Four-wheel independently-driven vehicle

Abstract

The utility model relates to the field of automobiles, and discloses a four-wheel independently-driven vehicle which comprises a bottom plate frame (1), wheels (3) and a driving assembly (2) are installed on the bottom plate frame (1), the driving assembly (2) comprises a motor (21), a reduction gearbox (22) and a transmission half shaft (23), an output shaft of the motor (21) is connected with the reduction gearbox (22), the output end of the reduction gearbox (22) is connected with the wheels (3) through the transmission half shaft (23), and the transmission half shaft (23) is connected with the wheels (3). The number of the driving assemblies (2) is at least four, and each wheel (3) is connected with one driving assembly (2). According to the utility model, the whole system is in a shape similar to a sliding plate, except the wheel system, all parts are arranged between the upper beam and the lower beam of the frame, the upper surface of the whole system is a regular plane, a firm structural support is provided, the carrying and the function realization of the application and installation are facilitated, and the system is reasonable in structure and high in practicability.

Description

Technical Field

[0001] This utility model relates to the automotive field, and more particularly to a vehicle with four-wheel independent drive. Background Technology

[0002] In scenarios with harsh open-air and ground environments, such as military, police, disaster emergency response, mining, and agriculture and forestry, the transport of personnel, supplies, or equipment requires vehicles or chassis with high off-road performance and high passability. Especially when there is limited space for turning or U-turns, the vehicles or chassis also need to have a small turning radius or even be able to turn on the spot.

[0003] In existing technologies, due to the presence of a differential, if either wheel on one side of the differential slips, power will be lost from that wheel, and the non-slipping wheel will also receive no power. To solve this problem, the industry commonly employs two methods: one is to limit or lock the differential function, using either a purely mechanical or electromechanical solution, but this leads to a complex differential structure and increased costs; the other is to use a braking system to individually brake the slipping wheel, thereby providing power to the non-slipping wheel, but this requires a high-specification braking system, which is often very expensive. Furthermore, existing four-wheel drive electric vehicles cannot achieve independent control of the power output to each wheel, therefore functions such as differential steering and differential U-turns cannot be implemented. Summary of the Invention

[0004] This invention addresses the shortcomings of existing technologies by providing a vehicle with four-wheel independent drive.

[0005] To solve the above-mentioned technical problems, the present invention provides a solution through the following technical method:

[0006] A four-wheel independent drive vehicle includes a chassis frame on which wheels and drive components are mounted. The drive components include a motor, a reduction gearbox, and a drive shaft. The output shaft of the motor is connected to the reduction gearbox, and the output end of the reduction gearbox is connected to the wheel via the drive shaft. There are at least four drive components, with one drive component connected to each wheel.

[0007] Preferably, the mounting end face of the motor and the gearbox is provided with multiple first mounting holes. The first mounting holes are arranged circumferentially about the motor axis. Due to the circumferential arrangement of the first mounting holes, all four motors in the vehicle can use the same type of motor. The gearbox is provided with multiple second mounting holes. The plane where the output end and input end of the gearbox are located is defined as the center plane. The second mounting holes are symmetrically arranged about the center plane. The symmetrical arrangement of the second mounting holes ensures that all four gearboxes in the vehicle use the same type of gearbox.

[0008] Preferably, a drive bracket is fixedly connected to the base plate frame, and a set of drive components is installed on both the left and right sides of the drive bracket. The drive components located on the left and right sides of the drive bracket are symmetrically arranged and respectively connected to the wheels on the left and right sides of the vehicle body.

[0009] Preferably, there are two drive brackets, located at the front and rear ends of the base plate frame respectively. The two drive components located at the front end of the vehicle body are connected back-to-back by the drive brackets, and the drive components located at the rear end of the vehicle body are connected back-to-back by the drive brackets, and finally fixed to the base plate frame.

[0010] Preferably, the wheel includes a hub and a tire mounted on the hub, a drive flange mounted on the hub, and the drive flange is connected to the drive half shaft via a spline or other type of key, thereby transmitting the power of the drive half shaft to the wheel. The hub is also equipped with a brake caliper, a brake disc and a steering knuckle.

[0011] Preferably, the system also includes a suspension assembly, which includes an upper control arm and a suspension spring, and a rocker arm. One end of the rocker arm is mounted on the vehicle frame via a mounting member and rotates around the mounting member. The other end of the rocker arm extends outward to form a first mounting position and a second mounting position. One end of the upper control arm is movably connected to the wheel, and the other end is movably connected to the first mounting position. One end of the suspension spring is movably connected to the vehicle frame, and the other end is movably connected to the second mounting position. The angle between the two lines connecting the mounting member to the first and second mounting positions is 10° to 170°. The rocker arm has a triangular plate structure. The mounting member, the first mounting position, and the second mounting position are connected to the first and second mounting positions respectively. The two mounting positions are located at the three corners of the rocker arm triangle structure; the mounting component is one of the following: bearing, mounting shaft, or hinge; the angle between the axis of the suspension spring and the horizontal plane is 0°~80°; the suspension spring and the rocker arm are connected by bushings or ball joints; it also includes a push rod, the upper control arm and the rocker arm are connected by the push rod; the push rod includes a rod body and two connectors mounted on the ends of the rod body, the connectors are ball joint connectors, and the two ends of the rod body are connected to the connectors by positive and negative threads respectively; it also includes a lower control arm, the lower control arm is movably mounted on the wheel; a steering knuckle is mounted on the wheel, and both the upper control arm and the lower control arm are ball joint connected to the steering knuckle; the upper control arm and the lower control arm are connected to the frame by bushings.

[0012] Preferably, the system also includes a steering assembly, which includes a steering gear, an output rack, and a steering tie rod. The output rack is mounted on the steering gear, and its left and right ends are connected to the steering tie rod, respectively. The steering gear includes a steering motor, a steering electronic control structure, and a steering deceleration structure. This application preferably uses a steering assembly arranged symmetrically at the front and rear. Through the cooperation of the front and rear steering assemblies, a variety of steering functions can be realized. Alternatively, a steering system can be configured only on the front or rear wheels.

[0013] Preferably, the system also includes a braking assembly, comprising four sets of components mounted on each of the four wheels. Each braking assembly includes an electro-hydraulic brake, brake lines, brake calipers, and brake discs. The electro-hydraulic brake is fixed to the base plate frame, the brake calipers are fixed to the four wheel hubs, and the brake discs are fixed to the motors within each of the four wheels, rotating with the motor rotors. The braking system of this application receives electronic commands to actuate the motors, pushing the master cylinder piston to transmit braking pressure via hydraulic oil to the slave cylinder pistons on the four brake calipers, thereby pushing the brake pads to press against the brake discs and thus obtaining braking force.

[0014] Preferably, the base frame is a frame structure, specifically an alloy welded frame. A battery pack is installed inside the middle frame of the base frame. An electronic control assembly is also installed inside the middle frame of the base frame. This electronic control assembly includes a control module, a power module, a drive module, a steering module, and a braking module. The control module sends control commands to the power module, drive module, steering module, and braking module. The power module is connected to the battery pack, the drive module is connected to the drive assembly, the steering module is connected to the steering assembly, and the braking module is connected to the braking assembly. The system includes a manned driving module, a remote driving module, and an autonomous driving module. The control module includes a manned driving submodule, a remote driving submodule, and an autonomous driving submodule. The control priority of the manned driving submodule is higher than that of the remote driving submodule, and the control priority of the remote driving submodule is higher than that of the autonomous driving submodule. By controlling the steering assembly and drive assembly differently, multiple driving and steering modes can be achieved.

[0015] A control method for a four-wheel independently driven vehicle, comprising one of the four-wheel independently driven vehicles described above, the control method comprising:

[0016] Straight-through state control method:

[0017] With all four wheels stationary and in a reference position, and all four motors rotating in the same direction, the vehicle can move forward or backward in this state.

[0018] Front wheel steering state control method:

[0019] The steering assembly at the front of the vehicle controls the two front wheels to turn in the same direction, while the two rear wheels remain in a reference position and do not turn. The four motors rotate in the same direction, similar to the steering mode of a conventional car. In this state, the vehicle moves forward or backward roughly along the arc in which the wheels point, according to the Ackermann geometry principle.

[0020] Rear wheel steering control method:

[0021] The steering assembly at the rear of the vehicle controls the two rear wheels to turn in the same direction, while the two front wheels remain in the reference position and do not turn. All four motors rotate in the same direction, similar to the steering mode of a forklift. In this state, the vehicle moves forward or backward roughly along the arc in which the wheels point, according to the Ackermann geometry principle.

[0022] Forward and reverse steering state control methods:

[0023] The steering assembly at the front of the vehicle controls both front wheels to turn in the same direction, while the steering assembly at the rear of the vehicle controls both rear wheels to turn in the opposite direction. All four motors rotate in the same direction. In this state, the vehicle moves forward or backward roughly along the center of the concentric circles corresponding to the tangent of the wheel center plane. Because both the front and rear wheels have turning angles, the turning angle is effectively magnified twice, which can effectively shorten the turning radius and improve the vehicle's maneuverability.

[0024] Method for controlling forward and backward steering in the same direction:

[0025] The steering assembly at the front of the vehicle controls the two front wheels, and the steering assembly at the rear of the vehicle controls the two rear wheels to turn in the same direction. With the four motors rotating in the same direction, the vehicle body is in a diagonal translation state, which allows for easy adjustment of the vehicle's lateral position and trajectory.

[0026] Differential steering state control method:

[0027] The steering mechanism at the front and / or rear of the vehicle body controls the steering of the wheels. The output speed of the drive component located on the outside of the steering is higher than that of the drive component located on the inside of the steering. This mode is generally used when the vehicle is in motion and can be superimposed with the Ackerman steering of the steering gear to achieve the function of assisting steering or steering correction.

[0028] In-situ rotation control method:

[0029] The four wheels are not turning and are in a reference position. The drive unit on the left side of the vehicle body controls the two left wheels to turn in one direction, and the drive unit on the right side of the vehicle body controls the two right wheels to turn in the other direction. When the vehicle body is stationary or at a very low speed, the steering mode similar to that of a tracked vehicle can be achieved by rotating the left and right wheels in opposite directions, thus achieving the effect of turning and rotating in place.

[0030] Due to the adoption of the above technical solutions, this utility model has significant technical effects: the utility model generally presents a skateboard-like shape. Except for the wheel system, all components are arranged between the upper and lower beams of the frame. The upper surface of the entire system is a regular plane and provides a sturdy structural support, which facilitates the mounting of the superstructure and the realization of functions. The structure of this application is reasonable and highly practical. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of this utility model.

[0032] Figure 2 yes Figure 1 A schematic diagram of the structure of the driving component.

[0033] Figure 3 yes Figure 2 A schematic diagram of the motor structure.

[0034] Figure 4 yes Figure 2 A schematic diagram of the gearbox structure.

[0035] Figure 5 yes Figure 1 A schematic diagram of the wheel structure.

[0036] Figure 6 yes Figure 1 A schematic diagram of the suspension components.

[0037] Figure 7 yes Figure 6 A schematic diagram of the rocker arm.

[0038] Figure 8 yes Figure 6 A schematic diagram of the push rod structure.

[0039] Figure 9 This is a structural diagram of the steering assembly.

[0040] Figure 10 This is a schematic diagram of the utility model.

[0041] Figure 11 This is a diagram showing the straight-line state.

[0042] Figure 12 This is a diagram showing the front wheel steering status.

[0043] Figure 13 This is a diagram showing the rear wheel steering configuration.

[0044] Figure 14 It is a diagram showing the forward and reverse steering states.

[0045] Figure 15 This is a diagram showing the state of turning in the same direction both forwards and backwards.

[0046] Figure 16 This is a diagram of differential steering.

[0047] Figure 17 It is a diagram showing the state of rotation in place.

[0048] The parts referred to by the numbers in the attached diagram are as follows: 1—Base plate frame, 2—Drive assembly, 3—Wheel, 4—Suspension assembly, 5—Steering assembly, 6—Battery assembly, 7—Electrical control assembly, 11—Drive bracket, 21—Motor, 211—First mounting hole, 22—Reduction gearbox, 221—Second mounting hole, 23—Drive half shaft, 31—Wheel hub, 32—Tire body, 33—Drive flange, 41—Upper control arm, 42—Rocker arm, 420—Mounting component, 421—First mounting position, 422—Second mounting position, 43—Suspension spring, 44—Push rod, 441—Rod body, 442—Connector, 45—Lower control arm, 51—Steering gear, 52—Output rack, 53—Steering tie rod. Detailed Implementation

[0049] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. Example

[0050] A four-wheel independent drive vehicle, as shown in the figure, includes a chassis frame 1, on which wheels 3 and drive components 2 are mounted. The drive components 2 include a motor 21, a reduction gearbox 22 and a drive half-shaft 23. The output shaft of the motor 21 is connected to the reduction gearbox 22, and the output end of the reduction gearbox 22 is connected to the wheel 3 through the drive half-shaft 23. There are at least four drive components 2, and each wheel 3 is connected to one drive component 2.

[0051] The mounting end face of the motor 21 and the gearbox 22 is provided with a plurality of first mounting holes 211. The first mounting holes 211 are arranged circumferentially about the axis of the motor 21. Due to the circumferential arrangement of the first mounting holes 221, all four motors 21 in the vehicle can use the same motor. The gearbox 22 is provided with a plurality of second mounting holes 221. The plane where the output end and the input end of the gearbox 22 are located is defined as the center plane. The second mounting holes 221 are symmetrically arranged about the center plane. The symmetrical arrangement of the second mounting holes 221 ensures that all four gearboxes 22 in the vehicle use the same gearbox.

[0052] The base frame 1 is a frame structure, and the base frame 1 is an alloy welded frame; the battery assembly 6 is installed in the upper part of the middle frame of the base frame 1. Example

[0053] Similar to Embodiment 1, except that a drive bracket 11 is fixedly connected to the base plate frame 1, and a set of drive components 2 are installed on both the left and right sides of the drive bracket 11. The drive components 2 located on the left and right sides of the drive bracket 11 are symmetrically arranged and respectively connected to the wheels 3 on the left and right sides of the vehicle body.

[0054] There are two drive brackets 11, located at the front and rear ends of the base plate frame 1 respectively. The two drive components 2 located at the front end of the vehicle body are connected back to back through the drive brackets 11, and the drive components 2 located at the rear end of the vehicle body are connected back to back through the drive brackets 1, and finally fixed to the base plate frame 1. Example

[0055] Similar to Embodiment 1, except that the wheel 3 includes a hub 31 and a tire body 32 mounted on the hub 31. A transmission flange 33 is mounted on the hub 31. The transmission flange 33 is connected to the transmission half-shaft 23 by a spline or other type of key, thereby transmitting the power of the transmission half-shaft 23 to the wheel 3. A brake caliper, a brake disc and a steering knuckle are also mounted on the hub 31. Example

[0056] Similar to Embodiment 1, but with the addition of a suspension assembly 4, a suspension structure for a four-wheel independent drive vehicle, as shown in the figure, includes an upper control arm 41 and a suspension spring 43, as well as a rocker arm 42. One end of the rocker arm 42 is mounted on the vehicle frame via a mounting member 420 and rotates around the mounting member 420. The other end of the rocker arm 42 extends outward to form a first mounting position 421 and a second mounting position 422. One end of the upper control arm 41 is movably connected to the wheel 3, and the other end is movably connected to the first mounting position 421. One end of the suspension spring 43 is movably connected to the vehicle frame, and the other end is movably connected to the second mounting position 422. Using this structure, the up-and-down swing of the upper control arm 41 is transmitted to the obliquely arranged rocker arm 42 via a push rod, and then the direction of motion is changed by the rocker arm 42, ultimately transmitting the motion to the horizontally arranged suspension spring 43.

[0057] The mounting component 420 is connected to the first mounting position 421 and the second mounting position 422 respectively, and the included angle of the two connecting lines is 90°.

[0058] The rocker arm 42 has a triangular plate structure, and the mounting part 420, the first mounting position 421 and the second mounting position 422 are located at the three corners of the triangular plate structure of the rocker arm 42.

[0059] Mounting component 420 is one of bearing, mounting shaft, or hinge. Rocker arm 42 is connected to the frame via bearing and performs rotary joint movement.

[0060] The angle between the axis of the suspension spring 43 and the horizontal plane is 0°. The suspension spring 43 and the rocker arm 42 are connected by a bushing or ball joint and perform spherical joint motion.

[0061] It also includes a push rod 44, with the upper swing arm 41 and rocker arm 42 connected by the push rod 44. The two ends of the push rod 44 are respectively connected to the upper swing arm 41 and rocker arm 42 through ball joints and perform spherical joint motion.

[0062] The push rod 44 includes a rod body 441 and two connectors 442 installed at the ends of the rod body 441. The connectors 442 are ball joint connectors. The two ends of the rod body 441 are connected to the connectors 442 by positive and negative threads respectively. After the push rod 44 is installed, the distance between the two connectors 442 at both ends will be extended or shortened relative to the rod body 441 due to the positive and negative threads, thereby realizing the adjustment of the suspension height.

[0063] It also includes a lower control arm 45, which is movably mounted on the wheel 3.

[0064] The wheel 3 is equipped with a steering knuckle, and the upper control arm 41 and the lower control arm 45 are both ball-jointly connected to the steering knuckle and perform spherical joint motion.

[0065] The upper control arm 41 and the lower control arm 45 are connected to the frame via bushings and perform rotary joint motion. Example

[0066] Similar to Embodiment 1, but with the difference of including a steering assembly 5. The steering assembly 5 includes a steering gear 51, an output rack 52, and a steering tie rod 53. The output rack 52 is mounted on the steering gear 51, and the left and right ends of the output rack 52 are respectively connected to the steering tie rod 53. The steering gear 51 includes a steering motor, a steering electronic control structure, and a steering deceleration structure. This application preferably adopts a steering assembly 5 arranged symmetrically at the front and rear. Through the cooperation of the front and rear steering assemblies 5, a variety of steering functions can be realized, or only one steering system can be configured on the front wheels or the rear wheels.

[0067] It also includes braking assemblies, of which four sets are respectively mounted on the four wheels 3. Each braking assembly includes an electro-hydraulic brake, brake lines, brake calipers, and brake discs. The electro-hydraulic brake is fixed to the base plate 1, the brake calipers are respectively fixed to the four wheel hubs 31, and the brake discs are respectively fixed to the four internal motors and rotate with the motor rotors. The braking system of this application receives electronic control commands, controls the motors to actuate, pushes the master cylinder piston to transmit braking pressure through hydraulic oil to the slave cylinder pistons on the four brake calipers, pushes the brake pads to press against the brake discs, thereby obtaining braking force. Example

[0068] Similar to Embodiment 1, except that an electronic control component 7 is installed on the upper part of the central frame of the base plate 1. The electronic control component 7 includes a control module, a power module, a drive module, a steering module, and a braking module. The control module sends control commands to the power module, drive module, steering module, and braking module. The power module is connected to the battery assembly 6, the drive module is connected to the drive assembly 2, the steering module is connected to the steering assembly 5, and the braking module is connected to the braking assembly. The system includes a manned driving module, a remote driving module, and an autonomous driving module. The control module includes a manned driving submodule, a remote driving submodule, and an autonomous driving submodule. The control priority of the manned driving submodule is higher than that of the remote driving submodule, and the control priority of the remote driving submodule is higher than that of the autonomous driving submodule. By controlling the steering assembly 5 and the drive assembly 2 differently, the electronic control component 7 can realize multiple driving and steering modes.

[0069] A control method for a four-wheel independently driven vehicle, comprising one of the four-wheel independently driven vehicles described above, the control method comprising:

[0070] Straight-through state control method:

[0071] like Figure 11 With all four wheels 3 not turning and positioned at the reference point, and all four motors 21 rotating in the same direction, the vehicle can move forward or backward in this state.

[0072] Front wheel steering state control method:

[0073] like Figure 12 The steering component 5 at the front of the vehicle controls the two front wheels 3 to turn in the same direction, while the two rear wheels 3 are in the reference position and do not turn. The four motors 21 rotate in the same direction. This state is similar to the steering mode of a conventional car. In this state, the vehicle moves forward or backward roughly along the arc in which the wheels point, according to the Ackermann geometry principle.

[0074] Rear wheel steering control method:

[0075] like Figure 13 The steering component 5 at the rear of the vehicle controls the two rear wheels 3 to turn in the same direction, while the two front wheels 3 are in the reference position and do not turn. The four motors 21 rotate in the same direction. This state is similar to the steering mode of a forklift. In this state, the vehicle moves forward or backward roughly along the arc in which the wheels point, according to the Ackermann geometry principle.

[0076] Forward and reverse steering state control methods:

[0077] like Figure 14The steering component 5 at the front of the vehicle body controls the two front wheels 3 to turn in the same direction, and the steering component 5 at the rear of the vehicle body controls the two rear wheels 3 to turn in the other direction. The four motors 21 rotate in the same direction. In this state, the vehicle moves forward or backward roughly along the center of the concentric circle corresponding to the tangent of the wheel center plane. In this state, because both the front and rear wheels have turning angles, the turning angle is equivalent to being magnified twice, which can effectively shorten the turning radius and improve the vehicle's agility.

[0078] Method for controlling forward and backward steering in the same direction:

[0079] like Figure 15 The steering component 5 at the front of the vehicle body controls the two front wheels 3 and the steering component 5 at the rear of the vehicle body to turn in the same direction. The four motors 21 rotate in the same direction, and the vehicle body is in a state of diagonal translation. This state makes it convenient to adjust the lateral position and the line of the vehicle.

[0080] Differential steering state control method:

[0081] like Figure 16 The steering mechanism 5 at the front and / or rear of the vehicle body controls the steering of the wheels 3. The output speed of the drive component 2 located on the outside of the steering is higher than that of the drive component 2 located on the inside of the steering. This mode is generally used when the vehicle is in motion and can be superimposed with the Ackermann steering of the steering gear to achieve the function of assisting steering or steering correction.

[0082] In-situ rotation control method:

[0083] like Figure 17 With the four wheels 3 not turning and in a reference position, the drive assembly 2 on the left side of the vehicle body controls the two left wheels 3 to rotate in one direction, and the drive assembly 2 on the right side of the vehicle body controls the two right wheels 3 to rotate in the other direction. When the vehicle body is stationary or at a very low speed, the steering mode similar to that of a tracked vehicle can be achieved by rotating the left and right wheels in opposite directions, thus achieving the effect of turning and rotating in place.

[0084] In summary, the above description is only a preferred embodiment of the present utility model. All equivalent changes and modifications made within the scope of the patent application of the present utility model shall fall within the scope of the patent of the present utility model.

Claims

1. A four-wheel independent drive vehicle, comprising a chassis frame (1), characterized in that: The base frame (1) is equipped with wheels (3) and drive components (2). The drive components (2) include a motor (21), a gearbox (22) and a transmission half shaft (23). The output shaft of the motor (21) is connected to the gearbox (22). The output end of the gearbox (22) is connected to the wheel (3) through the transmission half shaft (23). There are at least four drive components (2), and each wheel (3) is connected to one drive component (2).

2. The four-wheel independent drive vehicle according to claim 1, characterized in that: The motor (21) and the gearbox (22) are fixedly mounted on the mounting end face with a plurality of first mounting holes (211), which are arranged around the axis of the motor (21); the gearbox (22) is provided with a plurality of second mounting holes (221), the plane where the output end and the input end of the gearbox (22) are located is defined as the center plane, and the second mounting holes (221) are arranged symmetrically about the center plane.

3. A four-wheel independent drive vehicle according to claim 1, characterized in that: A drive bracket (11) is fixed on the base plate frame (1). A set of drive components (2) is installed on both the left and right sides of the drive bracket (11). The drive components (2) located on the left and right sides of the drive bracket (11) are symmetrically arranged and connected to the wheels (3) on the left and right sides of the vehicle body respectively.

4. A four-wheel independent drive vehicle according to claim 3, characterized in that: There are two drive brackets (11) located at the front and rear ends of the base plate frame (1).

5. A four-wheel independent drive vehicle according to claim 1, characterized in that: The wheel (3) includes a hub (31) and a tire body (32) mounted on the hub (31). A transmission flange (33) is mounted on the hub (31) and is connected to the transmission half shaft (23).

6. A four-wheel independent drive vehicle according to claim 1, characterized in that: It also includes a suspension assembly (4), which includes an upper control arm (41) and a suspension spring (43), and a rocker arm (42). One end of the rocker arm (42) is mounted on the frame via a mounting member (420) and rotates around the mounting member (420). The other end of the rocker arm (42) extends outward and forms a first mounting position (421) and a second mounting position (422). One end of the upper control arm (41) is movably connected to the wheel (3), and the other end of the upper control arm (41) is movably connected to the wheel (3). One end is movably connected to the first mounting position (421); one end of the suspension spring (43) is movably connected to the frame, and the other end of the suspension spring (43) is movably connected to the second mounting position (422); the mounting part (420) is connected to the first mounting position (421) and the second mounting position (422) respectively, and the included angle between the two connecting lines is 10°~170°; the rocker arm (42) is a triangular plate structure, and the mounting part (420), the first mounting position (421) and the second mounting position (422) are connected to each other. Positions (422) are located at the three corners of the triangular plate structure of the rocker arm (42); the mounting component (420) is one of the bearing, mounting shaft, and hinge; the angle between the axis of the suspension spring (43) and the horizontal plane is 0°~80°; the suspension spring (43) and the rocker arm (42) are connected by bushings or ball joints; it also includes a push rod (44), and the upper swing arm (41) and the rocker arm (42) are connected by the push rod (44); the push rod (44) includes a rod body (441) and two mounting components. The connecting piece (442) at the end of the rod (441) is a ball joint connector. The two ends of the rod (441) are connected to the connecting piece (442) by positive and negative threads respectively. It also includes a lower control arm (45), which is movably mounted on the wheel (3). A steering knuckle is mounted on the wheel (3). The upper control arm (41) and the lower control arm (45) are both ball joint connected to the steering knuckle. The upper control arm (41) and the lower control arm (45) are connected to the frame through bushings.

7. A four-wheel independent drive vehicle according to claim 1, characterized in that: It also includes a steering assembly (5), which includes a steering gear (51), an output rack (52) and a steering tie rod (53). The output rack (52) is mounted on the steering gear (51), and the left and right ends of the output rack (52) are connected to the steering tie rod (53) respectively. The steering gear (51) includes a steering motor, a steering electronic control structure and a steering deceleration structure.

8. A four-wheel independent drive vehicle according to claim 1, characterized in that: It also includes a braking assembly, which consists of four sets and is installed on the four wheels (3). The braking assembly includes an electro-hydraulic brake, a brake pipe, a brake caliper, and a brake disc.

9. A four-wheel independent drive vehicle according to claim 1, characterized in that: The base frame (1) is a frame structure and is an alloy welded frame; a battery assembly (6) is installed on the base frame (1); an electronic control assembly (7) is installed on the base frame (1), the electronic control assembly (7) includes a control module, a power module, a drive module, a steering module and a braking module, the control module sends control commands to the power module, drive module, steering module and braking module, the power module is connected to the battery assembly (6), the drive module is connected to the drive assembly (2), the steering module is connected to the steering assembly (5), and the braking module is connected to the braking assembly; the control module includes a manned driving submodule, a remote driving submodule and an automatic driving submodule, the control priority of the manned driving submodule is greater than the control priority of the remote driving submodule, and the control priority of the remote driving submodule is greater than the control priority of the automatic driving submodule.

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