Driving, braking, rotating and suspending integrated shaft module and variable-configuration drive-by-wire chassis formed by same

Abstract

The invention relates to a driving, braking, rotating and suspending integrated shaft module and a variable-configuration drive-by-wire chassis formed by the driving, braking, rotating and suspending integrated shaft module, the driving, braking, rotating and suspending integrated shaft module comprises a single-wheel driving module, and the single-wheel driving module comprises a profile frame and angle modules arranged on the profile frame in a mirror symmetry mode; the angle module comprises a driving module, a suspension module, a braking module and a steering system; wherein the driving module comprises a hub motor, a tire arranged on the hub motor and a battery for supplying power to the hub motor; the suspension module comprises a steering arm, an upper swing arm, a lower swing arm and a damping spring, wherein the first ends of the upper swing arm and the lower swing arm are hinged to the steering arm. The brake module comprises a brake pump, an oil pressure distributor connected with the oil output end of the brake pump, brake calipers and a brake disc. Wherein the steering system comprises a steering motor and a lower steering engine driven by the steering motor to act, and the end part of the lower steering engine is connected with the steering arm; the driving, braking, rotating and suspending integrated shaft module and the variable-configuration drive-by-wire chassis formed by the driving, braking, rotating and suspending integrated shaft module are reasonable in design and high in expansibility.

Description

Technical Field

[0002] The present invention provides a drive, control, rotation, and suspension integrated shaft module and a variable configuration by - wire chassis composed thereof. Background Art

[0004] By highly integrating the main actuators of an automobile on the chassis and using electrical signals to replace traditional mechanical and hydraulic connections, the by - wire chassis has become a key technology in new energy vehicles.

[0005] The by - wire chassis has a faster response speed, a lighter vehicle mass, and the idea of modular design paves the way for secondary development and iterative upgrading. However, most existing by - wire chassis arrange steering, drive, braking, and suspension modules on an integrated chassis frame. Their structures and functions are customized according to specific scenario requirements, with poor versatility, difficult to adapt to complex and changeable working conditions, low modularity, and unable to flexibly change the architecture according to requirements.

[0006] In existing technical solutions, a design of dividing the integrated chassis structure into several modules is proposed. The modules are mechanically connected, and the structure of the chassis can be combined, changed, and expanded to realize the reconstruction of the chassis function. However, existing technical solutions still have defects. Some technical solutions (such as publication number CN 116476623 A, publication number CN 118220183 A, and patent number CN 218751059 U) propose combining a two - axle chassis or a single - axle drive and load - bearing module as a single module, which can only make very limited adjustments to the chassis size, with low flexibility of the architecture, single form of chassis configuration transformation, and insignificant improvement in versatility. In addition, the connection structure between modules is relatively complex and requires separate processing. Other technical solutions (such as publication number CN114954656 A) propose using a single - axle drive module and an intermediate module connecting the drive modules as basic modules. By arranging the single - axle drive modules at intervals and connecting every two adjacent single - axle drive modules through an intermediate connection module, the front and rear drive modules are independent of each other. It is difficult to adjust the size of each module, and the center - of - mass position is fixed, which is not conducive to control optimization. The optional transformation configurations of the chassis in existing technical solutions are few, and the configuration transformation only targets the chassis structure without allocating and adjusting the chassis functions, making it difficult to adapt to diverse application scenarios. Summary of the Invention

[0008] In view of the above - mentioned deficiencies of the prior art, the purpose of the present invention is to provide a drive, control, rotation, and suspension integrated shaft module and a variable configuration by - wire chassis composed thereof, which are reasonably designed and highly extensible.

[0009] The integrated drive and suspension shaft module of the present invention is characterized in that it includes a single-wheel drive module, and the single-wheel drive module includes a profile frame and corner modules symmetrically arranged on the profile frame in a mirror image. The corner module includes a drive module, a suspension module, a braking module and a steering system. Among them, the drive module includes a hub motor, a tire provided on the hub motor, and a battery for supplying power to the hub motor. Among them, the suspension module includes a steering arm, an upper swing arm, a lower swing arm and a shock-absorbing spring whose first ends are respectively hinged to the steering arm. Among them, the braking module includes a brake pump, an oil pressure distributor connected to the oil output end of the brake pump, a brake caliper and a brake disc. Among them, the steering system includes a steering motor and a lower steering machine driven by the steering motor, and the end of the lower steering machine is connected to the steering arm. The second ends of the upper swing arm, the lower swing arm and the shock-absorbing spring are hinged to the profile frame in the middle, and the battery, the brake pump, the oil pressure distributor and the steering motor are fixedly arranged on the profile frame in the middle. The brake disc is fixedly connected coaxially with the hub motor, the central shaft of the hub motor passes through the central hole of the steering arm and is fixed, the body of the brake caliper is fixed on the steering arm, and the caliper body of the brake caliper is sleeved on the peripheries of both end faces of the adjacent brake disc.

[0010] Preferably, the above-mentioned upper swing arm and lower swing arm are both C-shaped and parallel to each other. The middle parts of the C-shaped upper swing arm and lower swing arm are their first ends, and the first ends are respectively connected to the upper part and the lower part of the steering arm through ball hinge pins. The two open ends of the C-shaped upper swing arm and lower swing arm are their second ends, and the second ends are respectively connected with a first lifting lug through a first bolt. The first lifting lug is U-shaped, and the bottom end of the U-shaped first lifting lug is locked on the outer side surface of the profile frame through a bolt. The open end of the U-shaped first lifting lug surrounds the periphery of the second end of the upper swing arm or the lower swing arm and is formed into a hinge by passing through the first bolt.

[0011] Preferably, the first end of the above-mentioned shock-absorbing spring is connected to the open end of the second lifting lug through a bolt, and the bottom end of the second lifting lug is connected to a through hole at a position close to the first end of the lower swing arm through a bolt.

[0012] Preferably, the second end of the above-mentioned shock-absorbing spring is connected to the open end of the third lifting lug through a bolt, and the bottom end of the third lifting lug is connected to the lower side surface of the upper top plate of the profile frame through a bolt. A chute is provided on the upper top plate, and the bolt is locked in the chute to adjust the suspension form.

[0013] Preferably, the above-mentioned profile frame is formed by splicing multiple profiles into a rectangular parallelepiped frame shape. The bottom surface of the profile frame has a bottom plate for supporting and placing the controller of the hub motor, the brake pump, the oil pressure distributor, the battery and the steering motor.

[0014] Preferably, the above-mentioned steering arm is a rectangular plate-like body, with first lugs parallel to each other on its upper and lower parts. The first ends of the C-shaped upper swing arm and the lower swing arm are connected through a ball hinge pin to the perforations of the first lugs.

[0015] Preferably, a second lug is provided on the side of the above-mentioned steering arm, and the end of the lower steering machine is connected through a ball hinge pin to the perforation of the second lug.

[0016] Preferably, a perforation is provided on the above-mentioned steering arm, and a wheel speed sensor for detecting the toothed ring on the brake disc is provided on the perforation.

[0017] The variable configuration by-wire chassis of the present invention is characterized in that it includes a connection bridge module and drive-control-steering-suspension integrated axle modules respectively provided at both ends of the connection bridge module.

[0018] The variable configuration by-wire chassis of the present invention is characterized in that it includes drive-control-steering-suspension integrated axle modules and connection bridge modules connected in sequence in several groups.

[0019] Advantages of the drive-control-steering-suspension integrated axle module of the present invention and the variable configuration by-wire chassis composed thereof: (1) Multi-mode variable configuration. The variable configuration by-wire chassis of the present invention is decomposed into a single-axis drive module (drive-control-steering-suspension integrated axle module) and a connection bridge module. The single-axis drive module can be continuously spliced as an independent module, or can be connected to an intermediate frame to form a new chassis configuration. The connection bridge module can adjust its size according to requirements, and can be combined into a two-axle vehicle mode, a three-axle vehicle mode or a multi-axle vehicle mode, or can also adjust the wheelbase between any two adjacent axles to adapt to the working requirements of different scenarios.

[0020] (2) Modular chassis function distribution architecture. The single-axis drive module internally has independent suspension modules, brake modules, braking modules, and steering modules, and can perform independent movements. Multiple single-axis drive modules can cooperate to achieve redundant execution, improving the safety performance of the chassis. In the multi-axle configuration, the function distribution of the chassis can be adjusted by adding or reducing some functional components in some single-axis drive modules, and the functions of the whole vehicle are still complete.

[0021] (3) Dimension-adjustable self-balancing independent driving module based on profile units. The frames of the single-axis drive module and the connection bridge module are both constructed using profiles. Each module is only composed of several profile units of the same model with different length dimensions, and has strong expandability; there is no need to modify the original frame structure or additionally process the connection structure, and only need to add or reduce the number of different profile units used to adjust the size of each module to a certain extent.

[0022] (4) Chassis centroid adjustment mechanism. By changing the chute where the bolt of the second lifting lug connected to the upper part of the shock absorber spring, the suspension form can be quickly adjusted, and then the height of the chassis can be adjusted. The internal cavity set in the connection bridge module can increase or decrease the load, adjust the mass distribution of the chassis in the horizontal direction, and combine different combinations between modules to adjust the spatial position of the overall chassis centroid, enhance the overall handling stability, and meet different control requirements.

[0023] (5) Self-balancing control system with multi-sensor fusion. This system consists of an inertial measurement unit (IMU) arranged on the bottom plate of the single-axis drive module, wheel speed sensors arranged on the left and right steering arms, hub motors, and hub motor controllers. The inertial measurement unit measures the three-axis acceleration and angular velocity of the single-axis drive module to obtain the pose of the single-axis drive module in space. The wheel speed sensors obtain the rotational speed of the wheels. The controller controls the hub motors to make corresponding actions to adjust the pose of the single-axis drive module according to the feedback pose and rotational speed information. Through the rotational speed of the wheels obtained by the wheel speed sensors and combined with the module pose information obtained by the inertial measurement unit, closed-loop control is carried out to achieve the self-balancing of the single-axis drive module.

[0024] (6) Multi-module quick connection method based on profile frames. The connection between modules uses special profile connecting plates, connecting angle pieces, and ship-shaped nuts for quick connection, without the need to process the connection structure, realizing fast and reliable connection; the two connection ends of the single-axis drive module and the connection bridge module adopt the same frame design. No matter what configuration is combined, the modules can be quickly connected in the same way.

[0025] (7) Modular chassis performance adjustment method. The functional components in the single-axis drive module can be adjusted according to specific scenario requirements. Without changing the design structure, different power hub motors can be replaced to achieve different power performances, and the number of batteries can be increased or decreased to meet different endurance requirements. Based on the adjustable functions of the single-axis module, rich function combinations can be achieved through the combination of drive modules with different functions. Description of the Drawings

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1 is a perspective view of the drive-rotation-suspension integrated shaft module of the present invention; Figure 2It is a top view of the drive, steering, and suspension integrated shaft module of the present invention; Figure 3 It is a perspective view of the corner module; Figure 4 It is a perspective view of an embodiment of the variable configuration by - wire chassis; Figure 5 It is a perspective view of another embodiment of the variable configuration by - wire chassis; Figure 6 It is a perspective view of the connection bridge module; Figure 7 、 8 It is a perspective view of the connection between the connection bridge module and adjacent profiles of the profile frame; Figure 9 、 10 It is a perspective view of the connection structure between the steering motor and the lower steering gear in the bottom plate.

[0029] In the figure: 01, corner module; 1, battery; 2, lower steering gear; 3, first hub motor controller; 4, steering motor; 5, profile frame; 6, inertial measurement unit (IMU); 7, brake pump; 8, oil pressure distributor; 9, second hub motor controller; 10, lower swing arm; 11, hub motor; 12, wheel speed sensor; 13, tire; 14, steering arm; 15, brake caliper; 16, upper swing arm; 17, third lug; 18, first lug; 19, shock absorber spring; 20, brake disc; 21, ball joint pin; 22, first bolt; 23, second lug; 24, bottom plate; 25, first lug boss; 26, second lug boss; 27, universal coupling; 28, connecting rod; A1, connection bridge module; A2, drive, steering, and suspension integrated shaft module; A3, profile; A4, connecting angle piece; A5, connecting bolt.

[0030] The following further describes the connection method of the present invention in detail with reference to the drawings and specific implementation structures. Specific Embodiments

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0032] The integrated drive and suspension shaft module A2 of the present invention includes a single-wheel drive module, and the single-wheel drive module includes a profile frame 5 and corner modules 01 symmetrically arranged on the profile frame; wherein the profile frame is formed by splicing multiple profiles into a cuboid frame shape, and the bottom surface of the profile frame has a bottom plate 24 for supporting and placing the controllers of the hub motors, brake pumps, oil pressure distributors, batteries, steering motors, etc. in the corner module 01; several profiles can also be added to the profile frame to improve the frame strength.

[0033] Among them, the corner module 01 includes a drive module, a suspension module, a braking module, and a steering system; wherein the drive module includes a hub motor 11, a tire 13 provided on the hub motor 11, and a battery 1 for supplying power to the hub motor; wherein the suspension module includes a steering arm 14, an upper swing arm 16, a lower swing arm 10, and a shock absorber spring 19 whose first ends are respectively hinged to the steering arm; wherein the braking module includes a brake pump 7, an oil pressure distributor 8 connected to the fuel output end of the brake pump, a brake caliper 15, and a brake disc 20; wherein the steering system includes a steering motor 4 and a lower steering machine 2 driven by the steering motor to act, and the end of the lower steering machine is connected to the steering arm 14 (the end of the lower steering machine 2 is indirectly connected to the steering arm 14 through a connecting rod 28). Specifically, the output shaft of the steering motor 4 and the input shaft of the lower steering machine 2 are connected by a universal coupling 27 to achieve power transmission. The housing of the lower steering machine 2 is fixed on the profile frame 5, and the body of the lower steering machine 2 is provided with an output shaft that can reciprocate axially (specifically, a gear is connected to the end of the input shaft in the body of the lower steering machine 2, and a rack meshing with the gear is provided on the output shaft). The two end portions of the output shaft are respectively connected to the steering arms 14 of the two-side suspension modules through the connecting rod 28.

[0034] Specifically, the second ends of the upper swing arm 16, the lower swing arm 10, and the shock absorber spring 19 are hinged to the middle profile frame 5, and the battery 1, the brake pump 7, the oil pressure distributor 8, and the steering motor 4 are fixedly arranged on the middle profile frame; the brake disc 20 is coaxially and fixedly connected to the hub motor 11, the central axis of the hub motor 11 passes through the central hole of the steering arm and is fixed, the body of the brake caliper 15 is fixed on the steering arm 14, and the caliper body of the brake caliper is sleeved on the peripheries of both end faces of the adjacent brake disc 20.

[0035] Among them, both the upper swing arm 16 and the lower swing arm 10 are C-shaped and parallel to each other. The middle parts of the C-shaped upper swing arm and the lower swing arm are their first ends, and the first ends are respectively connected to the upper part and the lower part of the steering arm through ball hinge pins 21. The two open ends of the C-shaped upper swing arm and the lower swing arm are their second ends, and the second ends are respectively connected with a first lifting ear 18 through a first bolt 22. The first lifting ear is U-shaped, and the bottom end of the U-shaped first lifting ear is locked on the outer side surface of the profile frame through a bolt, and the open end of the U-shaped first lifting ear surrounds the periphery of the second end of the upper swing arm or the lower swing arm and is penetrated by the first bolt 22 to form a hinge.

[0036] The first end of the shock-absorbing spring is connected to the open end of the second lifting lug 23 by bolts, and the bottom end of the second lifting lug is connected to a through hole at a position near the first end of the lower swing arm by bolts.

[0037] For stable and reliable connection, the second end of the shock-absorbing spring is connected to the open end of the third lifting lug 17 by bolts, and the bottom end of the third lifting lug is connected to the lower side of the upper top plate of the profile frame by bolts. A chute is provided on the upper top plate, and the bolts are locked in the chute to adjust the suspension form.

[0038] For reasonable design, the steering arm is a rectangular plate-like body, and the upper and lower parts thereof have parallel first lugs 25. The first ends of the C-shaped upper swing arm and the lower swing arm are connected through a ball hinge pin to the perforations on the first lugs; a second lug 26 is provided on the side of the steering arm, and the end of the lower steering machine is connected through a ball hinge pin to the perforation on the second lug.

[0039] Preferably, a perforation is provided on the steering arm, and a wheel speed sensor 12 for detecting the toothed ring on the brake disc is provided on the perforation.

[0040] One of the embodiments is as Figure 4 shown. The variable configuration by-wire chassis of the present invention includes a connection bridge module A1 and drive-control-steering-suspension integrated axle modules A2 respectively provided at both ends of the connection bridge module.

[0041] Another one of the embodiments is as Figure 5 shown. The variable configuration by-wire chassis of the present invention includes drive-control-steering-suspension integrated axle modules A2 and a connection bridge module A1 connected in sequence in several groups. The connection bridge module can be connected to configure different modules and different numbers of single-axis drive modules, which can play a role in adjusting the chassis size and adjusting the chassis center of mass; the center of mass of the single-wheel drive module is arranged below the central axis of the hub motor 11.

[0042] The connection structures of adjacent profiles in the connection bridge module and the frame profiles are as Figure 7 , 8 shown, that is, two perpendicularly intersecting profiles A3 are connected by connecting angle pieces A4 at the intersection position. The connecting bolts A5 include ship-shaped bolts and nuts that cooperate with the ship-shaped bolts. The heads of the ship-shaped bolts are installed in the chutes of the profiles A3, and the threaded sections of the ship-shaped bolts pass through the holes on the connecting angle pieces A4 and are locked and fixed with the nuts.

[0043] In the present invention, the modular chassis can redistribute functions. When there are two or more single-axis drive modules in the chassis, each single-axis drive module has complete drive, braking, steering, and suspension modules inside, forming functional redundancy and enhancing the safety of the system. The functions within the single-axis module can be redistributed according to requirements, or some functional modules within the single-axis drive module can be transferred to the intermediate connection bridge module, and the overall function of the chassis remains intact. In the two-axle vehicle mode, through electrical quick connection and pipeline connection, only one battery can be used to supply power to the whole vehicle, and only one brake pump can supply oil to the four brake calipers through an oil pressure distributor and connecting oil pipes.

[0044] The frames of the single-axis drive module and the connection bridge module in the present invention are composed of only several types of profile units of the same model with different length dimensions, and the used connecting parts are all ready-made standard profile connecting parts. The structure is regular and the expandability is strong. Therefore, each module can quickly adjust its size according to the usage requirements without a new structure, and only need to increase or decrease the number of different profile units used.

[0045] For the chassis centroid adjustment mechanism of the present invention, the lower end of the shock-absorbing spring is fixed on the lug of the lower swing arm, and the upper end is fixed on the lower side of the upper top plate of the profile frame through a lug. The above-mentioned lug is fixed by a special boat-shaped bolt and connecting parts of the profile. The upper top plate of the single-axis drive module is spliced by several profiles, and its lower side is provided with several chutes. By placing the bolt head for fixing the lug in different chutes, that is, changing the fixing position of the upper end of the shock-absorbing spring, the shape of the suspension can be adjusted to achieve the purpose of adjusting the chassis height. The size of the connection bridge module can be conveniently adjusted by increasing or decreasing the number of profiles. The internally hollow structure can place functional components or increase or decrease the counterweight. Combined with the chassis height adjustment, the centroid position of the chassis can be adjusted in the spatial dimension, changing the dynamic performance of the whole vehicle and improving the handling stability.

[0046] The self-balancing control system of the present invention is composed of an inertial measurement unit (IMU) arranged on the bottom plate of the profile frame of the single-axis drive module, wheel speed sensors arranged on the left and right steering arms, hub motors, and hub motor controllers. The inertial measurement unit measures the three-axis acceleration and angular velocity of the single-axis drive profile frame, and then obtains the pose of the single-axis drive module in space; the probe of the wheel speed sensor passes through the through hole on the steering arm and keeps a distance of 2 mm from the brake disc, and obtains the rotational speed of the wheel by sensing the rotation of the gear ring on the brake disc; the controller controls the hub motor to make corresponding actions to adjust the pose of the single-axis drive module according to the feedback pose and rotational speed information. When the frame of the single-axis drive module rotates and tilts around the axis, the controller calculates the moment of inertia that can offset the tilt of the profile frame through the collected pose and wheel speed signals, controls the rotation of the hub motor, and combines the wheel rotational speed obtained by the sensor with the module pose information obtained by the inertial measurement unit for closed-loop control to achieve the self-balancing of the single-axis drive module.

[0047] The single-axis drive module of the present invention has a complete drive, braking, steering, and suspension module, and has the ability to drive independently. Through the above-mentioned chassis centroid adjustment mechanism, the centroid height of the single-axis drive module can be reduced, thereby improving the driving stability of the single-axis drive module. Through the above-mentioned self-balancing control system, the main body of the single-axis drive module can maintain a constant pose during driving. The combination of the two can achieve stable independent driving of the single-axis drive module.

[0048] The multi-mode variable configuration by-wire chassis of the present invention, and a module quick connection method. Among them, the profile frame of the single-wheel drive module is symmetric front and back, and the front and rear end faces are the end faces for connection between modules. The connection bridge module also adopts a symmetric design, and the front and rear end faces are the connection end faces between modules, and their dimensions are exactly the same as the end face dimensions of the single-wheel drive module. When connecting between modules, only need to align and closely attach the two connection end faces of the two modules, and use standard profile connecting plates and connecting bolts to complete the quick connection between modules without any additional processing of any structure. And no matter how the module architecture is adjusted, any two modules adopt the same connection method, so the modules can be freely combined without any connection restrictions. When assembling the chassis, any number of single-axis modules and any number of intermediate connection bridge modules can be selected and combined in any arrangement order. The single-axis drive modules can be connected continuously independently or can be connected in combination with intermediate connection bridge modules, and can be assembled into two-axis vehicles, three-axis vehicles, multi-axis vehicles; the wheelbase can be adjusted by increasing or decreasing the size or number of intermediate connection bridge modules, and the chassis size can be changed.

[0049] The functional components within the single-axis drive module are replaceable, and suitable components can be selected according to specific working conditions, including replacing batteries with different capacities to meet different endurance performances, and replacing hub motors with different powers to meet different dynamic performance requirements. Without changing the basic form and structure of the single-axis drive module, a large number of drive modules with different performances can be derived, increasing the types of variable configurations of the chassis and enhancing the adaptability of the chassis. Within the single-axis drive module, the corner module is fixed to the middle profile frame through lugs and bolt connectors. Since the bolts can move parallel within the chute structure in the profile, the fixed position of the corner module can be changed by moving, thereby finely adjusting the wheelbase.

[0050] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, various modifications and changes can be made to the present invention.

Claims

1. A drive, control, rotation and suspension integrated shaft module, characterized in that: It comprises a single-wheel drive module, wherein the single-wheel drive module comprises a profile frame and a corner module arranged on the profile frame in a mirror-symmetrical manner; The corner module includes a drive module, a suspension module, a brake module and a steering system; The drive module includes a wheel hub motor, a tire arranged on the wheel hub motor, and a battery for supplying power to the wheel hub motor; The suspension module includes a steering arm, an upper swing arm, a lower swing arm and a shock absorbing spring whose first ends are respectively hinged to the steering arm; The brake module includes a brake pump, an oil pressure distributor connected to the oil output end of the brake pump, a brake caliper and a brake disc; The steering system includes a steering motor and a lower steering machine driven by the steering motor, and the end of the lower steering machine is connected to the steering arm; The upper swing arm, the lower swing arm and the second end of the shock absorbing spring are hinged on the middle profile frame, and the battery, the brake pump, the oil pressure distributor and the steering motor are fixedly arranged on the middle profile frame; The brake disc is coaxially fixedly connected to the wheel hub motor, the central axis of the wheel hub motor passes through the central hole of the steering arm and is fixed, the body of the brake caliper is fixed on the steering arm, and the caliper body of the brake caliper is sleeved on the outer periphery of the two end surfaces of the brake disc adjacent to it.

2. The driving, controlling, rotating and suspension integrated shaft module according to claim 1 is characterized in that: The upper swing arm and the lower swing arm are both C-shaped and parallel to each other. The middle part of the C-shaped upper swing arm and the lower swing arm is the first end, and the first end is respectively connected to the upper and lower parts of the steering arm through a ball hinge pin. The two open ends of the C-shaped upper swing arm and the lower swing arm are the second ends, and the second ends are respectively connected to the first lifting ears through the first bolts. The first lifting ears are U-shaped, and the bottom end of the U-shaped first lifting ears is locked on the outer surface of the profile frame by bolts. The open end of the U-shaped first lifting ear is surrounded by the outer periphery of the second end of the upper swing arm or the lower swing arm and is hinged by the first bolt.

3. The driving, controlling, rotating and suspension integrated shaft module according to claim 1 or 2, characterized in that: The first end of the shock-absorbing spring is connected to the open end of the second hanging ear through a bolt, and the bottom end of the second hanging ear is connected to a through hole of the lower swing arm near the first end through a bolt.

4. The driving, controlling, rotating and suspension integrated shaft module according to claim 3 is characterized in that: The second end of the shock-absorbing spring is connected to the open end of the third hanging ear by bolts, and the bottom end of the third hanging ear is connected to the lower side of the upper top plate of the profile frame by bolts. The upper top plate is provided with a slide groove, and the bolt lock is arranged in the slide groove to adjust the suspension shape.

5. The driving, controlling, rotating and suspension integrated shaft module according to claim 1, characterized in that: The profile frame is formed into a rectangular frame shape by splicing a plurality of profiles, and the bottom surface of the profile frame has a bottom plate for supporting and placing a controller, a brake pump, an oil pressure distributor, a battery and a steering motor of the wheel hub motor.

6. The driving, controlling, rotating and suspension integrated shaft module according to claim 1, characterized in that: The steering arm is a rectangular plate-like body, and the upper and lower parts thereof are provided with mutually parallel first lugs, and the first ends of the C-shaped upper swing arm and the lower swing arm are connected to the through holes of the first lugs through ball hinge pins.

7. The driving, controlling, rotating and suspension integrated shaft module according to claim 6, characterized in that: A second lug is arranged on the side of the steering arm, and the end of the lower steering gear is connected to the through hole of the second lug through a ball hinge pin.

8. The driving, controlling, rotating and suspension integrated shaft module according to claim 7, characterized in that: The steering arm is provided with a through hole, and the through hole is provided with a wheel speed sensor for detecting the gear ring on the brake disc.

9. A variable configuration wire-controlled chassis, characterized in that: The utility model comprises a connecting bridge module and driving, controlling, rotating and suspending integrated shaft modules respectively arranged at two end heads of the connecting bridge module.

10. A variable configuration wire-controlled chassis, characterized in that: It includes several groups of driving, controlling, rotating and hanging integrated shaft modules and connecting bridge modules which are connected in sequence.

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