Independent steering module, steering system and vehicle

Abstract

The utility model relates to an independent steering module, a steering system and a vehicle. The independent steering module comprises a steering motor, a transmission shaft, a steering knuckle and a connecting arm. The steering knuckle is rotatably connected to the connecting arm, the steering motor is connected to the connecting arm, one end of the transmission shaft is connected with the output end of the steering motor, and the other end of the transmission shaft is rotatably connected with the steering knuckle. According to the independent steering module, the steering motor is arranged on the connecting arm, so that the steering motor is not located above the wheels, the occupied longitudinal space of the vehicle is small, the appearance design of the vehicle is facilitated, and meanwhile, the steering motor is arranged on the connecting arm and can be connected with the steering knuckle through the transmission shaft; the steering motor does not need to be fixed by excessive mounting and fixing structures extending outwards, so that the mass of the whole vehicle can be reduced, the energy consumption of the vehicle is reduced, and the endurance mileage of the vehicle is increased.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle manufacturing, and in particular to an independent steering module, a steering system and a vehicle. Background Art

[0002] In order to achieve independent steering, the independent steering module in the related technology sets the steering motor or steering gear above the wheel, which occupies a large longitudinal space of the vehicle and requires a raised space between the body and the wheel arch for arrangement, resulting in more space occupied at the wheel, which is not conducive to the vehicle's appearance design. In addition, it is necessary to set an extended mounting structure for the steering motor, which increases the mass of the entire vehicle and increases energy consumption. Utility Model Content

[0003] The purpose of the present disclosure is to provide an independent steering module, a steering system and a vehicle to solve the problems in the above-mentioned related technologies.

[0004] In order to achieve the above-mentioned object, one aspect of the present disclosure provides an independent steering module, including a steering motor, a transmission shaft, a steering knuckle and a connecting arm;

[0005] The steering knuckle is rotatably connected to the connecting arm, the steering motor is connected to the connecting arm, one end of the transmission shaft is connected to the output end of the steering motor, and the other end of the transmission shaft is rotatably connected to the steering knuckle.

[0006] Optionally, the connecting arm includes an upper fork arm and a lower fork arm, and in the height direction of the vehicle, the steering motor and the transmission shaft are both located between the upper fork arm and the lower fork arm.

[0007] Optionally, a mounting portion is formed on the upper fork arm, the steering motor is connected to the mounting portion, the output end of the steering motor faces the lower fork arm, and the transmission shaft is located below the steering motor.

[0008] Optionally, the steering knuckle includes a body and a first connecting arm and a second connecting arm formed on the body, the body is used to connect to the wheel, the first connecting arm is rotatably connected to the upper fork arm, and the second connecting arm is rotatably connected to the lower fork arm.

[0009] Optionally, the steering knuckle further includes a third connecting arm formed on the body, and the third connecting arm is connected to the transmission shaft.

[0010] Optionally, a line connecting a connection point between the first connecting arm and the upper fork arm and a line connecting a connection point between the second connecting arm and the lower fork arm is set as a first line, an axis line of the wheel is set as a second line, and a connection point between the third connecting arm and the transmission shaft is located at an intersection of the first line and the second line.

[0011] Optionally, the transmission shaft includes a cylinder, a rod and a connecting piece, the first end of the rod can be slidably inserted into the first end of the cylinder, the second end of the rod and the second end of the cylinder are both provided with the connecting piece, one of the connecting pieces is connected to the output end of the steering motor, and the other connecting piece is connected to the steering knuckle, the connecting piece is configured to be able to rotate the cylinder and the rod coaxially with the output end of the steering motor, and the cylinder and the rod are respectively arranged at an angle relative to the output end of the steering motor and the steering knuckle.

[0012] Optionally, the connecting member is configured as a cross-axis universal joint rotation pair.

[0013] Optionally, a mounting hole is provided on the steering knuckle, a groove is provided on the hole wall of the mounting hole, a connecting screw is formed on one of the connecting pieces, the connecting screw passes through the mounting hole and is threadedly connected to a nut, and a snap-in portion is formed on the connecting screw, which snaps into the groove.

[0014] Optionally, a limiting groove is provided on the cylinder wall, and the limiting groove extends along the axial direction of the cylinder. A convex portion is formed on the outer peripheral wall of the rod body, and the convex portion extends along the axial direction of the rod body. The convex portion is connected to the limiting groove, and the cooperation between the limiting groove and the convex portion can limit the relative axial rotation of the rod body and the cylinder.

[0015] A second aspect of the present disclosure also provides a steering system, comprising the above-mentioned independent steering module.

[0016] A third aspect of the present disclosure further provides a vehicle, comprising at least four wheels and at least two of the above-mentioned independent steering modules, wherein the steering knuckle of each of the independent steering modules is connected to at least one of the wheels; or,

[0017] Including the steering system mentioned above.

[0018] The above technical solution arranges the steering motor on the connecting arm so that the steering motor is not located above the wheel, which occupies less longitudinal space of the vehicle and is beneficial to the vehicle appearance design. At the same time, since the steering motor is on the connecting arm, it can be connected to the steering knuckle through the drive shaft, and there is no need to set up too many outwardly extending mounting and fixing structures to fix the steering motor. The weight of the entire vehicle can be reduced, thereby reducing the vehicle's energy consumption and increasing the vehicle's cruising range.

[0019] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0021] Figure 1 is a schematic diagram of a three-dimensional structure of an independent steering module according to an embodiment of the present disclosure;

[0022] Figure 2 is an enlarged schematic diagram of a portion of the structure of an independent steering module according to an embodiment of the present disclosure;

[0023] Figure 3 is an enlarged schematic diagram of another part of the structure of an independent steering module according to an embodiment of the present disclosure;

[0024] Figure 4 is a schematic structural diagram of an independent steering module after wheel steering according to an embodiment of the present disclosure;

[0025] Figure 5 It is a structural schematic diagram of the coordination state of multiple independent steering modules according to an embodiment of the present disclosure.

[0026] Description of Reference Numerals

[0027] 1. Steering motor;

[0028] 2. transmission shaft, 21. cylinder, 22. rod body, 23. connecting piece, 24. connecting screw, 25. limiting groove, 26. convex part, 27. snap-in part;

[0029] 3. Steering knuckle, 31. Body, 32. First connecting arm, 33. Second connecting arm, 34. Third connecting arm, 35. Mounting hole, 36. Groove;

[0030] 4. connecting arm, 41. upper fork arm, 42. lower fork arm, 43. mounting portion;

[0031] 5. Wheels;

[0032] 6. Coil spring and shock absorber strut assembly. DETAILED DESCRIPTION

[0033] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0034] In the present disclosure, unless otherwise stated, directional words such as "upper, lower, left, right" are usually defined by the direction of the drawing, and "inner" and "outer" refer to the inside and outside of the relevant parts. In addition, the terms "first", "second", etc. are only used to distinguish descriptions and cannot be understood as indicating or implying relative importance.

[0035] In the description of the present disclosure, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" 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 direct connection, it can be indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0036] like Figure 1-Figure 4 As shown, one aspect of the present disclosure provides an independent steering module, including a steering motor 1 , a transmission shaft 2 , a steering knuckle 3 and a connecting arm 4 .

[0037] The steering knuckle 3 is rotatably connected to the connecting arm 4 , the steering motor 1 is connected to the connecting arm 4 , one end of the transmission shaft 2 is connected to the output end of the steering motor 1 , and the other end of the transmission shaft 2 is rotatably connected to the steering knuckle 3 .

[0038] The steering knuckle 3 is used to connect with the wheel 5 , and the steering motor 1 can drive the transmission shaft 2 to rotate, and the transmission shaft 2 drives the steering knuckle 3 to rotate relative to the connecting arm 4 , thereby driving the direction of the wheel 5 to change.

[0039] In the above technical solution, the steering motor 1 is arranged on the connecting arm 4 so that the steering motor 1 is not located above the wheel 5, which occupies less longitudinal space of the vehicle and is beneficial to the vehicle appearance design. At the same time, since the steering motor 1 is on the connecting arm 4, it can be connected to the steering knuckle 3 through the transmission shaft 2, and there is no need to set up too many outwardly extending mounting and fixing structures to fix the steering motor 1, which can reduce the weight of the entire vehicle, thereby reducing the energy consumption of the vehicle and improving the vehicle's cruising range.

[0040] In order to avoid the interference between the steering device and the related connecting arm 4 and other structures, which affects the maximum steering angle, optionally, in one embodiment of the present disclosure, the connecting arm 4 includes an upper fork arm 41 and a lower fork arm 42. In the height direction of the vehicle, the steering motor 1 and the transmission shaft 2 are both located between the upper fork arm 41 and the upper fork arm 41. The steering motor 1 and the transmission shaft 2 are both arranged roughly along the height direction of the vehicle, and are not strictly arranged according to the height direction of the vehicle. By arranging the steering motor 1 and the transmission shaft 2 between the upper fork arm 41 and the lower fork arm 42 and arranging them along the height direction of the vehicle, that is, arranging them vertically, the space occupied can be further reduced, which is conducive to the installation and fixation of the steering motor 1. In addition, with such an arrangement, the steering motor 1 and the transmission shaft 2 will not intersect with the upper fork arm 41 and the lower fork arm 42 in the longitudinal space, thereby avoiding the interference between each other, and the steering angle can be increased, which can reach a large turning angle of ±90°.

[0041] The upper fork arm 41 is located above the lower fork arm 42, and the steering knuckle 3 is connected to both the upper fork arm 41 and the lower fork arm 42, thereby forming a double fork arm suspension. The upper fork arm 41 and the lower fork arm 42 can be connected to the vehicle frame through a bushing.

[0042] In the width direction of the vehicle, one end of the connecting arm 4 away from the wheel is suitable for connecting to the vehicle body.

[0043] In one embodiment, one end of the connecting arm 4 away from the wheel is suitable for connecting to the sub-frame.

[0044] Optionally, in another embodiment of the present disclosure, the connecting arm 4 may include an A-shaped wishbone, which may constitute a McPherson suspension.

[0045] Optionally, in one embodiment of the present disclosure, a mounting portion 43 is formed on the upper fork arm 41, the steering motor 1 is connected to the mounting portion 43, the output end of the steering motor 1 faces the lower fork arm, and the transmission shaft 2 is located below the steering motor 1. By providing the mounting portion 43 on the upper fork arm 41, the steering motor 1 is connected to the upper fork arm 41, and the transmission shaft 2 is provided below the steering motor 1, and the transmission shaft 2 can be connected to the steering knuckle 3 to achieve steering of the wheel 5.

[0046] In some examples, the mounting portion 43 is configured as a mounting plate formed on the upper fork arm 41, and a mounting hole 35 may be provided on the mounting plate. The mounting bolt passes through the mounting hole 35 and then is connected to the steering motor 1 to achieve the installation and fixation of the steering motor 1. The mounting plate may be located between the two arms of the upper fork arm 41, which can improve the installation stability of the steering motor 1 and reduce the space occupied.

[0047] Optionally, in another embodiment of the present disclosure, a mounting portion 43 is formed on the lower fork arm 42, the steering motor 1 is connected to the mounting portion 43, the output end of the steering motor 1 faces upward, and the steering shaft is located above the steering motor 1. In other words, the steering motor 1 can be arranged on the lower fork arm 42.

[0048] Optionally, in one embodiment of the present disclosure, the steering knuckle 3 includes a body 31 and a first connecting arm 32 and a second connecting arm 33 formed on the body 31, the body 31 is used to connect with the wheel 5, the first connecting arm 32 is rotatably connected with the upper fork arm 41, and the second connecting arm 33 is rotatably connected with the lower fork arm 42. Such an arrangement can facilitate the steering knuckle 3 to be connected with the wheel 5, the upper fork arm 41 and the lower fork arm 42 respectively.

[0049] The first connecting arm 32 and the second connecting arm 33 are connected to the upper and lower sides of the body 31, and one side of the body 31 is used to connect with the wheel 5. The first connecting arm 32 and the second connecting arm 33 both include a first section and a second section, the first section extends along the height direction of the vehicle, and the second section extends along the left and right direction of the vehicle and away from the wheel 5. It should be noted that the specific extension positions of the first connecting arm 32 and the second connecting arm 33 can be adjusted according to the specific setting positions of the upper fork arm 41 and the lower fork arm 42, and no excessive restrictions are imposed here.

[0050] In some examples, the body 31 is connected to the wheel 5 via a hub bearing assembly. The first connecting arm 32 and the upper fork arm 41, as well as the second connecting arm 33 and the lower fork arm 42, can be connected via a ball head, so that the steering knuckle 3 can rotate relative to the upper fork arm 41 and the lower fork arm 42.

[0051] The steering device in the related art needs to bear the steering torque and sliding friction at the same time when steering, resulting in low durability and short service life. Optionally, in one embodiment of the present disclosure, the steering knuckle 3 also includes a third connecting arm 34 formed on the body 31, and the third connecting arm 34 is connected to the transmission shaft 2. Among them, the connecting line between the connection point of the first connecting arm 32 and the upper fork arm 41 and the connection point of the second connecting arm 33 and the lower fork arm 42 is set as the first line, the axis of the wheel 5 is set as the second line, and the connection point of the third connecting arm 34 and the transmission shaft 2 is located at the intersection of the first line and the second line.

[0052] By placing the connection point between the third connecting arm 34 and the transmission shaft 2 at the intersection of the first line and the second line, during the steering process, the steering knuckle 3, the transmission shaft 2 and other structures only need to bear the steering torque without sliding friction, which is beneficial to improving the durability and NVH performance of the steering knuckle 3, the transmission shaft 2 and other structures. In addition, the third connecting arm 34 can be easily connected to the transmission shaft 2. It should be noted that the connection point between the third connecting arm 34 and the transmission shaft 2 can also deviate from the intersection of the first line and the second line, and can be set and adjusted accordingly according to specific circumstances.

[0053] The third connecting arm 34 is located on a side of the body 31 away from the wheel 5 , and extends in a left-right direction of the vehicle in a direction away from the wheel 5 . The third connecting arm 34 is located at the axial center of the body 31 .

[0054] Optionally, in one embodiment of the present disclosure, the transmission shaft 2 includes a cylinder 21, a rod 22 and a connector 23, the first end of the rod 22 can slide into the first end of the cylinder 21, and the second end of the rod 22 and the second end of the cylinder 21 are both provided with a connector 23. Among them, one connector 23 is connected to the output end of the steering motor 1, and the other connector 23 is connected to the steering knuckle 3. The connector 23 is configured to enable the cylinder 21 and the rod 22 to rotate coaxially with the output end of the steering motor 1, and the cylinder 21 and the rod 22 are respectively rotated at an angle relative to the output end of the steering motor 1 and the steering knuckle 3. It should be noted that the cylinder 21 and the rod 22 rotate respectively relative to the output end of the steering motor 1 and the steering knuckle 3, which means that the cylinder 21 and the rod 22 can be rotated at a certain angle relative to the output end of the steering motor 1 and the steering knuckle 3, that is, they can be bent.

[0055] The cylinder 21 and the rod 22 extend in the same direction, the first end of the cylinder 21 is set as an open end, so that the first end of the rod 22 can be inserted, and the second end of the cylinder 21 can be a closed end, which can be connected to the connecting member 23. It can be understood that the rod 22 and the cylinder 21 can slide relative to each other, so that the overall length of the transmission shaft 2 can be changed, which can adapt to the up and down jumping of the wheel 5 and still have the steering ability during the jumping process. Optionally, in some examples, the connecting member 23 is a cross-axis universal joint rotation pair.

[0056] Optionally, in one embodiment of the present disclosure, a mounting hole 35 is provided on the steering knuckle 3, a groove 36 is provided on the hole wall of the mounting hole 35, a connecting screw 24 is formed on a connecting member 23, the connecting screw 24 passes through the mounting hole 35 and is threadedly connected to a nut, a snap-in portion 27 is formed on the connecting screw 24, and the snap-in portion 27 is snapped into the groove 36. By such a configuration, the steering knuckle 3 can be connected to the corresponding connecting member 23, and the torque transmission can be facilitated to avoid the relative rotation of the connecting screw 24 and the mounting hole 35. In some examples, the third connecting arm 34 is provided with a mounting hole 35, the connecting screw 24 extends in the height direction of the vehicle, and the connecting screw 24 passes through the mounting hole 35 and is connected to the connecting nut and locked by the connecting nut.

[0057] Optionally, in one embodiment of the present disclosure, a limiting groove 25 is provided on the cylinder wall of the cylinder 21, and the limiting groove 25 extends along the axis direction of the cylinder 21. A convex portion 26 is formed on the outer peripheral wall of the rod 22, and the convex portion 26 extends along the axis direction of the rod 22. The convex portion 26 is connected to the limiting groove 25, and the cooperation between the limiting groove 25 and the convex portion 26 can limit the relative axial rotation of the rod 22 and the cylinder 21. By setting in this way, the relative axial rotation of the rod 22 and the cylinder 21 can be limited during the up and down jumping of the wheel 5, so as to avoid the wrong steering of the wheel 5. It can be understood that the convex portion 26 can slide in the limiting groove 25 along the extension direction of the limiting groove 25, so as not to interfere with the relative sliding of the rod 22 and the cylinder 21. In some examples, the convex portion 26 can be a strip structure. The number of the convex portions 26 can be multiple, and they are arranged at intervals around the axis of the rod 22, and the number of the corresponding limiting grooves 25 is also multiple, and they are arranged at intervals around the axis of the cylinder 21.

[0058] The independent steering module in this embodiment, during actual operation, the steering motor 1 works, and the output torque is transmitted to the cylinder 21 of the transmission shaft 2 through the connecting piece 23 between the output end of the steering motor 1 and the cylinder 21 of the transmission shaft 2. The cylinder 21 transmits the torque to the rod body 22 through the cooperation of the limit groove 25 and the protrusion 26. The rod body 22 transmits the torque to the steering knuckle 3 through the mounting hole 35 between the steering knuckle 3 and the connecting nut. After receiving the torque, the steering knuckle 3 is limited by the displacement freedom constraint of the upper and lower ball heads and can only rotate around the kingpin axis, that is, the first line mentioned above, to realize the transmission of torque and finally achieve the steering intention of the vehicle.

[0059] In this structure, the connection point between the third connecting arm 34 and the transmission shaft 2 is the intersection of the kingpin axis and the wheel center axis, that is, the intersection of the first line and the second line. Under steering conditions only, the connection point between the third connecting arm 34 and the transmission shaft 2 makes a single rotation action, and no up and down displacement occurs. Therefore, there is no relative displacement between the cylinder 21 and the rod body 22 of the transmission shaft 2, and there is no sliding friction condition under pure torque conditions. Compared with the structure of the existing patent, the force of this structure is improved in the layout of the transmission shaft 2, the durability of components, and the NVH performance of steering.

[0060] During the up and down jumping process of the wheel 5, what is different from the above-mentioned steering process is that when the wheel 5 jumps up and down, the angle of the upper fork arm 41 and the lower fork arm 42 changes, resulting in a change in the distance between the installation point of the upper fork arm 41 and the steering motor 1 and the connection point of the steering knuckle 3 with the drive shaft 2. At this time, the distance change between the two points can be adjusted by the relative sliding of the cylinder 21 and the rod body 22 of the drive shaft 2, thereby ensuring that the drive shaft 2 is still capable of steering at any time during the jumping process.

[0061] A second aspect of the present disclosure provides a steering system, comprising the above-mentioned independent steering module. The steering system may also include a coil spring and shock absorber strut assembly 6, which is connected to the connecting arm 4. Optionally, the bottom end of the coil spring and shock absorber strut assembly 6 may be connected to the lower fork arm 42 by bolts, and the coil spring and shock absorber strut assembly 6 may be connected to the vehicle frame by a bushing.

[0062] The third aspect of the present disclosure further provides a vehicle, comprising at least four wheels 5 and at least two independent steering modules as described above, wherein the steering knuckle 3 of each independent steering module is connected to at least one wheel 5. Alternatively, the vehicle comprises the above-mentioned steering system.

[0063] Optionally, in some examples, the vehicle has four wheels 5 and the number of independent steering modules is also four, and each wheel 5 can be connected to an independent steering module. Figure 5 As shown, the vehicle can be turned on the spot. For example, the four wheels 5 are rotated inwards to form an inner eight arrangement. At this time, the four wheels 5 are matched with different rotation directions of the hub motors to achieve turning on the spot, which is particularly suitable for scenes where U-turns are required on narrow roads. The vehicle can be driven sideways. After the four wheels 5 are turned 90° in the same direction, the car can move sideways, which is suitable for life scenes such as side parking. The car can be driven diagonally. The four wheels 5 are rotated in the same direction by a certain angle. The vehicle can move straight in that direction without turning or tilting the body, which greatly improves the vehicle stability and ride comfort when changing lanes and overtaking.

[0064] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0065] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0066] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. An independent steering module, characterized in that: Including steering motor, transmission shaft, steering knuckle and connecting arm; The steering knuckle is rotatably connected to the connecting arm, the steering motor is connected to the connecting arm, one end of the transmission shaft is connected to the output end of the steering motor, and the other end of the transmission shaft is rotatably connected to the steering knuckle.

2. The independent steering module according to claim 1, characterized in that: The connecting arm comprises an upper fork arm and a lower fork arm, and in the height direction of the vehicle, the steering motor and the transmission shaft are both located between the upper fork arm and the lower fork arm.

3. The independent steering module according to claim 2, characterized in that: A mounting portion is formed on the upper fork arm, the steering motor is connected to the mounting portion, the output end of the steering motor faces the lower fork arm, and the transmission shaft is located below the steering motor.

4. The independent steering module according to claim 2, characterized in that: The steering knuckle includes a body and a first connecting arm and a second connecting arm formed on the body, the body is used to connect to the wheel, the first connecting arm is rotatably connected to the upper fork arm, and the second connecting arm is rotatably connected to the lower fork arm.

5. The independent steering module according to claim 4, characterized in that: The steering knuckle further includes a third connecting arm formed on the body, and the third connecting arm is connected to the transmission shaft.

6. The independent steering module according to claim 5, characterized in that: The connecting line between the connecting point of the first connecting arm and the upper fork arm and the connecting point of the second connecting arm and the lower fork arm is set as the first line, the axis of the wheel is set as the second line, and the connecting point of the third connecting arm and the transmission shaft is located at the intersection of the first line and the second line.

7. The independent steering module according to any one of claims 1 to 6, characterized in that: The transmission shaft includes a cylinder, a rod and a connecting piece. The first end of the rod can be slidably inserted into the first end of the cylinder. The second end of the rod and the second end of the cylinder are both provided with the connecting piece. One of the connecting pieces is connected to the output end of the steering motor, and the other connecting piece is connected to the steering knuckle. The connecting piece is configured to enable the cylinder and the rod to rotate coaxially with the output end of the steering motor, and the cylinder and the rod are respectively arranged at an angle relative to the output end of the steering motor and the steering knuckle.

8. The independent steering module according to claim 7, characterized in that: The connecting piece is configured as a cross-axis universal joint rotation pair.

9. The independent steering module according to claim 7, characterized in that: The steering knuckle is provided with a mounting hole, the hole wall of the mounting hole is provided with a groove, a connecting screw is formed on one of the connecting pieces, the connecting screw passes through the mounting hole and is threadedly connected to a nut, and a snap-in portion is formed on the connecting screw, and the snap-in portion snaps into the groove.

10. The independent steering module according to claim 7, characterized in that: The cylinder wall of the cylinder is provided with a limiting groove, which extends along the axial direction of the cylinder. The outer peripheral wall of the rod body is formed with a convex portion, which extends along the axial direction of the rod body and is connected to the limiting groove. The cooperation between the limiting groove and the convex portion can limit the relative axial rotation of the rod body and the cylinder.

11. A steering system, characterized in that: Comprising an independent steering module as described in any one of claims 1-10.

12. A vehicle, characterized in that: comprising at least four wheels and at least two independent steering modules as claimed in any one of claims 1 to 10, wherein the steering knuckle of each independent steering module is connected to at least one of the wheels; or, Comprising the steering system of claim 11.

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