment mechanism in the corner module. The dynamic performance adjustment capability is weak, the degree of structural decoupling is low, and the chassis itself does not have the ability to be modularly expanded and extended. Summary of the invention

[0004] The purpose of the present invention is to provide a corner module and a reconfigurable all-wheel independent steering wire-controlled chassis, which adopt a modular design, can realize all-wheel independent steering, and can realize flexible adjustment of chassis size, configuration and dynamic performance.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a corner module, including a corner module frame, a steering motor and its controller, a ball cage universal joint, a steering arm, a hub motor and a hub motor controller, a suspension unit, a brake unit and a battery, the corner module frame is constructed of profiles, the output shaft of the steering motor is transmission-connected to the steering arm through a ball cage universal joint, the steering arm is connected to the hub motor to transmit the torque output by the steering motor to the steering arm through the ball cage universal joint, so that the wheel rotates around the kingpin axis, the suspension unit includes an upper swing arm, a lower swing arm and a shock-absorbing spring, the steering motor is rigidly connected to the upper swing arm, the upper swing arm is rotatably connected to the upper profile of the corner module frame through a lifting ear, the lower swing arm is connected to the steering arm through a ball joint, the lower swing arm is rotatably connected to the lower profile of the corner module frame through a lifting ear, and the upper and lower ends of the shock-absorbing spring are rotatably connected to the corner module frame and the lower swing arm through lifting ears respectively.

[0006] Furthermore, the upper swing arm and the lower swing arm are both U-shaped structures; the middle part of the upper swing arm is fixedly connected to the steering motor, and the left and right ends of the upper swing arm are respectively rotatably connected to a lifting ear, and the two lifting ears are respectively connected to the same profile on the upper part of the corner module frame through T-bolts; the lower part of the steering arm is connected to a ball joint connecting piece, and the middle part of the lower swing arm is hinged to the ball joint connecting piece, and the left and right ends of the lower swing arm are respectively rotatably connected to a lifting ear, and the two lifting ears are respectively connected to the same profile on the lower part of the corner module frame through T-bolts; the upper and lower ends of the shock absorber spring are respectively rotatably connected to a lifting ear, and the two lifting ears are respectively connected to the upper profile of the corner module frame and the lower swing arm through T-bolts.

[0007] Furthermore, the corner module frame is a rectangular structure constructed of profiles with sliding grooves on all four sides; at the upper and lower parts of the corner module frame, the two ends of the beam arranged along the front-to-back direction are installed in the sliding grooves of the beam arranged along the left-to-right direction and can slide left-to-right, so as to change the relative positions of the upper and lower swing arms through the left-to-right sliding of the beam arranged in the front-to-back direction, thereby adjusting the inclination angle of the kingpin; the lifting lugs connected to the upper swing arm, the lower swing arm, and the upper end of the shock absorber spring are connected to the sliding grooves of the corresponding profiles through T-bolts, and after the T-bolts are unlocked, the lifting lugs can move forward and backward, thereby changing the front and rear installation positions of the lifting lugs and the upper swing arm, the lower swing arm, and the shock absorber spring, thereby adjusting the caster angle of the kingpin.

[0008] Furthermore, the brake unit includes a brake disc, a brake caliper and a caliper controller, the brake disc is fixedly connected to the wheel hub motor, the brake caliper is installed on the steering arm and cooperates with the brake disc to brake the brake disc; the caliper controller is installed on the corner module frame.

[0009] Furthermore, the steering motor and its controller are an integrated structure, fixedly mounted on the upper swing arm; the hub motor controller and the battery are mounted on the base of the corner module frame.

[0010] Furthermore, it includes a wheel speed sensor and an angle sensor, the wheel speed signal is collected by the wheel speed sensor, and the wheel angle signal is collected by the angle sensor, the wheel hub motor controller and the steering motor controller receive the feedback wheel speed and angle signals to achieve closed-loop control of the wheel speed and angle; the wheel speed sensor is fixedly mounted on the steering arm, the brake disc of the brake unit is rigidly connected to the wheel hub motor, the measuring head of the wheel speed sensor is close to the gear ring of the brake disc to achieve the measurement of the brake disc speed; the outer ring of the angle sensor is rigidly connected to the lower end of the steering motor, and the inner ring cooperates with the output shaft of the steering motor and is connected by a keyway structure. When the steering motor rotates, the inner and outer rings of the angle sensor rotate accordingly to achieve the measurement of the angle.

[0011] The present invention also provides a reconfigurable all-wheel independent steering wire-controlled chassis based on the above-mentioned corner modules, including at least 2 corner module intermediate connecting modules, at least 2 diagonal modules and at least 1 inter-axle connecting module; the corner module intermediate connecting modules and the inter-axle connecting modules are both constructed of profiles; each diagonal module includes two corner modules with mirror-image structures, and the end faces of the two mirror-image corner modules away from the wheel side are respectively connected to the left and right end faces of an intermediate connecting module of the corner module, and are spliced ​​to form a single-axis drive module with independent movement capability; at least 2 single-axis drive modules are formed by splicing at least 2 corner module intermediate connecting modules and at least 2 diagonal modules, and the two single-axis drive modules are respectively connected to the front and rear end faces of an inter-axle connecting module, and are spliced ​​to form a two-axis configuration wire-controlled chassis.

[0012] Furthermore, a plurality of two-axis controlled-by-wire chassis are spliced ​​together front and back, or a two-axis controlled-by-wire chassis is spliced ​​together with a single-axis drive module to form a multi-axis controlled-by-wire chassis.

[0013] Furthermore, right-angle pieces and T-bolts are used to connect the profiles between the corner module and the corner module intermediate connection module, and between the single-axis drive module and the inter-axis connection module, thereby realizing the connection between the corner module and the corner module intermediate connection module, and the connection between the single-axis drive module and the inter-axis connection module.

[0014] Compared with the prior art, the present invention has the following beneficial effects: the present invention provides a corner module and a reconfigurable all-wheel independent steering wire-controlled chassis composed thereof, each corner module of the chassis has an independent and complete steering system, and each steering system is highly decoupled, so that independent steering of all wheels in the chassis can be achieved, so that the wire-controlled chassis has the ability of all-wheel independent steering; in addition, the present invention can achieve flexible adjustment of chassis size, configuration and dynamic performance by changing the connection position of the upper and lower swing arms of the corner module and constructing wire-controlled chassis of different configurations. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of a corner module in an embodiment of the present invention; Figure 2 is a structural schematic diagram of a kingpin adjustment mechanism in an embodiment of the present invention; Figure 3 Schematic diagram of the connection structure of the steering motor, the ball cage universal joint and the steering arm in the embodiment of the present invention; Figure 4 2 is a schematic diagram of the structure of the intermediate connection module of the corner module in the embodiment of the present invention; Figure 5 is a schematic structural diagram of an inter-axle connection module in an embodiment of the present invention; Figure 6 is a structural schematic diagram of a single-axis drive module in an embodiment of the present invention; Figure 7 is a schematic structural diagram of a wire-controlled chassis with a two-axis configuration in an embodiment of the present invention; Figure 8 It is a schematic diagram of the structure of a wire-controlled chassis with a multi-axis configuration in an embodiment of the present invention.

[0016] In the figure: 1-battery; 2-corner module frame; 3-brake caliper; 4-upper swing arm; 5-steering motor; 6-ball cage universal joint; 7-wheel speed sensor; 8-steering arm; 9-hub motor; 10-brake disc; 11-lower swing arm; 12-shock absorber spring; 13-hub motor controller; 14-caliper controller. DETAILED DESCRIPTION

[0017] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0018] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0019] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0020] like Figure 1-3As shown, this embodiment provides a corner module, including a corner module frame 2, a steering motor and its controller, a ball cage universal joint 6, a steering arm 8, a hub motor 9 and a hub motor controller 13, a suspension unit, a brake unit and a battery 1, wherein the corner module frame 2 is constructed of profiles, the output shaft of the steering motor 5 is connected to the ball cage universal joint 6, the ball cage universal joint 6 is fixedly connected to the steering arm 8, and the steering arm 8 is connected to the hub motor 9 to transmit the torque output by the steering motor 5 to the hub motor 9 through the ball cage universal joint 6. The steering arm 8 enables the wheel to rotate around the kingpin axis. The suspension unit includes an upper swing arm 4, a lower swing arm 11 and a shock-absorbing spring 12. The steering motor 5 is rigidly connected to the upper swing arm 4. The upper swing arm 4 is rotatably connected to the upper profile of the corner module frame 2 through a lifting ear. The lower swing arm 11 is connected to the steering arm 8 through a ball joint. The lower swing arm 11 is rotatably connected to the lower profile of the corner module frame 2 through a lifting ear. The upper and lower ends of the shock-absorbing spring 12 are rotatably connected to the corner module frame 2 and the lower swing arm 11 through lifting ears respectively.

[0021] A major innovation of the present invention is that the steering motor 5 and the steering arm 8 are connected by a ball cage universal joint, and the lower swing arm 11 and the steering arm 8 are connected by a ball joint, so that the kingpin steering and the kingpin inclination angle can be adjusted. On this basis, the inclination angle of the kingpin can be changed by changing the relative installation positions of the upper swing arm, the lower swing arm, and the shock-absorbing spring on the corner module frame. It should be noted here that the kingpin refers to the pin structure formed by the connecting pin shaft of the steering arm 8 and the ball cage universal joint 6 and the connecting pin shaft of the steering arm 8 and the ball joint.

[0022] Among them, the upper swing arm 4 and the lower swing arm 11 are both U-shaped structures. The middle part of the upper swing arm 4 is fixedly connected to the steering motor 5, and the left and right ends of the upper swing arm 4 are respectively rotatably connected to a lifting ear, and the two lifting ears are respectively connected to the same profile at the upper part of the corner module frame 2 through T-bolts; the lower part of the steering arm 8 is connected to a ball joint connector, and the middle part of the lower swing arm 11 is hinged to the ball joint connector, and the left and right ends of the lower swing arm 11 are respectively rotatably connected to a lifting ear, and the two lifting ears are respectively connected to the same profile at the lower part of the corner module frame 2 through T-bolts. The upper and lower ends of the shock-absorbing spring 12 are respectively rotatably connected to a lifting ear, and the two lifting ears are respectively connected to the upper profile of the corner module frame 2 and the lower swing arm 11 through T-bolts.

[0023] This embodiment implements a kingpin adjustment mechanism. Figure 2As shown, the corner module frame 2 is a rectangular parallelepiped structure constructed of profiles with slide grooves on all sides. In this embodiment, at the lower part of the corner module frame, the two ends of the cross beam arranged along the front-back direction are installed in the slide groove of the cross beam arranged along the left-right direction and can slide left-right, so that the relative position of the lower swing arm can be changed by the left-right sliding of the cross beam arranged in the front-back direction, thereby adjusting the inclination angle of the kingpin. Further, at the upper and lower parts of the corner module frame, the two ends of the cross beam arranged along the front-back direction can be installed in the slide groove of the cross beam arranged along the left-right direction and can slide left-right, so that the relative position of the upper and lower swing arms can be changed by the left-right sliding of the cross beam arranged in the front-back direction, thereby adjusting the inclination angle of the kingpin to a greater extent. The lifting lugs connected to the upper swing arm 4, the lower swing arm 11, and the upper end of the shock absorbing spring 12 are connected to the slide grooves of the corresponding profiles through T-bolts, and the lifting lugs can move forward and backward after the T-bolts are unlocked, thereby changing the front-back installation positions of the lifting lugs and the upper swing arm, the lower swing arm, and the shock absorbing spring, thereby adjusting the caster angle of the kingpin.

[0024] The brake unit includes a brake disc 10, a brake caliper 3 and a caliper controller 14. The brake disc 10 is fixedly connected to the wheel hub motor 9. The brake caliper 3 is installed on the steering arm 8 and cooperates with the brake disc 10 to brake the brake disc. The caliper controller 14 is installed on the corner module frame 2.

[0025] In this embodiment, the steering motor and its controller are an integrated structure, fixedly mounted on the upper swing arm 4. The wheel hub motor controller 13 and the battery 1 are mounted on the base of the corner module frame 2.

[0026] In this embodiment, the angle module is also provided with a wheel speed sensor 7 and an angle sensor. The wheel speed sensor is used to collect the rotation speed signal of the wheel, and the angle sensor is used to collect the rotation angle signal of the wheel. The wheel hub motor controller and the steering motor controller receive the feedback wheel speed and rotation angle signals to realize closed-loop control of the wheel speed and angle. The wheel speed sensor 7 is fixedly mounted on the steering arm 8 by bolts, the brake disc 10 of the brake unit is rigidly connected to the wheel hub motor 9, and the measuring head of the wheel speed sensor 7 is close to the gear ring of the brake disc to realize the measurement of the brake disc rotation speed. The outer ring of the angle sensor is rigidly connected to the lower end of the steering motor by bolts, and the inner ring cooperates with the output shaft of the steering motor and is connected by a keyway structure. When the steering motor rotates, the inner and outer rings of the angle sensor rotate accordingly to realize the measurement of the rotation angle.

[0027] This embodiment also provides a reconfigurable all-wheel independent steering-by-wire chassis based on the above corner modules, including at least two corner module intermediate connection modules, at least two diagonal modules and at least one inter-axle connection module. The corner module intermediate connection module and the inter-axle connection module are both constructed of profiles, and their structures are as follows: Figure 4 , 5Each pair of diagonal modules includes two mirror-image structures of diagonal modules, and the end faces of the two mirror-image structures of diagonal modules away from the wheel side are respectively connected to the left and right end faces of the middle connecting module of a diagonal module, and spliced ​​together to form a single-axis drive module with independent movement capability, such as Figure 6 At least two single-axis drive modules are formed by splicing at least two corner modules, the middle connection modules, and at least two diagonal modules. The two single-axis drive modules are respectively connected to the front and rear end surfaces of an inter-axis connection module, and spliced ​​to form a two-axis configuration wire-controlled chassis, as shown. Figure 7 shown.

[0028] In this embodiment, right-angle pieces and T-bolts are used to connect the profiles between the corner module and the intermediate connecting module of the corner module, and between the single-axis drive module and the inter-axis connecting module, thereby realizing the connection between the corner module and the intermediate connecting module of the corner module, and the connection between the single-axis drive module and the inter-axis connecting module.

[0029] Furthermore, a plurality of two-axis drive-by-wire chassis can be spliced ​​together front and back, or a two-axis drive-by-wire chassis can be spliced ​​together with a single-axis drive module to form a multi-axis drive-by-wire chassis. Figure 8 shown.

[0030] The corner module and reconfigurable all-wheel independent steering-by-wire chassis proposed in the present invention have the following innovative designs and technical advantages: (1) A reconfigurable all-wheel independent steering-by-wire chassis architecture is realized. The basic functional module of the chassis is a corner module that integrates a complete drive system, braking system, steering system, and suspension system. The specific functional components of each system in the module can be changed according to needs. The corner module has an independent steering system that can realize independent steering; the steering motor is fixedly connected to the upper swing arm, and the ball cage universal joint connects the steering motor output shaft and the upper end of the steering arm to form a kingpin steering mechanism, which can achieve a large angle steering of more than ±90°, and the freedom of the steering mechanism is retained by the ball cage universal joint; the corner module adopts a double wishbone independent suspension system, the module frame is built with profiles, and each component is connected to the profile frame through T-bolts. By adjusting the T-bolts along the slide groove, the relative position between the profiles can be adjusted, and the relative position of the upper swing arm and the lower swing arm can also be adjusted, thereby adjusting the inclination angle of the kingpin to achieve reconstruction of the module's dynamic performance. The chassis architecture also includes two basic structural blocks: the corner module intermediate connection module and the inter-axle connection module. A single-axle drive module can be spliced ​​by two corner modules, or by connecting two corner modules in parallel with an intermediate connection module. Multiple single-axle drive modules can be spliced ​​continuously, or an inter-axle connection module can be inserted in the middle to form a richer chassis configuration. By changing the size of the corner module intermediate connection module, the lateral size of the chassis can be adjusted, and by changing the size of the inter-axle connection module, the longitudinal size of the chassis can be adjusted. By adjusting the inclination angle of the kingpin, adjusting the lateral and longitudinal sizes of the chassis, and changing the combination of basic modules of different specifications and functions, the function, structure and dynamic performance of the chassis can be fully reconstructed.

[0031] (2) A modular chassis function allocation architecture is implemented. The single-axis drive module composed of corner modules has independent movement capabilities. The wire-controlled chassis composed of multiple single-axis drive modules has the characteristics of functional redundancy. The chassis function allocation can be reconstructed by adding or removing functional components in different corner modules, or replacing functional components with different performance. By combining basic functional modules with different driving, braking, and steering performance, the chassis's maneuverability can be improved to adapt to a variety of application scenarios.

[0032] (3) A variable configuration independent steering angle module is realized. The corner module is a basic functional module of the chassis, which has a complete drive, brake, steering and suspension system. The steering motor is rigidly connected to the upper swing arm, and the motor output shaft is connected to the steering arm through a ball cage universal joint to form a kingpin steering mechanism with the ability of large-angle independent steering. The lower swing arm ball joint and ball cage universal joint retain more degrees of freedom of the steering mechanism. By changing the installation position of the upper swing arm and the lower swing arm, the inclination angle of the kingpin can be adjusted. The corner module is composed of a profile frame. By increasing or decreasing the number or length of the profiles constituting the corner module, the size of the corner module can be adjusted. The upper end of the shock absorber spring of the suspension system in the corner module is connected to the corner module frame through a lifting ear and a T-bolt. This connection form utilizes the slide groove of the profile. By changing the slide groove connected to the above-mentioned lifting ear, the shape of the corner module suspension can be changed, and the height and center of mass position of the bottom of the module can be adjusted. By adjusting the kingpin inclination angle, size, height and center of mass position of the diagonal module, a high degree of reconstruction of the structure and performance of the diagonal module can be achieved.

[0033] (4) An all-wheel independent steering mechanism is realized. The corner modules that constitute the chassis are highly decoupled, and their respective steering systems have the ability to operate independently. The transformation mechanism in each corner module adopts the kingpin steering mode. The motor is rigidly connected to the upper swing arm, and the output shaft of the motor is connected to the steering arm through a ball cage universal joint. This steering mechanism not only has the ability of candle-type suspension to steer at a large angle, but also overcomes the reduction of the freedom of the swing arm ball head in the existing kingpin steering scheme. While improving the flexibility of the steering mechanism, the kingpin inclination angle can be adjusted to achieve the adjustment of the chassis dynamic performance. The steering motor in the steering mechanism can use different transmission mechanisms to match the different horizontal and vertical dimensions of the suspension space, which is conducive to the reconstruction of the suspension space.

[0034] (5) A chassis dynamics performance adjustment mechanism is implemented. By adjusting the configuration of the angle module along the slide slot, the relative position of the upper swing arm and the lower swing arm can be adjusted, thereby adjusting the kingpin inclination angle; by fixing the T-bolt connecting the upper end of the shock absorber spring in the slide slot at different positions, the shape of the suspension can be adjusted, thereby adjusting the height and center of mass position of the chassis. By adjusting the center of mass position of the chassis and the kingpin inclination angle, the dynamic performance of the chassis can be adjusted.

[0035] (6) A mechanism for quickly adjusting chassis dimensions is implemented. The chassis is composed of a basic functional module and two basic structural modules. By overlapping the end faces corresponding to each module and connecting adjacent profiles in parallel using right-angle pieces, each module constitutes a complete chassis. By increasing or decreasing the number or length of profiles constituting the basic structural module, the horizontal and vertical dimensions of the chassis can be quickly adjusted. By combining basic structural modules of different sizes, a chassis configuration with a variable wheelbase and track width can be realized.

[0036] (7) A closed-loop drive and steering system with integrated sensors is realized. A wheel speed sensor is installed on the steering arm to provide real-time feedback of the brake disc speed, and an angle sensor is installed at the output shaft of the steering motor to provide real-time feedback of the steering angle signal. The wheel speed and steering angle signals measured by the sensor are fed back to the corresponding controller to achieve closed-loop control of the wheel speed and steering angle of each wheel of the chassis.

[0037] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A corner module, characterized in that: It includes an angle module frame, a steering motor and its controller, a ball cage universal joint, a steering arm, a hub motor and a hub motor controller, a suspension unit, a brake unit and a battery. The angle module frame is constructed of profiles. The output shaft of the steering motor is transmission-connected to the steering arm through a ball cage universal joint. The steering arm is connected to the hub motor to transmit the torque output by the steering motor to the steering arm through the ball cage universal joint, so that the wheel rotates around the kingpin axis. The suspension unit includes an upper swing arm, a lower swing arm and a shock-absorbing spring. The steering motor is rigidly connected to the upper swing arm. The upper swing arm is rotationally connected to the upper profile of the angle module frame through a lifting ear. The lower swing arm is connected to the steering arm through a ball joint. The lower swing arm is rotationally connected to the lower profile of the angle module frame through a lifting ear. The upper and lower ends of the shock-absorbing spring are rotationally connected to the angle module frame and the lower swing arm through lifting ears respectively.

2. A corner module according to claim 1, characterized in that: The upper swing arm and the lower swing arm are both U-shaped structures; the middle part of the upper swing arm is fixedly connected to the steering motor, and the left and right ends of the upper swing arm are rotatably connected to a lifting ear respectively, and the two lifting ears are connected to the same profile on the upper part of the corner module frame by T-bolts; the lower part of the steering arm is connected to a ball joint connector, and the middle part of the lower swing arm is hinged to the ball joint connector, and the left and right ends of the lower swing arm are rotatably connected to a lifting ear respectively, and the two lifting ears are connected to the same profile on the lower part of the corner module frame by T-bolts; the upper and lower ends of the shock absorber spring are rotatably connected to a lifting ear respectively, and the two lifting ears are connected to the upper profile of the corner module frame and the lower swing arm by T-bolts.

3. A corner module according to claim 2, characterized in that: The corner module frame is a rectangular structure constructed of profiles with sliding grooves on all four sides; at the upper and lower parts of the corner module frame, the two ends of the beam arranged along the front-to-back direction are installed in the sliding grooves of the beam arranged along the left-to-right direction and can slide left-to-right, so as to change the relative positions of the upper and lower swing arms through the left-to-right sliding of the beam arranged in the front-to-back direction, thereby adjusting the inclination angle of the kingpin; the lifting lugs connected to the upper swing arm, the lower swing arm, and the upper end of the shock absorber spring are connected to the sliding grooves of the corresponding profiles through T-bolts, and the lifting lugs can move forward and backward after the T-bolts are unlocked, thereby changing the front-to-back installation positions of the lifting lugs and the upper swing arm, the lower swing arm, and the shock absorber spring, thereby adjusting the caster angle of the kingpin.

4. The corner module according to claim 1, characterized in that: The brake unit includes a brake disc, a brake caliper and a caliper controller. The brake disc is fixedly connected to the wheel hub motor. The brake caliper is installed on the steering arm and cooperates with the brake disc to brake the brake disc. The caliper controller is installed on the corner module frame.

5. The corner module according to claim 1, characterized in that: The steering motor and its controller are an integrated structure and are fixedly mounted on the upper swing arm; the wheel hub motor controller and the battery are mounted on the base of the corner module frame.

6. The corner module according to claim 1, characterized in that: It includes a wheel speed sensor and an angle sensor. The wheel speed sensor is used to collect the rotation speed signal of the wheel, and the angle sensor is used to collect the rotation angle signal of the wheel. The wheel hub motor controller and the steering motor controller receive the feedback wheel speed and rotation angle signals to achieve closed-loop control of the wheel speed and angle. The wheel speed sensor is fixedly installed on the steering arm, the brake disc of the brake unit is rigidly connected to the wheel hub motor, and the measuring head of the wheel speed sensor is close to the gear ring of the brake disc to achieve the measurement of the brake disc rotation speed. The outer ring of the angle sensor is rigidly connected to the lower end of the steering motor, and the inner ring cooperates with the output shaft of the steering motor and is connected through a keyway structure. When the steering motor rotates, the inner and outer rings of the angle sensor rotate accordingly to achieve the measurement of the rotation angle.

7. A reconfigurable all-wheel independent steering-by-wire chassis based on the corner module according to any one of claims 1 to 6, characterized in that: It comprises at least 2 corner module intermediate connection modules, at least 2 diagonal modules and at least 1 inter-axle connection module; the corner module intermediate connection modules and the inter-axle connection modules are all constructed of profiles; each diagonal module comprises two corner modules with mirror-image structures, and the end faces of the two corner modules with mirror-image structures away from the wheel side are respectively connected to the left and right end faces of an intermediate connection module of the corner module, and are spliced ​​to form a single-axis drive module with independent movement ability; at least 2 single-axis drive modules are formed by splicing at least 2 corner module intermediate connection modules and at least 2 diagonal modules, and the two single-axis drive modules are respectively connected to the front and rear end faces of an inter-axle connection module, and are spliced ​​to form a two-axis configuration wire-controlled chassis.

8. The reconfigurable all-wheel independent steering-by-wire chassis according to claim 7, characterized in that: A plurality of two-axis controlled-by-wire chassis are spliced ​​together front and back, or a two-axis controlled-by-wire chassis is spliced ​​together with a single-axis drive module to form a multi-axis controlled-by-wire chassis.

9. The reconfigurable all-wheel independent steering-by-wire chassis according to claim 7, characterized in that: Right-angle pieces and T-bolts are used to connect the profiles between the angle module and the intermediate connection module of the angle module, and between the single-axis drive module and the inter-axis connection module, so as to realize the connection between the angle module and the intermediate connection module of the angle module, and the connection between the single-axis drive module and the inter-axis connection module.

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