CN115157948B

CN115157948B - Modular integrated suspension system

Info

Publication number: CN115157948B
Application number: CN202210672746.1A
Authority: CN
Inventors: 张军; 张焜
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Filing date: 2022-06-15
Publication date: 2024-06-11
Anticipated expiration: 2042-06-15

Abstract

The invention discloses a modularized integrated suspension system, which comprises: a hub motor; the steering knuckle is sleeved on the hub motor; one end of the spring damper is hinged with the vehicle body through a first spherical hinge, and the other end of the spring damper is connected with the steering knuckle; a slide fork which is installed on the slide column and can move up and down along the slide column; the transverse arm mechanism comprises a front transverse arm and a rear transverse arm, one end of the front transverse arm is connected with the sliding fork and can rotate around the sliding fork, the other end of the front transverse arm is hinged with the steering knuckle, one end of the rear transverse arm is connected with the sliding fork and can rotate around the sliding fork, the other end of the rear transverse arm is hinged with the steering knuckle, a connecting line of the rotation center of the front transverse arm and the center point of the second spherical hinge and an extension line of the connecting line of the rotation center of the rear transverse arm and the center point of the third spherical hinge are intersected at one point; and the steering mechanism is arranged on the sliding fork, is connected with the steering knuckle and is used for controlling the steering knuckle and the hub motor to rotate around the axis of the main pin. The invention can realize the integration and modularization of the suspension system and can simultaneously consider the high-speed stability and the high maneuverability of the automobile.

Description

Modular integrated suspension system

Technical Field

The invention relates to the technical field of automobiles, in particular to a modularized integrated suspension system.

Background

With the increasing development of the technology of pure electric vehicles, electric vehicles equipped with in-wheel motors are also attracting attention. The wheel hub motor is arranged in the wheel and is directly connected with the wheel or integrally formed with the wheel, the wheel is directly driven by the wheel hub motor, a complex mechanical transmission system is omitted, the whole vehicle structure can be simplified, the weight is reduced, and the specific power of the system is improved. In addition, in the four-wheel drive mode, the moment of each wheel hub motor is independently controllable, has obvious advantages in the aspects of active safety and reliability compared with the traditional automobile, and is an ideal carrier for researching a new-generation vehicle control technology and exploring the dynamic performance of the vehicle.

While in-wheel driven electric vehicles have great advantages over conventional vehicles, they still present some problems. In particular, in a traditional in-wheel driven electric automobile, a corresponding independent suspension structure mostly adopts a lower swing arm structure for connecting a lower hinge point of a master pin and two hinge points of an automobile body, and a certain opening angle is needed for the lower swing arm in order to optimize stress; at the same time, in order to make steering lighter, brake stable and reduce the tire bias, the offset distance of the kingpin grounding point in the lateral direction should be as small as possible or even negative, so that it is required that the kingpin lower hinge point should be as close to the wheel side as possible. The independent suspension structure can limit the steering angle of the wheels around the kingpin, and cannot meet the use requirements of high-speed stability and high maneuverability of the electric automobile. In addition, although some suspension structures capable of meeting the use requirements of high-speed stability and high mobility at the same time have been proposed at present, there are still great limitations on the integration degree of the corresponding suspension and the wheel structure, and it is difficult to realize the integration and the modularized design of the suspension.

Disclosure of Invention

In order to solve some or all of the technical problems in the prior art, the invention provides a modularized integrated suspension system.

The technical scheme of the invention is as follows:

In a first aspect, there is provided a modular integrated suspension system, the system comprising:

a hub motor capable of being connected to a wheel of an automobile;

the steering knuckle is sleeved on the hub motor;

The spring shock absorber is provided with a first spherical hinge at one end, and can be hinged with the body of the automobile through the first spherical hinge, and the other end of the spring shock absorber is connected with the steering knuckle;

a slide fork which can be mounted on a slide post of the vehicle body and can move up and down along the slide post;

the transverse arm mechanism comprises a front transverse arm and a rear transverse arm, one end of the front transverse arm is connected with the sliding fork and can rotate around the moving direction of the sliding fork, the other end of the front transverse arm is hinged with the steering knuckle through a second spherical hinge, one end of the rear transverse arm is connected with the sliding fork and can rotate around the moving direction of the sliding fork, the other end of the rear transverse arm is hinged with the steering knuckle through a third spherical hinge, a connecting line of the rotating center of one end of the front transverse arm and the center point of the second spherical hinge and an extension line of the connecting line of the rotating center of one end of the rear transverse arm and the center point of the third spherical hinge are intersected at one point;

And the steering mechanism is arranged on the sliding fork, is connected with the steering knuckle and is used for controlling the steering knuckle, the hub motor and the wheels to rotate around a kingpin axis formed by the connecting line of the intersection point of the connecting line and the central point of the first spherical hinge.

In some possible implementations, the spring damper includes: springs and dampers;

The spring is sleeved on the shock absorber, one end of the shock absorber is provided with the first spherical hinge, one end of the shock absorber can be hinged with the vehicle body through the first spherical hinge, and the other end of the shock absorber is fixedly connected with the steering knuckle.

In some possible implementations, the first ball joint is a rubber ball joint.

In some possible implementations, the sliding fork is provided with a front sleeve matched with a front sliding column of the vehicle body and a rear sleeve matched with a rear sliding column of the vehicle body, and the sliding fork is slidably mounted on the front sliding column and the rear sliding column through the front sleeve and the rear sleeve.

In some possible implementations, the front crossbar and the rear crossbar are each provided with a rubber bushing, and the front crossbar and the rear crossbar are connected to the slip yoke by the rubber bushings.

In some possible implementations, the steering mechanism includes:

A worm housing mounted on the slip yoke;

A worm mounted within the worm housing;

The worm motor is arranged on the worm shell, and an output shaft of the worm motor is connected with the worm;

The fan-shaped rack penetrates through the worm shell at one end, the other end of the fan-shaped rack is hinged with the steering knuckle through a fourth spherical hinge, the fan-shaped rack is meshed with the worm, and the rotation axis of the fan-shaped rack is basically coincident with the axis of the main pin.

In some possible implementations, the system further includes a braking mechanism mounted on the in-wheel motor for braking the in-wheel motor.

In some possible implementations, the braking mechanism includes:

The brake disc is fixedly arranged on the inner side of the hub motor and rotates synchronously with the hub motor;

the hydraulic brake caliper is arranged on the steering knuckle and comprises a caliper body and two mutually symmetrical brake friction plates arranged on the caliper body, and the brake disc is positioned between the two brake friction plates;

And the brake oil cylinder is arranged on the steering knuckle and used for controlling the hydraulic brake calipers to clamp or loosen the brake disc.

In some possible implementations, the system further includes a detection module for detecting a rotational speed and a steering angle of the wheel connected to the in-wheel motor.

In some possible implementations, the detection module includes:

The wheel speed sensor is arranged on the hub motor and used for detecting the rotating speed of the wheel;

And the rotation angle sensor is arranged on the steering mechanism and used for detecting the steering angle of the wheels.

The technical scheme of the invention has the main advantages that:

The modularized integrated suspension system can realize the integration and modularization of the suspension structure and the steering mechanism, realize the independent assembly and use of the suspension system, has a more ideal suspension positioning parameter change curve, can simultaneously meet the requirements of high-speed stability and high maneuverability of an automobile, can realize the independent control of the torque of each wheel, and remarkably improves the steering stability, comfort and safety of the whole automobile.

The suspension structure and the steering mechanism of the modularized integrated suspension system have small invasion to the space of the vehicle body, and can improve the space in the vehicle.

The modularized integrated suspension system can omit a steering rod system, avoid interference of the steering rod system and a suspension structure, realize large-angle steering of wheels, realize in-situ steering with zero steering radius and realize steering control from the minimum steering radius to different steering radius sizes in an oblique running mode.

Drawings

The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and without limitation to the invention. In the drawings:

FIG. 1 is a schematic diagram of a modular integrated suspension system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a modular integrated suspension system according to an embodiment of the present invention after assembly;

FIG. 3 is a schematic view of a portion of a modular integrated suspension system according to an embodiment of the present invention;

FIG. 4 is a schematic view of a portion of a modular integrated suspension system according to an embodiment of the present invention;

FIG. 5 is a schematic view of a portion of a modular integrated suspension system according to an embodiment of the present invention;

FIG. 6 is a schematic representation of the wheel position of an automobile using a modular integrated suspension system according to an embodiment of the present invention while steering in situ;

FIG. 7 is a schematic illustration of the wheel position of an automobile using a modular integrated suspension system according to an embodiment of the present invention when traveling in an oblique direction;

fig. 8 is a schematic representation of the wheel position of an automobile using a modular integrated suspension system according to an embodiment of the present invention when reverse steering is performed.

Reference numerals illustrate:

1-a hub motor;

2-steering knuckle;

3-spring vibration damper, 31-spring, 32-vibration damper, 33-first spherical hinge;

4-sliding fork, 41-front sleeve and 42-rear sleeve;

51-front cross arm, 52-rear cross arm, 53-second spherical hinge, 54-third spherical hinge and 55-rubber bushing;

6-steering mechanism, 61-worm shell, 62-worm motor, 63-sector rack and 64-fourth spherical hinge;

7-braking mechanism, 71-braking disc, 72-caliper body, 73-braking friction plate, 74-braking cylinder and 75-braking bolt;

8-wheels;

9-vehicle body;

10-slide column.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments of the present invention and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The following describes in detail the technical scheme provided by the embodiment of the invention with reference to the accompanying drawings.

Referring to FIG. 1, one embodiment of the present invention provides a modular integrated suspension system comprising: a hub motor 1, the hub motor 1 being capable of being connected to a wheel 8 of an automobile; the steering knuckle 2 is sleeved on the output shaft of the hub motor 1; the spring damper 3, one end of the spring damper 3 is provided with a first spherical hinge 33, and can be hinged with the body 9 of the automobile through the first spherical hinge 33, and the other end of the spring damper 3 is fixedly connected with the steering knuckle 2; a slide fork 4, the slide fork 4 being mountable on a slide post 10 of a vehicle body 9 and being movable up and down along the slide post 10; the cross arm mechanism comprises a front cross arm 51 and a rear cross arm 52, wherein one end of the front cross arm 51 is connected with the sliding fork 4 and can rotate around the moving direction of the sliding fork 4, the other end of the front cross arm is hinged with the steering knuckle 2 through a second spherical hinge 53, one end of the rear cross arm 52 is connected with the sliding fork 4 and can rotate around the moving direction of the sliding fork 4, the other end of the rear cross arm 52 is hinged with the steering knuckle 2 through a third spherical hinge 54, the connecting line of the rotating center of one end of the front cross arm 51 and the central point of the second spherical hinge 53 is intersected with the extension line of the connecting line of the rotating center of one end of the rear cross arm 52 and the central point of the third spherical hinge 54; and the steering mechanism 6 is arranged on the sliding yoke 4 and connected with the steering knuckle 2, and is used for controlling the rotation of a kingpin axis formed by connecting the intersection point of the steering knuckle 2, the wheel hub motor 1 and the wheel 8 around the connecting line and the central point of the first spherical hinge 33.

Referring to fig. 2, in use, the modular integrated suspension system provided by an embodiment of the present invention, in which the in-wheel motor 1 is mounted in the wheel 8 and fixedly connected to the wheel 8, the spring damper 3 is hinged to the body 9 by the first ball pivot 33, and the fork 4 is slidably mounted on the strut 10 of the body 9, such that the wheel 8 has two degrees of freedom of bouncing up and down along the strut 10 of the body 9 and of rotating about the kingpin axis. When the turning angle of the wheels 8 is required to be adjusted, the steering mechanism 6 is used for controlling the steering knuckle 2 to rotate, so that the hub motor 1 connected with the steering knuckle 2 and the wheels 8 are driven to synchronously rotate, and the turning angle of the wheels 8 is adjusted; when the wheel 8 needs to rotate, the wheel 8 is controlled to rotate at a corresponding rotation speed by the in-wheel motor 1.

Further, since the kingpin axis is a key factor of the wheel alignment parameters, which affects the magnitude of the automatic centering and steering resistance moment of the wheel 8, the kingpin axis is generally formed by the connection line of the upper and lower ball pivot points of the suspension. In the modularized integrated suspension system provided by the embodiment of the invention, the center point of the first spherical hinge 33 is an upper spherical hinge point, the connecting line of the rotation center of one end of the front cross arm 51 and the center point of the second spherical hinge 53, and the intersection point of the extension line of the connecting line of the rotation center of one end of the rear cross arm 52 and the center point of the third spherical hinge 54 is the instantaneous rotation center of the front cross arm 51 and the rear cross arm 52, and the instantaneous rotation center can be regarded as a virtual lower spherical hinge point of the suspension system, and the connecting line of the virtual lower spherical hinge point and the center point of the first spherical hinge 33 forms a main pin axis. Therefore, when the modularized integrated suspension system is designed and used, the positions of the virtual lower ball hinge points can be changed by changing the connection positions of the front cross arm 51 and the rear cross arm 52 with the sliding yoke 4 and the steering knuckle 2, so that the position adjustment of the kingpin axis is realized, the ideal kingpin axis position is obtained, the steering resistance moment is further reduced, and the steering portability of the wheels 8 is improved. Meanwhile, the front cross arm 51 and the rear cross arm 52 are utilized to connect the sliding yoke 4 with the steering knuckle 2, and the instantaneous rotation centers of the front cross arm 51 and the rear cross arm 52 are adopted as the lower ball hinge point of the suspension system, so that the adjustability of suspension positioning parameters can be realized, the length of the cross arm can be reduced, and the occupation of the suspension system to the space in a vehicle can be effectively reduced.

Referring to fig. 1 to 3, in an embodiment of the present invention, a spring damper 3 includes: the spring 31 and the shock absorber 32, the spring 31 cover is established on the shock absorber 32, and first spherical hinge 33 is installed to shock absorber 32 one end, and shock absorber 32 one end can be articulated with automobile body 9 through first spherical hinge 33, and the other end is fixed connection with knuckle 2.

By connecting the suspension system with the vehicle body 9 by means of the spring damper 3 comprising the spring 31 and the damper 32, the spring damper 3 can play a role in buffering and damping during running of the vehicle, improving the stability and life of the suspension system and improving the comfort and safety of the vehicle.

Alternatively, the first ball hinge 33 may be a rubber ball hinge. Vibration isolation and noise reduction effects can be further improved by utilizing the rubber spherical hinge.

Referring to fig. 1-3, in one embodiment of the present invention, the fork 4 is provided with a front sleeve 41 adapted to the front strut of the vehicle body 9 and a rear sleeve 42 adapted to the rear strut of the vehicle body 9, and the fork 4 is slidably mounted on the front strut and the rear strut through the front sleeve 41 and the rear sleeve 42.

By providing the front sleeve 41 and the rear sleeve 42 on the slide fork 4, the slide fork 4 is slidably mounted on the slide post 10 of the vehicle body 9 by utilizing the cooperation of the sleeve and the slide post 10, so that the direct contact abrasion of the slide fork 4 and the slide post 10 can be avoided, the sliding friction resistance is reduced, and the service life of the slide fork 4 can be prolonged.

The axial direction of the strut 10 can be varied by design to achieve the desired suspension positioning parameter profile.

Further, referring to fig. 3, both ends of the front cross arm 51 and the rear cross arm 52 are provided with rubber bushings 55, and both ends of the front cross arm 51 and the rear cross arm 52 are connected to the slip yoke 4 through the rubber bushings 55.

Connecting the cross arm and the slip yoke 4 through the rubber bush 55 allows a slight interference between the cross arm and the slip yoke 4 when the wheel 8 rotates, and also prevents noise of the wheel 8 from being transmitted to the vehicle body 9.

Further, referring to fig. 1 and 4, the steering mechanism 6 includes: a worm housing 61, the worm housing 61 being mounted on the slip yoke 4; a worm installed in the worm housing 61; the worm motor 62, the worm motor 62 is installed on worm shell 61, the output shaft of the worm motor 62 is connected with worm; the sector rack 63, one end of the sector rack 63 passes through the worm housing 61, the other end is hinged with the knuckle 2 through the fourth spherical hinge 64, the sector rack 63 is meshed with the worm, and the rotation axis of the sector rack 63 is substantially coincident with the kingpin axis.

Specifically, when the steering mechanism 6 is in use, the worm motor 62 drives the worm to rotate, the worm drives the meshed sector rack 63 to synchronously rotate, and the sector rack 63 drives the steering knuckle 2 to rotate, so that the steering knuckle 2, the hub motor 1 and the wheels 8 connected with the steering knuckle are synchronously rotated. Taking the direction shown in fig. 4 as an example, when the wheel 8 needs to be controlled to rotate right, the worm motor 62 drives the sector rack 63 to rotate clockwise; when the wheel 8 needs to be controlled to rotate left, the worm motor 62 drives the sector rack 63 to rotate anticlockwise.

More specifically, referring to fig. 6, taking in-situ steering of an automobile as an example, in-situ steering means that the automobile rotates around its geometric center, when the automobile needs to perform in-situ steering, the steering mechanism 6 controls the front and rear wheels 8 of the automobile to rotate at a certain angle to the inner sides of two directions respectively, and then the in-wheel motor 1 controls the rotation directions and speeds of the four wheels 8, so that one wheel 8 runs forward, the other wheel 8 runs backward, and the same movement speed is maintained, thereby realizing in-situ steering of the automobile.

More specifically, referring to fig. 7, taking the case of the vehicle running obliquely, when the vehicle needs to run obliquely, the steering mechanism 6 controls the four wheels 8 to rotate by the same angle in the same direction so that the four wheels 8 all face the running direction, and then the in-wheel motor 1 controls the rotation direction and speed of the four wheels 8 so that the four wheels 8 rotate in the same rotation direction and rotation speed, thereby realizing the oblique running of the vehicle. The oblique running is the combined motion of the longitudinal straight running and the transverse running, the yaw rate of the vehicle body 9 can be reduced by adopting the oblique running, the tendency of dynamic lateral deviation of the vehicle body 9 is effectively restrained, and the control stability is improved. In addition, the steering mechanism 6 controls the front wheels 8 and the rear wheels 8 to steer in the same direction, so that the wheels 8 are all turned by corresponding angles in the same direction, the steering instantaneous centers of the four wheels 8 are intersected at the same point, and then the hub motor 1 controls the 4 wheels 8 to rotate at corresponding steering angles and rotating speeds, so that the same-direction steering of the automobile can be realized, and the steering radius is large at the moment, but the automobile has better stability.

More specifically, referring to fig. 8, taking reverse steering of an automobile as an example, when the automobile needs to be reverse-steered, the steering mechanism 6 controls the front and rear wheels 8 of the automobile to rotate at corresponding angles in different steering directions, so that the steering centroids of the four wheels 8 intersect at the same point, and then the hub motor 1 controls the rotation direction and speed of the four wheels 8, so that the four wheels 8 rotate at corresponding steering angles and rotation speeds, thereby realizing reverse steering of the automobile. Wherein the turning radius of the automobile when reverse steering is performed can be adjusted by changing the steering angle of the wheels 8, so that steering movement under the minimum turning radius is realized.

In an embodiment of the invention, by adopting the mode of meshing and driving the sector rack 63 and the worm, not only can large-transmission-ratio transmission be realized, but also reverse self-locking can be realized, and the stability and reliability of steering control of the wheels 8 are improved. Meanwhile, each wheel 8 can be independently controlled through the corresponding worm motor 62, so that multiple motion control modes such as independent steering, in-situ steering, oblique running and the like of multiple wheels 8 can be realized. In addition, compared with the conventional suspension structure, the steering mechanism 6 can omit a rod system structure, so that the jumping of the wheels 8 and the movement interference of the steering mechanism 6 can be effectively reduced.

Further, in an embodiment of the present invention, the modular integrated suspension system may further include a brake mechanism 7, where the brake mechanism 7 is mounted on the in-wheel motor 1 for braking the in-wheel motor 1.

By attaching the brake mechanism 7 to the in-wheel motor 1, braking of the motor can be achieved when needed, effectively improving the safety of the suspension system and the automobile.

Referring to fig. 1 and 4-5, in one embodiment of the present invention, the braking mechanism 7 may include: a brake disc 71, the brake disc 71 is fixedly installed on the inner side of the in-wheel motor 1 and rotates synchronously with the in-wheel motor 1; the hydraulic brake caliper is arranged on the steering knuckle 2 and comprises a caliper body 72 and two mutually symmetrical brake friction plates 73 arranged on the caliper body 72, and the brake disc 71 is positioned between the two brake friction plates 73; a brake cylinder 74, the brake cylinder 74 being mounted on the knuckle 2 for controlling the clamping or unclamping of the brake disc 71 by the hydraulic brake caliper.

Specifically, when braking is required, the brake cylinders 74 are pressurized by filling oil, so that the brake friction plates 73 on both sides of the brake disc 71 are driven to move toward both sides of the brake disc 71 until the brake discs 71 are abutted and continuously applied with force, thereby friction braking is performed on the brake disc 71, and further braking of the hub motor 1 and the wheels 8 is realized.

In an embodiment of the present invention, by adopting the braking mechanism 7 with a hydraulic mechanical braking structure, the braking mechanism 7 can be ensured to have enough braking force, and the use stability and reliability of the braking mechanism 7 can be improved.

The brake cylinder 74 may be connected to an external hydraulic control system, and the brake cylinder 74 is controlled by the hydraulic control system to realize braking control of the motor.

Alternatively, the brake pads 73 may be mounted to the caliper body 72 by brake bolts 75.

Further, in an embodiment of the present invention, the modular integrated suspension system may further include a detection module for detecting the rotational speed and the steering angle of the wheel 8 connected to the in-wheel motor 1.

The detection module may be connected to a Vehicle Controller (VCU) of the vehicle to transmit the detected rotational speed and steering angle of the wheels 8 to the vehicle controller, and the vehicle controller controls the in-wheel motor 1 and the steering mechanism 6 through a Motor Controller (MCU) of the vehicle and controls the braking mechanism 7 through a hydraulic control system based on the received rotational speed and steering angle information of the wheels 8.

Optionally, the detection module includes:

The wheel speed sensor is arranged on the hub motor 1 and connected with a whole vehicle controller of the automobile and is used for detecting the rotating speed of the wheels 8 and sending detected rotating speed information to the whole vehicle controller;

The steering angle sensor is arranged on the steering mechanism 6 and is connected with a vehicle controller of the automobile and used for detecting the steering angle of the wheels 8 and sending the detected steering angle information to the vehicle controller.

It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. In this context, "front", "rear", "left", "right", "upper" and "lower" are referred to with respect to the placement state shown in the drawings.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting thereof; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A modular integrated suspension system comprising:

a hub motor capable of being connected to a wheel of an automobile;

the steering knuckle is sleeved on the hub motor;

the steering mechanism is arranged on the sliding fork and connected with the steering knuckle and is used for controlling the steering knuckle, the hub motor and the wheels to rotate around a kingpin axis formed by the connecting line of the intersection point of the connecting line and the central point of the first spherical hinge;

The steering mechanism includes:

A worm housing mounted on the slip yoke;

A worm mounted within the worm housing;

2. The modular integrated suspension system of claim 1, wherein the spring damper comprises: springs and dampers;

3. The modular integrated suspension system of claim 2, wherein the first ball joint is a rubber ball joint.

4. The modular integrated suspension system of claim 1, wherein the fork is provided with a front sleeve adapted to a front strut of the vehicle body and a rear sleeve adapted to a rear strut of the vehicle body, the fork being slidably mounted on the front strut and the rear strut through the front sleeve and the rear sleeve.

5. The modular integrated suspension system of claim 1, wherein the front and rear cross arm ends are each provided with a rubber bushing through which the front and rear cross arm ends are connected to the slip yoke.

6. The modular integrated suspension system of claim 1, further comprising a brake mechanism mounted on the in-wheel motor for braking the in-wheel motor.

7. The modular integrated suspension system of claim 6, wherein the brake mechanism comprises:

8. The modular integrated suspension system of any of claims 1-7, further comprising a detection module for detecting a rotational speed and a steering angle of the wheel coupled to the in-wheel motor.

9. The modular integrated suspension system of claim 8, wherein the detection module comprises: