Steering system, chassis assembly and vehicle

Abstract

The invention discloses a steering system, a chassis assembly and a vehicle, the steering system comprises a wheel assembly, the wheel assembly comprises a wheel, a hub motor and a steering motor, a containing cavity is defined in the wheel, the hub motor and the steering motor are both arranged in the containing cavity, the hub motor is used for driving the wheel to rotate, and the steering motor is used for driving the wheel to rotate; the steering knuckle is arranged on the wheel, and the steering motor is connected with the steering knuckle and used for driving the wheel to steer. According to the steering system, the steering motor is arranged in the wheel, on one hand, the steering motor does not occupy the arrangement space on the lower side of the vehicle, the transmission distance between the steering motor and the wheel is short, and therefore the arrangement space on the lower side of the vehicle can be increased, and the design difficulty of the vehicle is reduced; the use of materials for steering motor and wheel transmission can be reduced, the weight of the vehicle is reduced, the endurance of the vehicle is improved, and the production cost of the vehicle is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a steering system, a chassis assembly and a vehicle. Background Art

[0002] The steering system is an important unit on the vehicle. Functions such as power steering, assisted driving, lane keeping or active avoidance all rely on the steering system to be realized. In related technologies, the steering system occupies a large layout space on the lower side of the vehicle. When designing the vehicle, it is difficult to design other components on the lower side of the vehicle. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention is to provide a steering system, which can increase the layout space on the lower side of the vehicle and reduce the design difficulty of the vehicle.

[0004] The present invention also provides a chassis assembly having the steering system.

[0005] The present invention also provides a vehicle having the chassis assembly.

[0006] According to the first aspect of the present invention, the steering system includes: a wheel assembly, the wheel assembly includes a wheel, a hub motor and a steering motor, the wheel defines a receiving cavity, the hub motor and the steering motor are both arranged in the receiving cavity, the hub motor is used to drive the wheel to rotate; a steering knuckle, the steering knuckle is arranged on the wheel, the steering motor is connected to the steering knuckle, and is used to drive the wheel to steer.

[0007] According to the steering system of the first aspect of the present invention, by arranging the steering motor inside the wheel, on the one hand, the steering motor does not occupy the layout space on the lower side of the vehicle, and the transmission distance between the steering motor and the wheel is short, thereby increasing the layout space on the lower side of the vehicle and reducing the design difficulty of the vehicle. On the other hand, the material usage of the steering motor and the wheel transmission can be reduced, the weight of the vehicle can be reduced, the vehicle's endurance can be improved, and the vehicle's production cost can be reduced.

[0008] According to some embodiments of the present invention, the wheel hub motor and the steering motor are coaxially arranged.

[0009] According to some embodiments of the present invention, the hub motor is sleeved on the radially outer side of the steering motor.

[0010] According to some embodiments of the present invention, the hub motor includes a first stator and a first rotor, the steering motor includes a second stator and a second rotor, the second stator is sleeved radially outside the second rotor, and the first rotor is sleeved radially outside the first stator.

[0011] According to some embodiments of the present invention, the first stator and the second stator are fixedly connected, and the first stator is sleeved on the radially outer side of the second stator.

[0012] According to some embodiments of the present invention, the hub motor includes an annular stator frame, the first stator fixing sleeve is arranged on the radial outer side of the stator frame, and the second stator fixing sleeve is arranged on the radial inner side of the stator frame.

[0013] According to some embodiments of the present invention, the wheel assembly also includes an axle, which is suitable for being connected to a vehicle body, and the wheel is rotatably connected to the axle, the first stator and the second stator are fixed to the axle, the first rotor is fixedly connected to the inner wall of the accommodating cavity, and the first rotor and the second rotor are both rotatably connected to the axle.

[0014] According to some embodiments of the present invention, the steering motor is configured to drive the wheels to rotate in different directions when rotating in different directions.

[0015] According to some embodiments of the present invention, the steering system further comprises: a transmission assembly connected between the steering motor and the steering knuckle.

[0016] According to some embodiments of the present invention, the transmission assembly includes: a first transmission member and a second transmission member, the first transmission member is connected to the steering motor, and the second transmission member is connected between the first transmission member and the steering knuckle.

[0017] According to some embodiments of the present invention, the first transmission member and the second transmission member are both gears, the first transmission member is coaxially fixed with the steering motor, the rotation axis of the second transmission member is perpendicular to the rotation axis of the first transmission member, and the first transmission member is meshed with the second transmission member.

[0018] According to some embodiments of the present invention, both the first transmission member and the second transmission member are bevel gears.

[0019] According to some embodiments of the present invention, the rotation axis of the second transmission member extends up and down, and the second transmission member is arranged on one side of the first transmission member in the up and down direction.

[0020] According to some embodiments of the present invention, the steering knuckle includes: a steering body and a steering part, the steering body extends in a ring shape around the axis of the wheel, the steering body is connected to the wheel, the steering part is arranged at one end of the steering body in the up and down directions, and a fixing hole is formed on the steering part that passes through the steering part up and down. The steering system also includes: a fixed shaft, the second transmission member is sleeved on the fixed shaft, and the fixed shaft is fixed in the fixing hole.

[0021] The chassis assembly according to the second aspect of the present invention comprises: a chassis; the steering system according to the first aspect of the present invention; a suspension system, wherein the suspension system comprises an upper swing arm and a lower swing arm, and the lower swing arm and the lower swing arm are respectively connected between the steering knuckle and the chassis.

[0022] According to the chassis assembly of the second aspect of the present invention, by providing the steering system according to the first aspect of the present invention, the number of components can be reduced, and the production cost and design difficulty can be lowered.

[0023] The vehicle according to the third aspect of the present invention comprises: the steering system according to the first aspect of the present invention or the chassis assembly according to the second aspect of the present invention.

[0024] The vehicle according to the third aspect of the present invention can reduce design difficulty and production cost, and improve driving range.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is an exploded view of a chassis assembly according to an embodiment of the present invention;

[0027] Figure 2 yes Figure 1 Exploded view of the wheel hub motor and steering motor shown in;

[0028] Figure 3 is a schematic diagram of a chassis assembly according to an embodiment of the present invention;

[0029] Figure 4 yes Figure 3 A schematic diagram of another angle of the chassis assembly shown in FIG.

[0030] Figure 5 yes Figure 4 A cross-sectional view in the AA direction shown in FIG.

[0031] Figure 6 yes Figure 5 Schematic diagram of the first bearing and the second bearing shown in .

[0032] Reference numerals:

[0033] 100. Chassis assembly;

[0034] 10. Wheel assembly; 11. Wheel; 12. Hub motor; 121. First stator; 122. First rotor; 123. Stator frame; 13. Steering motor; 131. Second stator; 132. Second rotor; 1321. Output shaft; 14. Axle; 15. First bearing; 16. Second bearing;

[0035] 20. Steering knuckle; 21. Steering body; 22. Steering part; 221. Fixing hole; 23. Bolt;

[0036] 30. Transmission assembly; 31. First transmission member; 32. Second transmission member; 321. Fixed shaft;

[0037] 200, upper swing arm; 210, ball head; 220, protective cover; 230, double-row roller bearing;

[0038] 300, lower arm;

[0039] 400. Shock absorber assembly; 410. Damping shock absorber; 420. Shock-absorbing spring. DETAILED DESCRIPTION

[0040] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0041] Reference below Figure 1-Figure 6 A steering system according to an embodiment of a first aspect of the present invention is described.

[0042] like Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, the steering system according to the first embodiment of the present invention includes: a wheel assembly 10 and a steering knuckle 20.

[0043] Specifically, the wheel assembly 10 includes a wheel 11, a hub motor 12 and a steering motor 13. A accommodating cavity is defined in the wheel 11. The hub motor 12 and the steering motor 13 are both arranged in the accommodating cavity. The hub motor 12 is used to drive the wheel 11 to rotate. The steering knuckle 20 is arranged on the wheel 11. The steering motor 13 is connected to the steering knuckle 20 and is used to drive the wheel 11 to steer.

[0044] During the driving process of the vehicle, when the vehicle is traveling in a straight line, the hub motor 12 is in a powered state, the hub motor 12 drives the wheel 11 to rotate, and no transmission occurs between the steering motor 13 and the steering knuckle 20. When the vehicle needs to turn, the steering motor 13 and the steering knuckle 20 transmit and drive the wheel 11 to turn.

[0045] Among them, the transmission state between the steering motor 13 and the steering knuckle 20 can be controlled by controlling the power-on state of the steering motor 13, and the transmission state between the steering motor 13 and the steering knuckle 20 can be controlled by controlling the connection interruption between the steering motor 13 and the steering knuckle 20. The transmission state between the steering motor 13 and the steering knuckle 20 can also be controlled by controlling the power-on state of the steering motor 13 and the connection interruption between the steering motor 13 and the steering knuckle 20.

[0046] When the driver is steering the vehicle, the steering motor 13 drives the wheel 11 to steer and provide steering assistance. When the vehicle is in the intelligent assisted driving state, the steering motor 13 drives the wheel 11 to steer, so that the vehicle can automatically adjust the driving direction, thereby realizing vehicle-related driving assistance functions, such as lane keeping, active avoidance and other functions.

[0047] It is understandable to those skilled in the art that by arranging the steering motor 13 inside the wheel 11 , at the lower side of the vehicle, the layout space occupied by the conventional steering motor 13 can be saved, thus increasing the layout space at the lower side of the vehicle.

[0048] At the same time, the transmission distance between the steering motor 13 and the wheel 11 is short, and the wheel 11 responds quickly to the drive of the steering motor 13. When realizing the transmission connection between the steering motor 13 and the wheel 11, the space occupied by the transmission connection structure is also small. Therefore, the layout space on the lower side of the vehicle can be further increased. Compared with the conventional transmission connection between the steering motor 13 and the wheel 11, the material usage of the components can be reduced, thereby reducing the weight of the vehicle, improving the vehicle's endurance, and reducing the vehicle's production cost.

[0049] According to the steering system of the first aspect of the present invention, by arranging the steering motor 13 in the wheel 11, on the one hand, the steering motor 13 does not occupy the layout space on the lower side of the vehicle, and the transmission distance between the steering motor 13 and the wheel 11 is short, thereby increasing the layout space on the lower side of the vehicle and reducing the design difficulty of the vehicle. On the other hand, the material usage of the steering motor 13 and the wheel 11 can be reduced, the weight of the vehicle can be reduced, the vehicle's endurance can be improved, and the vehicle's production cost can be reduced.

[0050] In some embodiments of the present invention, Figure 1As shown, the steering knuckle 20 is connected to the wheel 11 via bolts 23. The bolts 23 are easy to operate and have high strength, which can reduce the difficulty of production and make it easier to make the connection strength between the steering knuckle 20 and the wheel 11 meet the design requirements.

[0051] In some embodiments of the present invention, Figure 1 , Figure 4 and Figure 5 As shown, the wheel hub motor 12 and the steering motor 13 are coaxially arranged. Thus, the structure in the accommodation cavity can be simplified, and the space utilization rate in the accommodation cavity can be improved, thereby reducing the design difficulty of the wheel assembly 10.

[0052] In some embodiments of the present invention, Figure 1 As shown, the wheel hub motor 12 is sleeved on the radial outer side of the steering motor 13. It can be understood that compared with driving the wheel 11 to rotate and driving the wheel 11 to steer, driving the wheel 11 to rotate requires a greater driving force. By sleeved the wheel hub motor 12 on the radial outer side of the steering motor 13, the wheel hub motor 12 is larger in size, the driving force that can be increased by the wheel hub motor 12 is also greater, and the connection area between the wheel hub motor 12 and the wheel 11 can also be larger, thereby making it easier for the wheel hub motor 12 to meet the driving requirements of the vehicle.

[0053] In some embodiments of the present invention, Figure 1 , Figure 2 and Figure 5 As shown, the wheel hub motor 12 includes a first stator 121 and a first rotor 122, and the steering motor 13 includes a second stator 131 and a second rotor 132. The second stator 131 is sleeved on the radially outer side of the second rotor 132, and the first rotor 122 is sleeved on the radially outer side of the first stator 121. In other words, the wheel hub motor 12 is an outer rotor, and the steering motor 13 is an inner rotor. In this way, on the one hand, it is easy to realize the connection between the first rotor 122 and the wheel 11, and on the other hand, it can reduce the magnetic field interference between the wheel hub motor 12 and the steering motor 13, thereby improving the reliability of the vehicle during driving.

[0054] Specifically, the first rotor 122 includes a first bracket and a first coil, the first coil is arranged on the first bracket, the second rotor 132 includes a second bracket and a second coil, the second coil is arranged on the second bracket, and both the first bracket and the second bracket are made of silicon steel material.

[0055] In some embodiments of the present invention, Figure 2As shown, the first stator 121 and the second stator 131 are fixedly connected, and the first stator 121 is sleeved on the radially outer side of the second stator 131. During the assembly process, the first stator 121 can be assembled into the accommodating cavity together with the second stator 131, so as to reduce the operation steps in the assembly process and reduce the assembly difficulty, wherein the first stator 121 provides a magnetic field for the first rotor 122 on the radially outer side of the first stator 121 on the radially outer side of the second stator 131, and the second stator 131 provides a magnetic field for the second rotor 132 on the radially inner side of the second stator 131 on the radially inner side of the first stator 121.

[0056] In some embodiments of the present invention, Figure 2 and Figure 5 As shown, the hub motor 12 includes an annular stator frame 123, the first stator 121 is fixedly sleeved on the radial outer side of the stator frame 123, and the second stator 131 is fixedly sleeved on the radial inner side of the stator frame 123. During the assembly process, the first stator 121 and the second stator 131 can be assembled to the stator frame 123 first, and then the stator frame 123, the first stator 121 and the second stator 131 are assembled together into the accommodating cavity, thereby achieving the fixed connection between the first stator 121 and the second stator 131, and the assembly difficulty is relatively low.

[0057] In some embodiments of the present invention, Figure 4 and Figure 5 As shown, the wheel assembly 10 also includes an axle 14, which is suitable for being connected to the vehicle body, and the wheel 11 is rotatably connected to the axle 14, the first stator 121 and the second stator 131 are fixed to the axle 14, the first rotor 122 is fixedly connected to the inner wall of the accommodating cavity, and the first rotor 122 and the second rotor 132 are both rotatably connected.

[0058] Thus, the hub motor 12 and the steering motor 13 can be arranged in the wheel 11, wherein preferably, as Figure 5 and Figure 6 As shown, the first rotor 122 is rotatably connected to the axle 14 through a first bearing 15, and the second rotor 132 is rotatably connected to the axle 14 through a second bearing 16. There are two first bearings 15, and the two first bearings 15 are respectively supported at both ends of the first rotor 122 in the axial direction. There are two second bearings 16, and the two second bearings 16 are respectively supported at both ends of the second rotor 132 in the axial direction. In this way, the friction during the operation of the hub motor 12 and the steering motor 13 can be reduced, and the stability during the rotation process can be improved.

[0059] In some embodiments of the present invention, the steering motor 13 is configured to drive the wheels 11 to rotate in different directions when rotating in different directions. For example, the steering motor 13 may drive the wheels 11 to rotate to the left when rotating forward, and drive the wheels 11 to rotate to the right when rotating reversely; or the steering motor 13 may drive the wheels 11 to rotate to the right when rotating forward, and drive the wheels 11 to rotate to the left when rotating reversely.

[0060] Therefore, the control logic of the steering motor 13 controlling the wheel 11 to turn left and right is relatively simple, which can simplify the transmission structure between the steering motor 13 and the wheel 11, thereby further reducing the design difficulty of the vehicle, and the steering angle of the wheel 11 can be controlled by the steering angle of the steering motor 13, thereby reducing the control difficulty of the vehicle.

[0061] In some embodiments of the present invention, Figure 1 and Figure 5 As shown, the steering system further includes: a transmission assembly 30, which is connected between the steering motor 13 and the steering knuckle 20. The steering motor 13 has an output shaft 1321, which is connected to the second rotor 132, and the output shaft 1321 is connected to the transmission assembly 30 for external output. In the design process, the transmission requirements between the steering motor 13 and the wheel 11 can be met by adjusting the structure and transmission relationship of the transmission assembly 30. Compared with the connection between the steering motor 13 and the steering knuckle 20 through the structural design of the output shaft 1321 and the steering knuckle 20, the connection through the transmission assembly 30 can reduce the design difficulty and production difficulty.

[0062] In some embodiments of the present invention, Figure 1 and Figure 5 As shown, the transmission assembly 30 includes: a first transmission member 31 and a second transmission member 32, the first transmission member 31 is connected to the steering motor 13, and the second transmission member 32 is connected between the first transmission member 31 and the steering knuckle 20. During the design process, the parameters such as the structure or size of the first transmission member 31 and the second transmission member 32 can be adjusted to meet more design requirements.

[0063] In some embodiments of the present invention, the first transmission member 31 and the second transmission member 32 are gears, the first transmission member 31 is coaxially fixed with the steering motor 13, the rotation axis of the second transmission member 32 is perpendicular to the rotation axis of the first transmission member 31, and the first transmission member 31 is meshed with the second transmission member 32. In this way, the second transmission member 32 can change the direction of the driving force output by the steering motor 13, so as to facilitate the steering drive of the steering motor 13 on the wheel 11.

[0064] In some embodiments of the present invention, Figure 1As shown, the first transmission member 31 and the second transmission member 32 are both bevel gears. Therefore, the first transmission member 31 and the second transmission member 32 can be meshed with each other when the rotation axes are perpendicular to each other, so as to change the direction of the output force of the steering motor 13. The bevel gears occupy a small space and run smoothly, which can further increase the layout space on the lower side of the vehicle and reduce the noise during the operation of the vehicle.

[0065] In some embodiments of the present invention, Figure 1 and Figure 5 As shown, the rotation axis of the second transmission member 32 extends up and down, and the second transmission member 32 is arranged on one side of the first transmission member 31 in the up and down direction.

[0066] In this way, the second transmission member 32 rotates around the rotation axis extending up and down, driving the steering knuckle 20 to rotate around the rotation axis extending up and down, so as to realize the left and right turning of the vehicle. During the driving of the vehicle, through the forward and reverse rotation of the steering motor 13, through the first transmission member 31 and the second transmission member 32, the steering knuckle 20 and the wheel 11 are driven to rotate left or right.

[0067] In some embodiments of the present invention, Figure 1 and Figure 5 As shown, the steering knuckle 20 includes: a steering body 21 and a steering part 22, the steering body 21 extends in a ring shape around the axis of the wheel 11, the steering body 21 is connected to the wheel 11, the steering part 22 is arranged at one end of the steering body 21 in the up-down direction, and a fixing hole 221 is formed on the steering part 22, which passes through the steering part 22 up-down, and the steering system also includes: a fixed shaft 321, the second transmission member 32 is sleeved on the fixed shaft 321, and the fixed shaft 321 is fixed in the fixing hole 221. Thus, it is convenient to realize the connection between the second transmission member 32 and the steering knuckle 20, and in the process of product design, parameters such as the shape and size of the steering body 21, the position of the steering part 22, the structure of the steering part 22 or the size of the steering part 22 can be adjusted to meet more product design needs.

[0068] Reference below Figure 1-Figure 6 A chassis assembly 100 according to an embodiment of a second aspect of the present invention is described.

[0069] According to the second aspect of the present invention, the chassis assembly 100 is as follows: Figure 1 , Figure 3 and Figure 5 As shown, it comprises: a chassis, the steering system and a suspension system according to the first embodiment of the present invention. The suspension system comprises an upper swing arm 200 and a lower swing arm 300, and the lower swing arm 300 and the lower swing arm 300 are respectively connected between the steering knuckle 20 and the chassis.

[0070] Among them, the steering knuckle 20 and the upper swing arm 200 and the lower swing arm 300 are rotatably connected through the ball head 210, and a protective cover 220 is provided on the outer side of the ball head 210. Preferably, a double-row roller bearing 230 is provided in the fixing hole 221 of the steering knuckle 20, and the upper swing arm 200 is rotatably connected to the inner wall of the fixing hole 221 through the ball head 210 and the double-row roller bearing 230.

[0071] The chassis assembly 100 according to the second embodiment of the present invention can reduce the number of components, production costs and design difficulty by providing the steering system according to the first embodiment of the present invention.

[0072] In some embodiments of the present invention, Figure 1 and Figure 5 As shown, the suspension system also includes: a shock absorber assembly 400, the shock absorber assembly 400 is connected between the lower arm 300 and the chassis, the shock absorber assembly 400 includes a damping shock absorber 410 and a damping spring 420, and the damping spring 420 is sleeved on the damping shock absorber 410, so that the shock absorber assembly 400 can absorb a part of the impact on the wheel 11, thereby improving the stability of the vehicle during driving.

[0073] The vehicle according to the third embodiment of the present invention comprises: the steering system according to the first embodiment of the present invention or the chassis assembly 100 according to the second embodiment of the present invention.

[0074] The vehicle according to the embodiment of the third aspect of the present invention can reduce design difficulty and production cost and improve driving range.

[0075] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0076] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0077] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0078] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0079] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A steering system, characterized in that: include: A wheel assembly, the wheel assembly comprising a wheel, a wheel hub motor and a steering motor, the wheel defining an accommodation cavity, the wheel hub motor and the steering motor both being disposed in the accommodation cavity, the wheel hub motor being used to drive the wheel to rotate; A steering knuckle is arranged on the wheel, and the steering motor is connected to the steering knuckle and is used to drive the wheel to steer.

2. The steering system according to claim 1, characterized in that: The wheel hub motor and the steering motor are coaxially arranged.

3. The steering system according to claim 1, characterized in that: The wheel hub motor is sleeved on the radial outer side of the steering motor.

4. The steering system according to claim 3, characterized in that: The wheel hub motor includes a first stator and a first rotor, the steering motor includes a second stator and a second rotor, the second stator is sleeved on the radial outer side of the second rotor, and the first rotor is sleeved on the radial outer side of the first stator.

5. The steering system according to claim 4, characterized in that: The first stator and the second stator are fixedly connected, and the first stator is sleeved on the radial outer side of the second stator.

6. The steering system according to claim 5, characterized in that: The hub motor comprises an annular stator frame, the first stator fixing sleeve is arranged on the radial outer side of the stator frame, and the second stator fixing sleeve is arranged on the radial inner side of the stator frame.

7. The steering system according to claim 4, characterized in that: The wheel assembly also includes an axle, which is suitable for being connected to a vehicle body, and the wheel is rotatably connected to the axle, the first stator and the second stator are fixed to the axle, the first rotor is fixedly connected to the inner wall of the accommodating cavity, and the first rotor and the second rotor are both rotatably connected to the axle.

8. The steering system according to any one of claims 1 to 7, characterized in that: The steering motor is configured to drive the wheels to rotate in different directions when the steering motor rotates in different directions.

9. The steering system according to claim 8, characterized in that: Also includes: A transmission assembly is connected between the steering motor and the steering knuckle.

10. The steering system according to claim 9, characterized in that: The transmission assembly includes: a first transmission member and a second transmission member, the first transmission member is connected to the steering motor, and the second transmission member is connected between the first transmission member and the steering knuckle.

11. The steering system according to claim 10, characterized in that: The first transmission member and the second transmission member are both gears. The first transmission member is coaxially fixed with the steering motor. The rotation axis of the second transmission member is perpendicular to the rotation axis of the first transmission member, and the first transmission member is meshed with the second transmission member.

12. The steering system according to claim 11, characterized in that: The first transmission member and the second transmission member are both bevel gears.

13. The steering system according to claim 12, characterized in that: The rotation axis of the second transmission member extends up and down, and the second transmission member is arranged on one side of the first transmission member in the up and down direction.

14. The steering system according to claim 10, characterized in that: The steering knuckle includes: a steering body and a steering part, the steering body extends in a ring shape around the axis of the wheel, the steering body is connected to the wheel, the steering part is arranged at one end of the steering body in the up and down directions, and a fixing hole is formed on the steering part and passes through the steering part up and down. The steering system also includes: a fixed shaft, the second transmission member is sleeved on the fixed shaft, and the fixed shaft is fixed in the fixing hole.

15. A chassis assembly, characterized in that: include: Chassis; The steering system according to any one of claims 1 to 14; A suspension system comprises an upper swing arm and a lower swing arm, wherein the upper swing arm and the lower swing arm are respectively connected between the steering knuckle and the chassis.

16. A vehicle, characterized in that: include: The steering system according to any one of claims 1 to 14 or the chassis assembly according to claim 15.

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