Integrated driving steering system based on hub motor

Abstract

The invention provides an integrated driving steering system based on a hub motor, which belongs to the technical field of electric automobile driving systems and comprises a driving system, a braking system, a suspension system and a steering system. The driving system comprises a hub motor, a hub motor speed reducer and a hub flange plate; the braking system comprises a braking end cover, a braking disc and an EMB braking system; the steering system is arranged on the braking end cover, and the suspension system is arranged on the steering system. The steering system may have a variety of configurations. The wheel hub motors are adopted, braking, steering and suspension are integrated, the structure integration degree is high, the characteristics of symmetry, universality and various steering schemes are achieved, the flexibility of a chassis is improved, and a structure foundation can be provided for unmanned driving and intelligent automobiles.

Description

Technical Field

[0001] The present invention is a driving steering device for a vehicle, belonging to the technical field of electric vehicle driving systems, and in particular to an integrated driving steering system based on a wheel hub motor. Background Art

[0002] In the past few years, the interest in driverless cars and smart cars has gradually increased, and the demand for new drive devices has gradually increased. New drive steering systems have an important impact on smart cars. Distributed full-wire electric vehicles with four-wheel independent drive / steering / braking functions will become a new direction for future automotive development. The distributed layout of the electrified chassis architecture makes it have higher controllable freedom and control accuracy than the traditional chassis, providing the underlying foundation for automotive intelligence.

[0003] At present, the distributed drive system mainly uses the wheel hub motor to directly drive the wheel. The existing steering, suspension and braking systems are designed and installed separately, occupying a large space and with a fixed installation position. The existing wire-controlled steering device and suspension device are complex in design, and the steering installation position and suspension design are low in integration. Summary of the invention

[0004] In order to solve at least one of the problems existing in the prior art, the present invention provides a steering system driven by a hub motor based on the existing wire-controlled steering, braking and hub motor technologies. The hub motor is adopted and the braking, steering and suspension are integrated. The system has the characteristics of high structural integration, symmetry and versatility, and various steering schemes. The flexibility of the chassis is improved, and a structural basis is provided for unmanned driving and smart cars.

[0005] In order to achieve the purpose of the present invention, the present invention provides an integrated drive steering system based on a hub motor, including a drive system, a braking system, a steering system and a suspension system. The device is symmetrically designed as a whole, and the travel unit is modularized and can be installed at any of the four wheel positions;

[0006] The drive system comprises a drive system housing, a wheel hub motor, a wheel hub motor reducer and a wheel hub flange, wherein the wheel hub motor and the wheel hub motor reducer are located in the drive system housing, the wheel hub flange is located outside one side of the drive system housing, the wheel hub motor is drivingly connected to the wheel hub flange through the wheel hub motor reducer, and the wheel hub flange is used to be connected to the wheel;

[0007] The braking system is located outside the driving system housing, the braking system and the wheel hub flange are respectively located on both sides of the driving system housing, the braking system includes a braking end cover, a brake disc and an EMB braking system, the brake disc is connected to the planetary carrier of the driving system, the EMB braking system is fixedly connected to the driving system housing, and its extension direction is parallel to the planetary carrier, the EMB braking system is used to brake the brake disc, and the braking end cover is located outside the brake disc;

[0008] The steering system is arranged on the brake end cover, and the suspension system is arranged on the steering system.

[0009] Furthermore, the hub motor includes a stator, a rotor and an output shaft, the stator is connected to the drive system housing, the rotor is located inside the stator, and the output shaft is connected to the rotor; the hub motor reducer includes a planetary carrier and planetary wheels arranged on the planetary carrier, and the planetary carrier passes through the output shaft and is fixedly connected to the hub flange located outside the drive system housing.

[0010] Furthermore, an internal oil cooling pipeline is provided in the driving system housing.

[0011] Furthermore, it also includes a wheel side end cover, which is located between the wheel hub flange and the drive system housing.

[0012] Furthermore, the brake end cover is provided with a hollow portion, and the EMB brake system extends from the hollow portion.

[0013] Furthermore, the steering system includes a steering knuckle, a steering connector and a steering motor, the steering knuckle is fixedly connected to the brake end cover, the output end of the steering motor is connected to the steering knuckle through the steering connector, and the steering connector can rotate clockwise and counterclockwise;

[0014] The suspension system includes an upper cross arm, a lower cross arm and an active suspension. The upper cross arm and the lower cross arm are arranged opposite to each other. One end of the upper cross arm and the lower cross arm are respectively hinged to the steering knuckle, and the other end is used to be hinged to the frame; the two ends of the active suspension are respectively used to be hinged to the lower cross arm and the frame.

[0015] Furthermore, it also includes a steering motor reducer, the steering connecting piece is connected to the steering knuckle, the steering motor is connected to the steering motor reducer, the steering motor reducer is the output shaft of the steering motor, the steering motor reducer is vertically fixedly connected to the steering connecting piece, and the steering motor reducer output shaft is fixedly connected to the steering knuckle.

[0016] Furthermore, the steering motor is installed vertically or laterally on the lower cross arm.

[0017] Further, the steering system includes a steering knuckle, a steering motor, a steering rocker arm and a steering tie rod, the steering knuckle is fixedly connected to the brake end cover, the output end of the steering motor is connected to the steering rocker arm, the steering rocker arm is hinged to the steering tie rod, and the steering tie rod is hinged to the steering knuckle;

[0018] The suspension system includes an upper cross arm, a lower cross arm and an active suspension. The upper cross arm and the lower cross arm are arranged opposite to each other. One end of the upper cross arm and the lower cross arm are respectively hinged to the steering knuckle, and the other end is used to be hinged to the frame; the two ends of the active suspension are respectively used to be hinged to the lower cross arm and the frame.

[0019] Preferably, the steering system includes a steering knuckle, a steering motor, a steering motor reducer, a steering rocker arm and a steering tie rod, the steering knuckle is fixedly connected to the brake end cover, the steering knuckle is connected to one end of the steering tie rod with a ball joint, the other end of the steering tie rod is connected to one end of the steering rocker arm with a ball joint, the other end of the steering rocker arm is fixedly connected to the output shaft of the steering motor reducer, the steering motor is connected to the steering motor reducer, the steering motor and the steering motor reducer are both fixedly connected to the frame along the driving direction of the vehicle, the steering motor is horizontally placed, the input shaft of the steering motor reducer is the output shaft of the steering motor, the rotation of the steering motor drives the steering rocker arm to rotate, and then pulls the steering tie rod, so that the wheel rotates clockwise and counterclockwise around the rotating kingpin.

[0020] The suspension system includes an upper cross arm, a lower cross arm, and an active suspension. One end of the upper cross arm is connected to the upper end of the steering knuckle through a ball joint, and the other end is connected to the frame through a pin. One end of the lower cross arm is connected to the steering connector through a pin, and the other end is connected to the frame through a frame pin. One end of the active suspension is connected to the lower cross arm through a pin, and the other end is connected to the frame through a pin. The integrated drive steering system can be moved up and down through the suspension system. Or,

[0021] The suspension system includes an upper cross arm, a lower cross arm, and an active suspension. One end of the upper cross arm is connected to the upper end of the steering knuckle through a ball joint, and the other end is connected to the frame through an axle pin. One end of the lower cross arm is connected to the lower end of the steering knuckle through a ball joint, and the other end is connected to the frame through an axle pin. One end of the active suspension is connected to the lower cross arm through a pin shaft, and the other end is connected to the frame through a pin shaft.

[0022] Furthermore, the steering motor is located on the vehicle frame.

[0023] Furthermore, the steering motor can be placed vertically or horizontally by combining it with a steering motor reducer.

[0024] Furthermore, the active suspension adopts air springs or magnetorheological dampers.

[0025] Furthermore, a high-speed motor drive with a planetary reducer is used to improve the power density of the drive system.

[0026] The drive system integrates the hub motor, reducer, brake, steering system and suspension system. The system has a high degree of integration and an overall symmetrical structure. The suspension system has planar symmetry, and the installation positions of the suspension and the vehicle body are also planar symmetrical, which can be applied to left and right wheels as well as front and rear wheels.

[0027] Compared with the prior art, the present invention can at least achieve the following beneficial effects:

[0028] (1) The integrated drive steering system based on the wheel hub motor has a modular structure, and the suspension system and steering system modules have various configurations. The overall configuration is symmetrical and universal.

[0029] (2) The integrated drive steering system based on the hub motor and the hub motor drive system with a reducer can improve the power density of the drive system by using a high-speed hub motor. Different from the existing arrangement configuration, the braking system is placed after the drive system, and the innovative power transmission route makes the structure compact and highly integrated.

[0030] (3) The interior of the hub motor of the present invention can be sealed with the reducer, and the temperature rise of the hub motor can be controlled by active cooling.

[0031] (4) The integrated drive steering system based on the wheel hub motor has a rich steering system configuration. In the steering configuration, the steering motor is matched with the steering motor reducer to make the steering motor vertical or horizontal, and the steering motor can also be matched with the steering rod to achieve rotation. The installation form and installation position of the steering motor on the frame are diverse. The suspension system uses active suspension, which can optimize the vibration characteristics of the vehicle by actively adjusting the suspension parameters, improve driving comfort, and improve the power of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of a specific embodiment of an integrated drive steering system based on a hub motor provided by an embodiment of the present invention.

[0033] Figure 2 This is a structural schematic diagram of another specific embodiment of an integrated drive steering system based on a wheel hub motor provided by the present invention.

[0034] Figure 3 The present invention provides an integrated drive steering system based on a wheel hub motor, with tires omitted.

[0035] Figure 4It is a structural decomposition diagram of a specific embodiment of an integrated drive steering system based on a hub motor provided by the present invention.

[0036] Figure 5 It is a structural decomposition diagram of another specific embodiment of an integrated drive steering system based on a hub motor provided by the present invention.

[0037] Figure 6 It is an exploded view of a drive system and a brake system of an integrated drive steering system based on a wheel hub motor provided by the present invention.

[0038] Figure 7 yes Figure 1 A cross-sectional view of an integrated drive steering system based on a hub motor is provided.

[0039] Figure 8 yes Figure 2 A cross-sectional view of another integrated drive steering system based on a hub motor is provided.

[0040] In the figure, 1 is a tire, 2 is a drive system, 3 is a brake system, 4 is a steering system, and 5 is a suspension system; 21 is a hub flange, 22 is a drive system housing, 23 is a wheel side end cover, 24 is a stator, 25 is an output shaft, 26 is a planetary carrier, 27 is a planetary wheel, 28 is a planetary wheel shaft, 29 is a rotor, 210 is a bearing, and 211 is an oil retaining ring; 31 is an EMB brake system, 32 is a brake disc, 33 is a brake end cover, and 34 is a brake connecting block; 41 is a steering knuckle, 42 is a steering connecting block, 43 is a steering motor, 44 is a steering tie rod, and 45 is a steering rocker arm; 51 is an upper cross arm, 52 is a lower cross arm, and 53 is an active suspension. 6 is a vehicle frame. DETAILED DESCRIPTION

[0041] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below with reference to specific diagrams.

[0042] In the description of the present invention, it should be understood that the terms "longitudinal", "radial", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0043] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] The present invention provides an integrated drive steering system based on a hub motor, comprising a tire 1, a hub motor drive system 2 with a reducer, a braking system 3 integrated on the hub motor, a steering system 4, a suspension system 5 and a frame 6; the drive system 2 comprises a hub flange 21, a drive system housing 22, a wheel side end cover 23, a stator 24, an output shaft 25, a planetary carrier 26, a planetary gear 27, a planetary gear shaft 28, a rotor 29, a bearing 210, and an oil retaining ring 211; the braking system comprises an EMB braking system 31, a brake disc 32, and a brake end cover 33; the steering system comprises a steering knuckle 41, a steering connecting block 42, a steering motor 43, a steering tie rod 44, and a steering rocker arm 45; the suspension system comprises an upper cross arm 51, a lower cross arm 52, and an active suspension 53.

[0045] As a specific example, please refer to Figure 8The drive system 2 includes a drive system housing 22, a wheel side end cover 23, a hub motor, a hub motor reducer, and a hub flange 21. The hub motor includes a stator 24, a rotor 29, and an output shaft 25. The stator 24 is located in the drive system housing 22, and the rotor 29 is located in the stator 24. The rotor 29 is fixedly connected to the output shaft 25 as a power source for the drive system 2; the hub motor reducer is a planetary reducer, including a planet carrier 26, a planetary wheel 27, and a planetary wheel shaft 28. The output shaft 25 is a planetary reducer. The sun gear serves as the input shaft of the hub motor reducer. The planetary gear 27 is arranged on the planetary carrier 26 through the planetary gear shaft 28. The planetary carrier 26 of the planetary reducer serves as the output shaft of the drive system 2. The planetary carrier 26 passes through the output shaft 25 and is fixedly connected to the hub flange 21 located outside the drive system housing 22. The output shaft 25 is hollow in the middle. A bearing 210 for supporting the planetary carrier 26 is installed on the output shaft 25. The hub flange 21 is connected to the wheel 1, and an oil retaining ring 211 is arranged near the bearing 210. The braking system 3 includes a brake disc 32, an EMB braking system 31 and a brake end cover 33, wherein the brake disc 32 is fixedly connected to the planetary carrier 26 of the drive system 2 via a brake connecting block 34, and the EMB braking system 31 is fixedly connected to the drive system housing 22, and its extension direction is parallel to the output shaft 25, is located in a radial position of the drive system housing 22, and is located at the opening of the brake end cover 33. The brake caliper of the EMB braking system 31 is parallel to the brake disc 32, and the brake caliper wraps around the upper part of the brake disc 32, leaving a gap between the two. During braking, the EMB braking system 31 generates a driving force to drive the brake caliper to clamp the brake disc 32.

[0046] As a specific embodiment, the drive system 2 and the brake system 3 are wrapped by an outer shell, and the outer shell includes a wheel side end cover 23, a brake end cover 33, and a drive system outer shell 22. The brake end cover 33 is provided with a window, and the EMB brake system 31 extends from the window; the wheel side end cover 23 is located between the hub flange 21 and the drive system outer shell 22, and the wheel side end cover 23 is completely closed and provided with a sealing rubber ring; the drive system outer shell 22 is fixedly connected to the stator 24, and the drive system outer shell 22 is fixedly connected to the planetary reducer gear ring, and is integrally formed; an end plate is provided in the drive system outer shell 22, and a sealing rubber ring is provided at the end plate for separating the drive system 2 and the brake system 3, the drive system outer shell 22 and the wheel side end cover 23 seal the hub motor and the hub motor reducer, and the brake system 3 is exposed and in direct contact with the outside air, so that air cooling can be used for cooling, and an internal oil cooling pipe is provided in the drive system outer shell 22 for active cooling system.

[0047] The hub motor outputs power to the sun gear, i.e., the output shaft 25, of the hub motor reducer through the rotor 29. The planetary carrier 26 of the hub motor reducer passes through the output shaft 25 to transmit the power of the drive system 2 to the hub flange 21 located outside the drive system housing 22, so that the hub flange 21 can drive the wheel 1 to move.

[0048] As a specific embodiment, the brake end cover 33 is configured as a spoke structure, and the side of the drive system housing 22 is opened to facilitate cooling.

[0049] Please refer to Figure 2 , Figure 5 and Figure 8 The steering system 4 includes a steering knuckle 41, a steering motor 43, a steering tie rod 44 and a steering rocker arm 45. The steering knuckle 41 is fixedly connected to the brake end cover 33, one end of the steering tie rod 44 is connected to the steering knuckle 41 through a ball joint, the other end of the steering tie rod 44 is connected to one end of the steering rocker arm 45 through a ball joint, the other end of the steering rocker arm 45 is fixedly connected to the output shaft of the steering motor reducer, the steering motor 43 is connected to the steering motor reducer, the steering motor 43 and the steering motor reducer are fixedly connected to the frame 6 along the driving direction of the vehicle, and the steering motor 43 is horizontally placed.

[0050] Please refer to Figure 2 , Figure 5 and Figure 8 The suspension system 5 includes an upper cross arm 51, a lower cross arm 52 and an active suspension 53. One end of the upper cross arm 51 is connected to the upper end of the steering knuckle 41 through a ball joint, and the other end is connected to the frame 6 through a pin shaft. One end of the lower cross arm 52 is connected to the lower end of the steering knuckle 41 through a ball joint, and the other end is connected to the frame 6 through a pin shaft. One end of the active suspension 53 is connected to the lower cross arm 52 through a pin shaft, and the other end is connected to the frame 6 through a pin shaft. The integrated drive steering system can be moved up and down through the suspension system.

[0051] When steering is to be performed, the steering motor 43 transmits power to the steering rocker arm 45, and the steering rocker arm 45 transmits power to the steering knuckle 41 through the steering tie rod 44. The steering knuckle 41 drives the wheel 1 to rotate clockwise and counterclockwise around the kingpin (independent suspension (double wishbone suspension) is adopted, and the kingpin is the virtual kingpin center line). The steering knuckle 41 rotates under the action of the steering force, and the upper cross arm 51 and the lower cross arm 52 realize corresponding swinging through the ball joint. When the vehicle is impacted by the road surface or the body moves up and down, the active suspension 53 autonomously adjusts its own parameters according to the road conditions, applies a force to the lower cross arm 52 through the pin shaft connection, drives the steering knuckle 41 and the wheel 1 to move up and down, and keeps the body stable.

[0052] As another specific embodiment, please refer to Figure 1 , Figure 3 , Figure 4 and Figure 7 The steering system 4 includes a steering knuckle 41, a steering connector 42 and a steering motor 43. The steering knuckle 41 is fixedly connected to the brake end cover 33, the steering knuckle connector 42 is connected to the steering knuckle 41, optionally, the steering knuckle connector 42 is connected to the upper end of the steering knuckle 41, and the steering connector 42 can rotate clockwise and counterclockwise around the steering kingpin (i.e., the center line of the steering knuckle), the steering motor 43 is connected to the steering reducer, and the output shaft of the steering motor reducer is fixedly connected to the steering knuckle 41, and further optionally, the steering motor 43 is arranged with the steering reducer and is horizontally placed on the steering connector 42.

[0053] Please refer to Figure 1 and Figure 4 The suspension system 5 includes an upper cross arm 51, a lower cross arm 52 and an active suspension 53. One end of the upper cross arm 51 is connected to the upper end of the steering knuckle 41 through a ball joint, and the other end is connected to the frame 6 through a pin. One end of the lower cross arm 52 is connected to the steering connector 42 through a pin, and the other end is connected to the frame 6 through a pin. One end of the active suspension 53 is connected to the lower cross arm 52 through a pin, and the other end is connected to the frame 6 through a pin. The upper cross arm 51 and the lower cross arm 52 of the suspension system 5 are respectively connected to the steering knuckle 41 through a ball joint to ensure that the wheel 1 can work normally.

[0054] Optionally, the steering knuckle connecting member 42 is connected to the upper end of the steering knuckle 41, one end of the upper cross arm 51 is connected to the steering connecting member 42 through a pin, and the other end is connected to the frame 6 through a pin, one end of the lower cross arm 52 is connected to the lower end of the steering knuckle 41 through a ball joint, and the other end is connected to the frame 6 through a pin, one end of the active suspension 53 is connected to the lower cross arm 52 through a pin, and the other end is connected to the frame 6 through a pin, and the integrated drive steering system can be moved up and down through the suspension system.

[0055] When steering is to be performed, the output power of the steering motor 43 is transmitted to the steering knuckle 41 through the steering knuckle connector 42, and the steering knuckle 41 drives the wheel 1 to rotate clockwise and counterclockwise around the kingpin (independent suspension (double wishbone suspension) is adopted, and the kingpin is the virtual kingpin centerline). The steering knuckle 41 rotates under the action of the steering force, and the upper cross arm 51 and the lower cross arm 52 realize corresponding swinging through the ball joint. When the vehicle is impacted by the road surface or the body moves up and down, the active suspension 53 autonomously adjusts its own parameters according to the road conditions, applies a force to the lower cross arm 52 through the pin connection, drives the steering knuckle 41 and the wheel 1 to move up and down, and keeps the body stable.

[0056] As a specific embodiment, the active suspension 53 uses an air spring or a magnetorheological damper, and the active suspension 53 integrates an adjustment unit for actively adjusting the dynamic deflection and damping parameters of the suspension. The above suspension system can make the integrated drive steering system move up and down.

[0057] The integrated driving steering system provided by the above-mentioned embodiment of the present invention, the suspension system and the steering system both include two configurations, and the overall configuration is symmetrical and universal. In one of the configurations ( Figure 1 ), the steering motor is connected to the cross arm and the steering knuckle, which has a compact structure and can directly drive the wheels to steer. Another configuration ( Figure 2 ) In the vehicle, the steering motor is connected to the frame, which reduces the unsprung mass, improves handling, and has a mature structure and is easy to modify.

[0058] The integrated driving steering system, suspension system and steering system provided by the aforementioned embodiment of the present invention each include two configurations, in one of which ( Figure 1 ), the steering motor can be located on the lower cross arm, the motor can be placed vertically or horizontally, and another configuration ( Figure 2 ), the steering motor is located on the vehicle frame, the steering motor can be placed horizontally, and the installation form and installation position of the steering motor on the vehicle frame are various.

[0059] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An integrated drive steering system based on wheel hub motor, characterized in that: Including drive system, brake system, steering system and suspension system; The drive system comprises a drive system housing, a wheel hub motor, a wheel hub motor reducer and a wheel hub flange, wherein the wheel hub motor and the wheel hub motor reducer are located in the drive system housing, the wheel hub flange is located outside one side of the drive system housing, the wheel hub motor is drivingly connected to the wheel hub flange through the wheel hub motor reducer, and the wheel hub flange is used to be connected to the wheel; The braking system is located outside the driving system housing, the braking system and the wheel hub flange are respectively located on both sides of the driving system housing, the braking system includes a braking end cover, a brake disc and an EMB braking system, the brake disc is connected to the planetary carrier of the driving system, the EMB braking system is fixedly connected to the driving system housing, and its extension direction is parallel to the planetary carrier, the EMB braking system is used to brake the brake disc, and the braking end cover is located outside the brake disc; The steering system is arranged on the brake end cover, and the suspension system is arranged on the steering system.

2. The integrated drive steering system based on wheel hub motor according to claim 1, characterized in that: The hub motor includes a stator, a rotor and an output shaft, the stator is connected to the drive system housing, the rotor is located inside the stator, and the output shaft is connected to the rotor; the hub motor reducer includes a planetary carrier and planetary wheels arranged on the planetary carrier, and the planetary carrier passes through the output shaft and is fixedly connected to the hub flange located outside the drive system housing.

3. The integrated drive steering system based on wheel hub motor according to claim 1, characterized in that: An internal oil cooling pipeline is arranged in the housing of the drive system.

4. The integrated drive steering system based on wheel hub motor according to claim 1, characterized in that: It also includes a wheel side end cover, which is located between the wheel hub flange and the drive system housing.

5. The integrated drive steering system based on wheel hub motor according to claim 1, characterized in that: The brake end cover is provided with a hollow portion, and the EMB brake system extends from the hollow portion.

6. The integrated drive steering system based on wheel hub motor according to claim 1, characterized in that: The steering system comprises a steering knuckle, a steering connector and a steering motor, the steering knuckle is fixedly connected to the brake end cover, and the output end of the steering motor is connected to the steering knuckle through the steering connector; The suspension system includes an upper cross arm, a lower cross arm and an active suspension. The upper cross arm and the lower cross arm are arranged opposite to each other. One end of the upper cross arm and the lower cross arm are respectively hinged to the steering knuckle, and the other end is used to be hinged to the frame; the two ends of the active suspension are respectively used to be hinged to the lower cross arm and the frame.

7. The integrated drive steering system based on wheel hub motor according to claim 6, characterized in that: The steering motor is installed vertically or horizontally on the lower cross arm.

8. The integrated drive steering system based on wheel hub motor according to claim 1, characterized in that: The steering system comprises a steering knuckle, a steering motor, a steering rocker arm and a steering tie rod, the steering knuckle is fixedly connected to the brake end cover, the output end of the steering motor is connected to the steering rocker arm, the steering rocker arm is hinged to the steering tie rod, and the steering tie rod is hinged to the steering knuckle; The suspension system includes an upper cross arm, a lower cross arm and an active suspension. The upper cross arm and the lower cross arm are arranged opposite to each other. One end of the upper cross arm and the lower cross arm are respectively hinged to the steering knuckle, and the other end is used to be hinged to the frame; the two ends of the active suspension are respectively used to be hinged to the lower cross arm and the frame.

9. The integrated drive steering system based on wheel hub motor according to claim 8, characterized in that: The steering motor is located on the vehicle frame.

10. An integrated drive steering system based on a hub motor according to any one of claims 1 to 9, characterized in that: The active suspension adopts air springs or magnetorheological dampers.

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