WHEEL MODULE AND VEHICLE WITH IT

Abstract

The present embodiments provide a wheel module and a vehicle having the same, the wheel module comprising: a steering knuckle rotatably coupled to a lower arm coupled to a vehicle body to steer a road wheel; a connecting rod having a lower end coupled to the upper end of the steering knuckle; a steering system attached to the vehicle body and coupled to the upper end of the connecting rod to steer the road wheel; a suspension system having one end coupled to the steering knuckle and the other end coupled to the connecting rod; a wheel drive system installed on the inside of the road wheel to provide rotational force to the road wheel; and a braking system installed on the inside of the wheel drive system to adjust the rotational speed of the road wheel.

Description

[Technical field]

[0001] The present embodiments relate to a wheel module and a vehicle with it. [Background of the invention]

[0002] In general, a vehicle is equipped with a propulsion system in which power generated by an engine is transferred to road wheels via power transmission devices such as a crankshaft and gearbox, a steering system to control the direction of travel of the vehicle, a braking system to control the speed of the vehicle, a suspension system to absorb shocks from a road surface caused by driving, or the like.

[0003] However, recently, with the development and introduction of an electric vehicle that uses an electric motor instead of a conventional engine, a wheel hub motor system is also being developed that mounts the electric motor to the road wheels.

[0004] However, since the wheel hub motor system is designed in such a way that it requires a separate steering system, braking system, suspension system, or the like to be installed in the vehicle, there is no significant difference in volume or weight compared to conventional motor vehicles, so there are many problems in terms of reducing the overall vehicle weight and reducing fuel efficiency.

[0005] Particularly with the recent advent of autonomous driving in vehicles, there is a growing need for research into wheel modules that can significantly reduce the assembly process when fitted into vehicles, while ensuring precision, reliability and durability for each road wheel by integrating the drive system, steering system, braking system and suspension system for each road wheel, as well as reducing the weight and fuel efficiency of the entire vehicle. Detailed description of the invention [Technical problem]

[0006] Accordingly, the present embodiments were developed against the background described above and can provide a wheel module and a vehicle with it, ensuring the precision, reliability, durability or the like of a wheel module and drastically reducing an assembly process for mounting the wheel module to the vehicle.

[0007] Furthermore, the tasks of the embodiments of the present disclosure are not limited thereto, and other unmentioned tasks are clearly understood by those skilled in the art from the following description. [Technical solution]

[0008] According to the present embodiments, a wheel module is provided comprising: a steering knuckle rotatably coupled to a lower arm coupled to a vehicle body for steering a road wheel; a steering linkage with a lower end section coupled to an upper end section of the steering knuckle; a steering system with one end attached to the vehicle body and coupled to an upper end section of the steering linkage for rotating the steering linkage to steer the road wheel; a suspension system with one end section coupled to the steering knuckle and the other end section coupled to the steering linkage; a wheel drive system installed within the road wheel to provide rotational force to the road wheel; and a braking system installed within the wheel drive system to control the rotational speed of the road wheel.

[0009] In addition, according to the present embodiments, a vehicle is provided which includes: an inner frame provided at an inner lower end section of a wheel housing space of a vehicle body; an upper frame provided at an upper end section of the wheel housing space, which is coupled to the inner frame and connects a first housing frame and a second housing frame, spaced apart from each other in both directions, at the upper end section of the wheel housing space;a wheel module comprising a steering knuckle rotatably coupled to a lower arm connected to the vehicle body for steering a road wheel, a steering linkage with a lower end section coupled to an upper end section of the steering knuckle, a steering system attached to the vehicle body and coupled to an upper end section of the linkage for rotating the linkage to steer the road wheel, a suspension system with one end section coupled to the steering knuckle and the other end section coupled to the linkage, a wheel drive system installed within the road wheel to provide rotational force to the road wheel, and a braking system installed within the wheel drive system to control the rotational speed of the road wheel. [Beneficial effects]

[0010] As described above, according to the present embodiments, precision, reliability, durability or the like of the wheel module can be ensured, and the assembly process for mounting the wheel module on the vehicle can be drastically reduced. [Brief description of the drawings] Fig. Figure 1 is a perspective view showing a wheel module according to the present embodiments; Fig. Figure 2 is a perspective exploded view showing part of the wheel module according to the present embodiments; Fig. Figure 3 is a perspective view showing part of the wheel module according to the present embodiments; Fig. Figure 4 is a cross-sectional view showing part of the wheel module according to the present embodiments; Fig. 5 to Fig. Figure 8 shows perspective views of part of the wheel module according to the present embodiments; Fig. Figure 9 is a cross-sectional view showing part of the wheel module according to the present embodiments; Fig. Figure 10 is a perspective view showing the wheel module according to the present embodiments before it is mounted on a vehicle; and Fig. Figure 11 is a perspective view showing the wheel module according to the present embodiments after it has been mounted on the vehicle. [Mode for carrying out the invention]

[0011] In the following description of examples or embodiments of the present disclosure, reference is made to the accompanying drawings, which show, for illustrative purposes, specific examples or embodiments that can be implemented and in which the same reference numerals and symbols can be used to denote the same or similar components, even if they are shown in different accompanying drawings. Furthermore, in the following description of examples or embodiments of the present disclosure, detailed descriptions of well-known features and components included herein are omitted where it is determined that such a description may render the subject matter rather unclear in some embodiments of the present disclosure.The terms "including," "contain," "form," "train," and "trained" used here are generally intended to allow the addition of other components, unless the terms are used with the term "only." As used here, singular forms are intended to include plural forms unless the context clearly indicates otherwise.

[0012] Terms such as "first," "second," "A," "B," "(A)," or "(B)" may be used here to describe elements of revelation. Each of these terms is not used to define the essence, order, sequence, or number of elements or the like, but is used simply to distinguish the respective element from other elements.

[0013] When it is mentioned that a first element is "coupled or connected to a second element," "touches or overlaps it," or the like, it should be interpreted that not only can the first element be "directly coupled or connected to" or "directly touching or overlapping" the second element, but a third element can also be "arranged" between the first and second elements, or the first and second elements can be "coupled or connected" via a fourth element, "touching or overlapping" it, or the like. Here, the second element can be contained within at least one of two or more elements that are coupled or connected, "touching or overlapping" it, or the like.

[0014] When time-related terms such as "after", "subsequent", "next", "before", and the like are used to describe processes or operations of elements or configurations or sequences or steps in operational, processing, or manufacturing procedures, these terms may be used to describe non-sequential or non-consecutive processes or operations unless the term "direct" or "immediate" is used together.

[0015] Furthermore, when arbitrary dimensions, relative sizes, or the like are mentioned, it should be noted that numerical values ​​for an element or feature, or corresponding information (e.g., level, range, or the like), imply a tolerance or error range that may be caused by various factors (e.g., process factors, internal or external influences, noise, or the like), even if no relevant description is provided. Moreover, the term "may" fully encompasses all meanings of the term "can."

[0016] Fig. Figure 1 is a perspective view showing a wheel module according to the present embodiments, Fig. Figure 2 is a perspective exploded view showing part of the wheel module according to the present embodiments. Fig. Figure 3 is a perspective view showing part of the wheel module according to the present embodiments, Fig. Figure 4 is a cross-sectional view showing part of the wheel module according to the present embodiments. Fig. 5 to Fig. Figure 8 shows perspective views depicting part of the wheel module according to the present embodiments. Fig. Figure 9 is a cross-sectional view showing part of the wheel module according to the present embodiments, Fig. Figure 10 is a perspective view showing the wheel module according to the present embodiments before it is mounted on a vehicle, and Fig. Figure 11 is a perspective view showing the wheel module according to the present embodiments after it has been mounted on the vehicle.

[0017] As shown in these drawings, a wheel module 100 according to the present embodiments comprises a steering knuckle 109 rotatably coupled to a lower arm 106 coupled to a vehicle body for steering a road wheel 104, a steering linkage 112 with a lower end section coupled to an upper end section of the steering knuckle 109, a steering system 110 with one side attached to the vehicle body and coupled to an upper end section of the steering linkage 112 for rotating the steering linkage 112 to steer the road wheel 104, a suspension system 120 with one end section coupled to the steering knuckle 109 and the other end section coupled to the steering linkage 112, and a wheel drive system 130 installed inside the road wheel 104. is to provide rotational force to the road wheel 104, and a braking system 140, which is installed within the wheel drive system 130,to set a rotational speed of the road wheel 104.

[0018] First, with reference to Fig. 1 and Fig. 2 the wheel drive system 130 and the brake system 140 are installed inside the road wheel 104, a tire 102 is coupled to the outside of the road wheel 104, the lower end section of the steering knuckle 109 is rotatably supported by the lower arm 106, and the upper end section of the steering knuckle 109 is coupled to the suspension system 120 and the steering system 110.

[0019] The lower arm 106, which is coupled to the body of the vehicle, is coupled to the steering knuckle 109, the lower end section of the steering knuckle 109, which is coupled to a stator 135 via a mounting element 108, is rotatably coupled to the lower arm 106, and the steering knuckle 109 is rotated by the steering linkage 112 when a steering drive 110a is actuated to steer the road wheel 104.

[0020] The steering knuckle 109 has a body section 109a, which is provided with a mounting hole 104a that is coupled to the mounting element 108, an arm coupling section 109d, which is provided with a hinge hole 109d-1 that extends from the lower side of the body section 109a and through which a hinge shaft 106s passes that is rotatably coupled to the lower arm 106, a suspension connection section 109b that extends upwards from the upper side of the body section 109a and is coupled to the suspension system 120 by a fastening section 125a, and a linkage connection section 109c that is provided with a connection hole 109c-1 that is provided horizontally from the upper side of the body section 109a and is connected to the steering linkage 112.

[0021] The steering drive 110a is rigidly coupled to the body of the vehicle and rotates the steering knuckle 109 via the steering linkage 112.

[0022] The upper end section of the steering linkage 112 is coupled to the steering drive 110a, and the lower end section of the steering linkage 112 is connected to the steering knuckle 109 to transmit the steering torque of the steering drive 110a to the steering knuckle 109.

[0023] The steering system 110 comprises a steering actuator 101 driven by an electrical signal, an electronic control device 103 which controls the drive of the steering actuator 101, wherein the steering drive 110a comprises a drive housing 105 in which the steering actuator 101 and the electronic control device 103 are installed, and a housing mounting section 107 which is provided at the lower end section of the drive housing 105 and is attached to a body 200 of the vehicle by a fastening element 200a.

[0024] The housing mounting section 107 is designed in a flange shape that projects radially outwards from the lower end section of the drive housing 105 and is attached to the vehicle body 200. The housing mounting section 107 can be formed integrally with the drive housing 105 or separately and coupled to the drive housing 105. In the present embodiments, an example is shown in which the housing mounting section 107 is coupled to the drive housing 105.

[0025] At least two mounting holes 107a, spaced apart from each other in the circumferential direction, are designed such that they extend in the top-bottom direction in the housing mounting section 107, which is designed to project radially further than the drive housing 105.

[0026] The steering linkage 112 comprises an upper linkage 111 coupled to a steering drive shaft 101a of the steering actuator 101, a lower linkage 115 coupled to the upper end section of the steering knuckle 109, and a connecting linkage 113 connecting the upper linkage 111 and the lower linkage 115.

[0027] At one end of the upper linkage 111, an insertion hole 111-1, into which the steering drive shaft 101a is coupled, and a support groove 111-2, into which the lower side end of the drive housing 105 is inserted, are formed, and at the other end of the upper linkage 111, upper connecting sections facing each other are provided in such a way that they are rotatably coupled to the upper end section of the connecting linkage 113 by means of the upper hinge shaft 111a (also referred to as the cardan shaft).

[0028] The lower end section of the connecting linkage 113 is provided with lower connecting sections facing each other and is connected to two lower linkages 115 by a first lower hinge shaft 115a, and the lower linkage 115 is coupled to the linkage connecting section 109c, which is formed in the body section 109a of the steering knuckle 109, by a second lower hinge shaft 115b.

[0029] The steering system 110 may further comprise a linkage rotation support element 160 which connects the steering drive shaft 101a and the upper linkage 111 and supports the rotation of the upper linkage 111.

[0030] Here, the linkage rotation support element 160 can comprise a first rotation support element 161, which is coupled to the steering drive shaft 101a and the upper linkage 111 to transmit the rotational force of the steering drive shaft 101a, and a second rotation support element 163, which is coupled to the outer circumferential side of the first rotation support element 161 and is attached to the housing mounting section 107 to support the rotation of the first rotation support element 161.

[0031] The steering drive shaft 101a is coupled to the inside of the first rotation support element 161, and the lower end section of the first rotation support element 161 is coupled to the upper linkage 111, so that when the steering drive shaft 101a rotates, the upper linkage 111 is rotated to perform steering.

[0032] A spherical rolling element 167 is coupled between the outer circumferential surface of the first rotation support element 161 and the inner circumferential surface of the second rotation support element 163, and the rolling element 167 supports a rotation while moving when the first rotation support element 161 and the upper linkage 111 rotate.

[0033] A first seating groove 161h is formed on the outer circumferential surface of the first rotation support element 161 to support and secure the rolling element 167, and a second seating groove 163h is formed on the inner circumferential surface of the second rotation support element 163 to support and secure the rolling element 167.

[0034] The first seat groove 161h and the second seat groove 163h are designed as circumferential grooves facing each other, so that the rolling element 167 moves in a rolling manner in the circumferential direction along the first seat groove 161h and the second seat groove 163h.

[0035] Furthermore, the first seat groove 161h and the second seat groove 163h can be configured as a pair in a row or can be configured in two or more rows. The present embodiments show an example in which two rows are configured vertically.

[0036] Additionally, a projecting end section 165, which extends downwards and is coupled to the insertion hole 111-1 formed in the upper linkage 111, can be provided at the lower end of the middle section of the first rotation support element 161, and an opening can be provided within the projecting end section 165.

[0037] Accordingly, in a case where the first rotation support element 161 is coupled to the upper linkage 111, the projecting end section 165 can be inserted into the insertion hole 111-1 and then coupled to the fastening element 134, thus enabling assembly at a precise location.

[0038] Furthermore, the end of the steering drive shaft 101a is positioned within the opening by passing through the first rotation support element 161, and a screw section is formed at the end so that a fastening nut 166 can be screwed into the screw section of the steering drive shaft 101a and supported and secured by the lower end of the first rotation support element 161.

[0039] In this way, the steering drive shaft 101a is supported and coupled by the lower end of the first rotation support element 161 by the fastening nut 166, which allows the steering drive shaft 101a and the first rotation support element 161 to be more firmly coupled, and prevents vibrations and noise.

[0040] The upper end section of the suspension system 120 is supported and coupled by the upper linkage 111, and the lower end section of the suspension system 120 is coupled to the steering knuckle 109, so that the suspension system 120 absorbs the shocks of the road surface transmitted by the tire 102 and the road wheel 104, while being supported by the steering linkage 112 and the steering knuckle 109.

[0041] The suspension system 120 comprises a damper 121 with a lower end section coupled to the suspension linkage section 109b and an upper end section coupled to the upper linkage 111, and an elastic element 123 with a lower end section supported by a seat section 121s provided on the outer circumferential surface of the lower end section of the damper 121 and an upper end section supported by the upper linkage 111.

[0042] Here, damper 121 features a structure in which a piston and a cylinder are inserted inside one another, allowing them to expand and contract along the central axis. Since this is the same as a general damper structure, a detailed description is omitted.

[0043] This suspension system 120 can further comprise a lower mounting element 125 which is coupled to the suspension connection section 109b by the fastening element 125a to secure the lower end section of the damper 121.

[0044] The lower mounting element 125 is designed in a form that surrounds the damper 121 and is attached to the suspension connection section 109b of the steering knuckle 109 by means of the fastening element 125a and connects the lower end section of the damper 121 to the road wheel 104 through the steering knuckle 109, thereby absorbing the shocks of the road surface transmitted through the road wheel 104.

[0045] Additionally, the suspension system 120 can further comprise an upper mounting element 127 which is coupled to the upper linkage 111 by a fastening element 127a to secure the upper end section of the damper 121, and the upper mounting element 127 is attached to the upper linkage 111 by the fastening element 127a.

[0046] The wheel drive system 130, which is installed inside the road wheel 104 and provides the rotational force to the road wheel 104, comprises a rotor 131, which is arranged inside the road wheel 104 and has a magnet 131a, which is provided on its inner circumferential surface to rotate together with the road wheel 104 by means of a change in a magnetic field, and a stator 135, which is arranged inside the rotor 131 and has an electrical coil 135a, which is provided on its outer circumferential surface to rotate the rotor 131 by means of electrical energy applied by an electronic control device 103.

[0047] This wheel drive system 130 features an external rotary motor structure in which the rotor 131 is positioned outside the stator 135. Compared to an internal rotary motor structure of the same volume, the number and size of the magnets 131a can be increased, thereby increasing the torque. Furthermore, a braking system can be installed inside the stator 135, thus increasing space utilization.

[0048] The operating principle of the wheel drive system 130 is the same as that of a general external rotary motor or wheel hub motor, so a detailed description is omitted below.

[0049] The braking system 140, which is installed within the wheel drive system 130 to adjust the rotational speed of a road wheel 104, can include a brake drum 143, which is arranged within a stator 135 and coupled to the rotor 131 to rotate together, a drum plate 141 on which a brake shoe 147 is installed which rubs against the brake drum 143 during braking, and a brake actuator 145, which is installed on the drum plate 141 to actuate the movement of the brake shoe 147.

[0050] This brake system 140 features a drum brake structure and, unlike a caliper brake, can be installed inside the stator 135, thus increasing space utilization. Since the operating principle is the same as that of a drum brake, a detailed description is omitted below.

[0051] This wheel module 100 can further include a rotary connecting element 170 that connects the wheel drive system 130 and the brake system 140 and supports the rotation of the road wheel 104, the rotor 131 and the brake drum 143.

[0052] The rotary connecting element 170 comprises a first rotary connecting element 171, which is coupled to the road wheel 104, the rotor 131 and the brake drum 143 to transmit the rotational force of the rotor 131, and a second rotary connecting element 173, which is attached to the mounting element 108, which is coupled to the stator 135 and the axle journal 109 to support the rotation of the first rotary connecting element 171.

[0053] A spherical rolling element 175 is coupled between the outer circumferential surface of the first rotary connecting element 171 and the inner circumferential surface of the second rotary connecting element 173.

[0054] The spherical rolling element 175 is coupled between the outer circumferential surface of the first rotary connecting element 171 and the inner circumferential surface of the second rotary connecting element 173. Therefore, in a case where the first rotary connecting element 171, the road wheel 104, the rotor 131 and the brake drum 143 rotate, the rolling element 175 supports the rotation as it moves.

[0055] A first seating groove 171a is formed on the outer circumferential surface of the first rotary connecting element 171 to support and secure the rolling element 175, and a second seating groove 173a is formed on the inner circumferential surface of the second rotary connecting element 173 to support and secure the rolling element 175.

[0056] The first seat groove 171a and the second seat groove 173a are designed as circumferential grooves facing each other, so that the rolling element 167 moves in a rolling manner in the circumferential direction along the first seat groove 171a and the second seat groove 173a.

[0057] With reference to the Fig. 10 and Fig. 11 together with the Fig. 1 to Fig.9. According to the present embodiments, the vehicle comprises an inner frame 201 provided at an inner lower end section of a wheel housing compartment of the vehicle body 200, an upper frame 215 provided at an upper end section of the wheel housing compartment, which is coupled to the inner frame 201 and connects a first housing frame 211 and a second housing frame 212, spaced apart from each other in both directions, at the upper end section of the wheel housing compartment, and the wheel module 100 with the steering knuckle 109, which is rotatably coupled to the lower arm 106, which is coupled to the vehicle body to steer the road wheel 104, the steering linkage 112 with the lower end section, which is coupled to the upper end section of the steering knuckle 109, and the steering system 110, which is attached to the vehicle body and connected to the upper end section of the steering linkage. 112 is coupled to turn the steering linkage 112,to steer the road wheel 104, the suspension system 120 with one end section coupled to the steering knuckle 109 and the other end section coupled to the steering linkage 112, the wheel drive system 130 installed inside the road wheel 104 to provide rotational force to the road wheel 104, and the brake system 140 installed inside the wheel drive system 130 to adjust the rotational speed of the road wheel 104.

[0058] The steering system 110 can comprise the steering drive 110a, which includes the steering actuator 101 driven by an electrical signal, the electronic control device 103, which controls the drive of the steering actuator 101, the drive housing 105, in which the steering actuator 101 and the electronic control device 103 are installed, and a housing mounting section 107, which is provided at the lower end section of the drive housing 105 and is attached to the vehicle body 200 by the fastening element 200a.

[0059] Here is the steering system 110, which includes the steering actuator 101, the electronic control device 103, the drive housing 105 and the housing mounting section 107, the same as described above, so a detailed description of it is omitted.

[0060] The wheel housing space in which the wheel module 100 is mounted is located at a corner of the vehicle body 200, and the inner frame 201, which is located in the front-to-rear direction of the vehicle, is provided at the inner lower end section of the wheel housing space, to which a lower arm 106 is coupled.

[0061] At the upper end section of the wheel housing space, the first housing frame 211 and the second housing frame 212, which have the lower end sections coupled to the inner frame 201, are spaced apart from each other in both directions of the vehicle, and the upper frame 215, which connects the first housing frame 211 and the second housing frame 212 and is provided at the upper end section of the wheel housing space, is provided to couple the steering drive 110a.

[0062] The upper frame 215 is provided with a cut-out hole 215a through which the drive housing 105 passes, so that the drive housing 105 is placed on the upper side of the upper frame 215, and the housing mounting section 107 is supported and fixed by the lower side of the upper frame 215 by being coupled to the mounting element 200a.

[0063] Accordingly, when mounting the wheel module 100 on the vehicle, the wheel module 100 is positioned in the wheel housing space, the upper frame 215 and the housing mounting section 107 are attached from the top side with the fastening element 200a, and the inner frame 201 and the lower arm 106 are attached from the bottom side, thus completing the assembly process and drastically reducing the assembly process.

[0064] An end section of the lower arm 106 is provided with the first support element 152, which is arranged in the front-back direction of the vehicle and coupled to the inner frame 201, and the second support element 156, which is arranged in the top-bottom direction of the vehicle and coupled to the inner frame 201.

[0065] An end section of the lower arm 106 is formed by branching into two fixed sections 106a and 106b, and each fixed section is provided with a first support element 152 and a second support element 156, and the first support element 152 and the second support element 156 are arranged in the front-back direction and the top-bottom direction of the vehicle and are provided perpendicular to each other.

[0066] In the two fixed sections formed on an end section of the lower arm 106, the first fixed section 106a is provided with a first fixing hole running in the front-to-rear direction of the vehicle, and the first support element 152 is coupled to the first fixing hole.

[0067] Here, the first support element 152 comprises a first elastic element 151, which is inserted into the first mounting hole, and a first support shaft 153, which is inserted into the central hole of the first elastic element 151 and coupled to the inner frame 201.

[0068] The second fixed section 106b of the lower arm 106 is provided with a second fixing hole running in the top-bottom direction of the vehicle, and the second support element 156 is coupled to the second fixing hole.

[0069] The second support element 156 comprises a second elastic element 157, which is inserted into the second mounting hole, and a second support shaft 155, which is inserted into the center hole of the second elastic element 157 and coupled to the inner frame 201.

[0070] Additionally, the inner frame 201 of the vehicle body 200 can be provided with a first frame support 223, to which the first support element 152 is coupled, and a second frame support 225, to which the second support element 156 is coupled.

[0071] A first support hole 223a is formed in the front-to-rear direction of the vehicle in the first frame support 223, and the first support shaft 153 is coupled to the first support hole 223a, enabling the lower arm 106 to rotate about the first support shaft 153.

[0072] Furthermore, a second support hole 225a is formed in the top-bottom direction of the vehicle in the second frame bracket 225, and the second support shaft 155 is coupled to the second support hole 225a, enabling the lower arm 106 to rotate about the second support shaft 155 as its central axis.

[0073] Accordingly, even if an impact load is transmitted through the wheel module 100 in an irregular direction while the vehicle is in motion, the wheel module 100 can be prevented from deforming or being damaged by absorbing the impact load within a certain area, thereby increasing durability.

[0074] As described above, according to the present embodiments, the precision, reliability, durability or the like of the wheel module can be ensured and the assembly process for mounting the wheel module to the vehicle can be drastically reduced.

[0075] The above description has been presented to enable any person skilled in the art to make and use the technical idea of ​​the present disclosure and has been provided in the context of a specific application and its requirements. Various modifications, additions, and substitutions of the described embodiments will be readily apparent to the person skilled in the art, and the general principles defined here can be applied to other embodiments and applications without departing from the fundamental idea and scope of the present disclosure. The above description and the accompanying drawings provide an example of the technical idea of ​​the present disclosure for illustrative purposes only. That is to say, the disclosed embodiments are intended to illustrate the scope of the technical idea of ​​the present disclosure.Therefore, the scope of the present disclosure is not limited to the embodiments shown, but is to be assigned to the broadest scope in accordance with the claims. CROSS-REFERENCE TO RELATED REGISTRATIONS

[0076] This application claims priority from Korean patent application No. 2023-0114852, which was filed with the Korean Intellectual Property Office on August 30, 2023, the disclosure of which is incorporated herein by reference. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] KR 2023-0114852

[0076]

Claims

[1] Wheel module, comprising: a steering knuckle that is rotatably coupled to a lower arm which is coupled to a vehicle body to steer a road wheel; a steering linkage with a lower end section that is coupled to an upper end section of the steering knuckle; a steering system with one side attached to the vehicle body and coupled to an upper end section of the steering linkage to rotate the steering linkage in order to steer the road wheel; a suspension system with one end section coupled to the steering knuckle and the other end section coupled to the steering linkage; a wheel drive system installed inside the road wheel to provide rotational force to the road wheel; and a braking system installed within the wheel drive system to adjust the rotational speed of the road wheel. [2] Wheel module according to claim 1, wherein the axle stub comprises: a body section with a support hole provided in a middle section of the body section, an arm coupling section with a hinge hole through which a hinge shaft runs, extending from a lower side of the body section and rotatably coupled to the lower arm, a suspension connection section that extends upwards from an upper side of the body section and is coupled to the suspension system, and a linkage connecting section that extends horizontally from the upper side of the body section and is connected to the steering linkage. [3] Wheel module according to claim 2, wherein the steering system comprises: a steering drive comprising a steering actuator driven by an electrical signal, an electronic control device that controls the drive of the steering actuator, and a drive housing in which the steering actuator and the electronic control device are installed, and a housing mounting section that is provided at a lower end section of the drive housing and is attached to the vehicle body by a fastening element. [4] Wheel module according to claim 3, wherein the steering linkage comprises: an upper linkage coupled to a steering drive shaft of the steering actuator, a lower linkage that is coupled to the upper end section of the steering knuckle, and a connecting rod that connects the upper rod and the lower rod. [5] Wheel module according to claim 4, wherein the steering system further comprises a linkage rotation support element that connects the steering drive shaft and the upper linkage and supports rotation of the upper linkage. [6] Wheel module according to claim 5, wherein the linkage rotation support element comprises: a first rotation support element that is coupled to the steering drive shaft and the upper linkage to transmit a rotational force from the steering drive shaft, a second rotation support element that is attached to the housing mounting section to support the rotation of the first rotation support element. [7] Wheel module according to claim 6, wherein a spherical rolling element is coupled between an outer circumferential surface of the first rotation support element and an inner circumferential surface of the second rotation support element. [8] Wheel module according to claim 4, wherein the suspension system comprises: a damper with a lower end section coupled to the suspension linkage section and an upper end section coupled to the upper linkage, and an elastic element with a lower end section supported by a seat section provided on an outer circumferential surface of the lower end section of the damper, and an upper end section supported by the upper linkage. [9] Wheel module according to claim 8, wherein the suspension system further comprises a lower mounting element which is coupled to the suspension connection section by a fastening element to secure the lower end section of the damper. [10] Wheel module according to claim 9, wherein the suspension system further comprises an upper mounting element which is coupled to the upper linkage by a fastening element to secure the upper end section of the damper. [11] Wheel module according to claim 1, wherein the wheel drive system comprises: a rotor that is arranged inside the road wheel and has a magnet on an inner circumferential surface of the rotor to rotate together with the road wheel by means of a change in a magnetic field, and a stator which is located inside the rotor and has an electrical coil on an outer circumferential surface of the stator to rotate the rotor by applying electrical energy. [12] Wheel module according to claim 11, wherein the braking system comprises: a brake drum that is located inside the stator and rotates together with the rotor, a drum plate on which a brake shoe is installed, which rubs against the brake drum during braking, and a brake actuator that is installed on the drum plate and initiates a movement of the brake shoe. [13] Wheel module according to claim 12, further comprising a rotation connecting element that connects the wheel drive system and the brake system and supports rotation of the wheel, rotor and brake drum. [14] Wheel module according to claim 13, wherein the rotation connecting element comprises: a first rotary connecting element that is coupled to the impeller, the rotor and the brake drum to transmit a rotational force of the rotor, and a second rotary connecting element attached to a mounting element coupled to the stator and the axle journal to support the rotation of the first rotary connecting element. [15] Wheel module according to claim 14, wherein a spherical rolling element is coupled between an outer circumferential surface of the first rotation connecting element and an inner circumferential surface of the second rotation connecting element. [16] Vehicle, comprising: an inner frame provided at an inner lower end section of a wheel housing space of a vehicle body; an upper frame provided at an upper end section of the wheel housing space, coupled to the inner frame, and connecting a first housing frame and a second housing frame, spaced apart from each other in both directions, at the upper end section of the wheel housing space; a wheel module with a steering knuckle rotatably coupled to a lower arm connected to the vehicle body to steer a road wheel, a steering linkage with a lower end section coupled to an upper end section of the steering knuckle, a steering system attached to the vehicle body and coupled to an upper end section of the steering linkage to rotate the steering linkage to steer the road wheel, a suspension system with one end section coupled to the steering knuckle and the other end section coupled to the steering linkage, a wheel drive system installed inside the road wheel to provide rotational force to the road wheel, and a braking system installed inside the wheel drive system to adjust the rotational speed of the road wheel. [17] Vehicle according to claim 16, wherein the steering system comprises: a steering drive comprising a steering actuator driven by an electrical signal, an electronic control device that controls the drive of the steering actuator, and a drive housing in which the steering actuator and the electronic control device are installed, and a housing mounting section that is provided at a lower end section of the drive housing and is fixed to the vehicle body by a fastening element. [18] Vehicle according to claim 16, wherein an end section of the lower arm is provided with a first support element arranged in a front-to-back direction of the vehicle and coupled to the inner frame, and a second support element arranged in an up-to-down direction of the vehicle and coupled to the inner frame. [19] Vehicle according to claim 18, wherein one end section of the lower arm is provided with a first mounting hole extending in the front-to-rear direction of the vehicle, and the first support element comprises a first elastic element inserted into the first mounting hole and a first support shaft inserted into a central hole of the first elastic element and coupled to the inner frame. [20] Vehicle according to claim 18, wherein one end section of the lower arm is provided with a second mounting hole extending in the top-bottom direction of the vehicle, and the second support element comprises a second elastic element inserted into the second mounting hole and a second support shaft inserted into a central hole of the second elastic element and coupled to the inner frame.

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