WO2022134087A1

WO2022134087A1 - Suspension structure, angle module system and motor vehicle

Info

Publication number: WO2022134087A1
Application number: PCT/CN2020/139664
Authority: WO
Inventors: 张宇; 王兴
Original assignee: 华为技术有限公司
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2022-06-30
Also published as: CN112739558A

Abstract

A suspension structure (31), an angle module system (30) and a motor vehicle (100). The suspension structure (31) comprises a support frame (311), a connection rod (312) and a fixing member (313). The fixing member (313) and the connection rod (312) are located on one side of the support frame (311), the support frame (311) is used for connecting with a steering structure (33) of a lower vehicle body (21), and the fixing member (313) is used for connecting with a wheel (10). One end of the connection rod (312) is hingedly connected to the support frame (311), and the other end of the connection rod (312) is hingedly connected to the fixing member (313), such that the two ends of the connection rod (312) are rotatable relative to the fixing member (313) and the support frame (311). As such, the wheel (10) can have a certain movable margin in the horizontal and vertical directions, so that a positioning angle of the wheel (10) can be adjusted. Meanwhile, the connection rod (312) can define the trajectory of the wheel (10) during a jumping process, such that the wheel (10) can make a circular arc jump, thus ensuring the kinematic characteristics of the suspension structure (31), reducing the jumping of a vehicle body (20) under force, and effectively improving the stability and riding comfort of the vehicle.

Description

一种悬架结构、角模块***及汽车A suspension structure, corner module system and automobile

技术领域technical field

本申请涉及汽车技术领域，特别涉及一种悬架结构、角模块***及汽车。The present application relates to the technical field of automobiles, and in particular, to a suspension structure, a corner module system and an automobile.

背景技术Background technique

随着社会的发展和科技的进步，汽车已成为人们日常生活中不可或缺的交通工具之一。悬架是汽车的车架与车桥或车轮之间的一切传力连接装置的总称，其作用是传递作用在车轮和车架之间的力和力扭，并且缓冲由不平路面传给车架或车身的冲击力，并衰减由此引起的震动，以保证汽车能平顺地行驶，为满足乘坐人对乘坐或驾驶操作舒适性的需求，悬架结构特性已成为汽车重要特性之一。With the development of society and the advancement of science and technology, automobiles have become one of the indispensable means of transportation in people's daily life. Suspension is a general term for all force-transmitting connection devices between the frame of the car and the axle or wheels. Its function is to transmit the force and torque acting between the wheels and the frame, and the buffer is transmitted from the uneven road to the frame. Or the impact force of the car body, and attenuate the vibration caused by it, so as to ensure that the car can run smoothly. In order to meet the needs of the passengers for the comfort of riding or driving, the structural characteristics of the suspension have become one of the important characteristics of the car.

目前，悬架***主要由减速器、导向杆以及弹性元件组成，具体的，如现有的一种悬架，包括弹簧减震器总成、左导向杆、右导向杆以及左直线轴承座和右直线轴承座，左导向杆的下端可以沿着左直线轴承座上下滑动，右导向杆的下端可以沿右直线轴承座上下滑动，左导向杆的上端和右导向杆的上端分别通过轮上横板与汽车的导向结构连接，左直线轴承座和右直线轴承座之间具有直线轴承，弹簧减震器总成一端与直线轴承连接，另一端与轮下横板连接，左直线轴承座、右直线轴承座以及直线轴承均与车轮连接。当汽车车轮上下跳动时，减震器弹簧总成就会被压缩，且垂向力经减震器弹簧总成传递至轮上横板，再传递至车架上，减震器弹簧总成的减震作用可以减小汽车车身的上下跳动。At present, the suspension system is mainly composed of a reducer, a guide rod and an elastic element. Specifically, for example, an existing suspension includes a spring shock absorber assembly, a left guide rod, a right guide rod, a left linear bearing seat and a For the right linear bearing seat, the lower end of the left guide rod can slide up and down along the left linear bearing seat, the lower end of the right guide rod can slide up and down along the right linear bearing seat, and the upper end of the left guide rod and the upper end of the right guide rod pass through the upper cross of the wheel respectively. The plate is connected with the guide structure of the car, there is a linear bearing between the left linear bearing seat and the right linear bearing seat, one end of the spring shock absorber assembly is connected with the linear bearing, and the other end is connected with the horizontal plate under the wheel. Both the linear bearing housing and the linear bearing are connected to the wheel. When the wheel of the car jumps up and down, the shock absorber spring assembly will be compressed, and the vertical force is transmitted to the cross plate on the wheel through the shock absorber spring assembly, and then to the frame, and the reduction of the shock absorber spring assembly The shock effect can reduce the up and down jump of the car body.

然而，在上述的悬架结构中，车轮定位角很难改变，悬架的运动学特性较差，降低车身稳定性以及汽车的乘坐舒适度。However, in the above-mentioned suspension structure, the wheel alignment angle is difficult to change, the kinematics of the suspension is poor, and the stability of the vehicle body and the ride comfort of the vehicle are reduced.

发明内容SUMMARY OF THE INVENTION

本申请提供了一种悬架结构、角模块***及汽车，保证了悬架结构的运动学特性，有效的提升了车身的稳定性及乘坐舒适性。The present application provides a suspension structure, a corner module system and an automobile, which ensure the kinematic characteristics of the suspension structure and effectively improve the stability and riding comfort of the vehicle body.

第一方面，本申请实施例提供一种悬架结构，用于连接汽车的车轮和下车体，包括支撑架、连接杆和固定件；In a first aspect, an embodiment of the present application provides a suspension structure for connecting a wheel and a lower body of an automobile, including a support frame, a connecting rod and a fixing member;

所述固定件和所述连接杆位于所述支撑架的一侧，所述支撑架用于与所述下车体上的转向结构连接，所述连接杆一端与所述支撑架铰接连接，所述连接杆的另一端与所述固定件铰接连接，所述固定件用于与所述车轮转动连接。这样连接杆就可以传递车轮传来的侧向力，车轮受力后可以通过固定件、连接杆传递至支撑架，进而传递至下车体及车身。The fixing member and the connecting rod are located on one side of the support frame, the support frame is used for connecting with the steering structure on the lower body, and one end of the connecting rod is hingedly connected with the support frame, so The other end of the connecting rod is hingedly connected with the fixing piece, and the fixing piece is used for rotational connection with the wheel. In this way, the connecting rod can transmit the lateral force from the wheel, and after the wheel receives the force, it can be transmitted to the support frame through the fixing piece and the connecting rod, and then transmitted to the lower body and the body.

而连接杆的一端与支撑架铰接连接，连接杆的另一端与固定件铰接连接，即连接杆一端可相对支撑架转动，连接杆的另一端可相对固定件转动，这样就能够使车轮在水平(垂直于车轮平面的方向)和竖直方向(平行与车轮平面的方向)上具有一定的可活动余量，从而实现车轮定位角的可调节。同时连接杆可以限定车轮在跳动过程中的跳动轨迹，使车轮可以发生圆弧跳动轨迹，保证了车辆悬架的运动学特性，可以减小车身受到力而发生跳动，从而有效的提升车身稳定性。另外，通过连接杆分别与固定件和支撑架的转动连接，即保证了悬架的运动学特性，结构简单，有助于降低成本，同时也能够提高安装的便捷性，悬架结构的占用空间也较小，有助于整车的空间布置，具有较好的通用性。One end of the connecting rod is hingedly connected to the support frame, and the other end of the connecting rod is hingedly connected to the fixing member, that is, one end of the connecting rod can rotate relative to the supporting frame, and the other end of the connecting rod can rotate relative to the fixing member, so that the wheel can be horizontally connected. There is a certain movable margin in the vertical direction (the direction perpendicular to the wheel plane) and the vertical direction (the direction parallel to the wheel plane), so as to realize the adjustment of the wheel alignment angle. At the same time, the connecting rod can limit the beating trajectory of the wheel during the beating process, so that the wheel can have a circular arc beating trajectory, which ensures the kinematic characteristics of the vehicle suspension, and can reduce the beating of the body due to force, thereby effectively improving the stability of the body. . In addition, the kinematic characteristics of the suspension are ensured through the rotational connection of the connecting rods with the fixing member and the support frame respectively, the structure is simple, which helps to reduce the cost, and at the same time, the convenience of installation can be improved, and the space occupied by the suspension structure can be improved. It is also smaller, which is helpful for the space layout of the vehicle and has better versatility.

在一种可能的实现方式中，还包括减震器，所述减震器和所述固定件、所述连接杆位于所述支撑架的同一侧，所述减震器的一端与所述支撑架铰接连接，所述减震器的另一端与所述固定件铰接连接。减震器能够起到缓冲受力的作用，经过减震器减震作用后可以进一步减小车身受到的力，从而减小车身的跳动，保证了悬架结构的弹性运动特性，从而进一步提高汽车的车身稳定性。In a possible implementation, it further includes a shock absorber, the shock absorber, the fixing member and the connecting rod are located on the same side of the support frame, and one end of the shock absorber is connected to the support The frame is hingedly connected, and the other end of the shock absorber is hingedly connected with the fixing member. The shock absorber can play the role of buffering the force. After the shock absorption effect of the shock absorber, the force on the body can be further reduced, thereby reducing the jump of the body, ensuring the elastic movement characteristics of the suspension structure, and further improving the car body. body stability.

在一种可能的实现方式中，还包括第一衬套和第二衬套，第一衬套和第二衬套为弹性件，所述第一衬套内固定套设有第一连接件，所述第二衬套内固定套设有第二连接件；In a possible implementation manner, a first bushing and a second bushing are further included, the first bushing and the second bushing are elastic pieces, and the first bushing is provided with a first connecting piece in the fixing sleeve, A second connecting piece is arranged in the second bushing fixed sleeve;

所述连接杆的一端具有第一安装座，所述第一安装座内具有第一安装孔，所述第一衬套固定套设在所述第一安装孔内，所述连接杆的一端通过所述第一连接件与所述支撑架铰接连接。即第一衬套套设在第一安装孔内，且与第一安装孔固定不会发生相对移动，第一连接件与连接杆之间具有第一衬套，连接杆的一端通过第一连接件实现与支撑架之间的转动连接。One end of the connecting rod has a first mounting seat, the first mounting seat has a first mounting hole, the first bushing is fixedly sleeved in the first mounting hole, and one end of the connecting rod passes through The first connecting piece is hingedly connected with the support frame. That is, the first bushing is set in the first mounting hole, and is fixed with the first mounting hole without relative movement. There is a first bushing between the first connecting piece and the connecting rod, and one end of the connecting rod passes through the first connecting piece. Realize the rotational connection with the support frame.

所述连接杆的另一端具有第二安装座，所述第二安装座内具有第二安装孔，所述第二衬套固定套设在所述第二安装孔内，所述连接杆的另一端通过所述第二连接件与所述固定件铰接连接。即第二衬套套设在第二安装孔内，且与第二安装孔固定不会发生相对移动，第二连接件与连接杆之间具有第二衬套，连接杆的另一端通过第二连接件实现与固定件之间的转动连接。The other end of the connecting rod has a second mounting seat, the second mounting seat has a second mounting hole, the second bushing is fixedly sleeved in the second mounting hole, and the other end of the connecting rod is One end is hingedly connected with the fixing member through the second connecting member. That is, the second bushing is set in the second mounting hole, and is fixed with the second mounting hole without relative movement. There is a second bushing between the second connecting piece and the connecting rod, and the other end of the connecting rod is connected by the second The part realizes the rotational connection with the fixed part.

这样当车轮发生跳动时，车轮受到地面激励，受到的力会从车轮经过固定件、连接杆传递至支撑架，弹性的第一衬套和第二衬套能够对该力起到一定的缓冲减震作用，衰减地面对车身的激励。同时第一衬套和第二衬套在受力作用下会发生变形，进而改变了车轮的姿态和轨迹，第一衬套和第二衬套与减震器的共同作用，能够进一步保证悬架的弹性运动特性，提升车身的稳定性。In this way, when the wheel jumps, the wheel is excited by the ground, and the force will be transmitted from the wheel to the support frame through the fixing member and the connecting rod. The elastic first bushing and second bushing can buffer the force to a certain extent. The shock effect reduces the excitation of the ground to the body. At the same time, the first bushing and the second bushing will deform under the action of force, thus changing the attitude and trajectory of the wheel. The joint action of the first bushing and the second bushing and the shock absorber can further ensure the suspension. The elastic movement characteristics of the body improve the stability of the body.

在一种可能的实现方式中，所述固定件与所述支撑架相对的一侧上具有凸起的第三安装座，所述第三安装座上具有第三安装孔；In a possible implementation manner, a protruding third mounting seat is provided on a side of the fixing member opposite to the support frame, and a third mounting hole is provided on the third mounting seat;

还包括装配件，所述第一连接件穿过所述第三安装孔后与所述装配件配合。It also includes an assembly part, and the first connection part is matched with the assembly part after passing through the third installation hole.

这样就使第一连接件与固定件连接，即通过第一连接件与凸起的第三安装座的连接实现连接杆与固定件的连接。由于支撑架位于固定件的一侧，连接杆用来连接支撑架和固定件，凸起的第三安装座可以便于实现连接杆与固定件的连接，从而便于侧向力的传递，提高悬架的刚度。In this way, the first connecting piece is connected with the fixing piece, that is, the connection between the connecting rod and the fixing piece is realized through the connection between the first connecting piece and the third protruding mounting seat. Since the support frame is located on one side of the fixing member, the connecting rod is used to connect the support frame and the fixing member, and the raised third mounting seat can facilitate the connection between the connecting rod and the fixing member, thereby facilitating the transmission of lateral force and improving the suspension. stiffness.

在一种可能的实现方式中，所述支撑架至少包括：与所述固定件相对的正面、与所述固定件相背的背面以及连接所述正面和所述背面的侧面；In a possible implementation manner, the support frame includes at least: a front face opposite to the fixing member, a back face opposite to the fixing member, and a side surface connecting the front face and the back face;

所述侧面上具有第四安装孔，所述第二连接件与所述第四安装孔配合。A fourth mounting hole is formed on the side surface, and the second connecting piece is matched with the fourth mounting hole.

这样通过第二连接件与第四安装孔的配合实现了连接杆与支撑架的铰接连接。由于支撑架位于固定件的一侧，使连接杆通过第二连接件与支撑架的侧面连接，可以便于实现连接杆与支撑架之间的连接，便于侧向力的传递，有助于提高悬架的刚度。In this way, the hinged connection between the connecting rod and the support frame is realized through the cooperation between the second connecting piece and the fourth mounting hole. Since the support frame is located on one side of the fixing member, the connecting rod is connected to the side surface of the support frame through the second connecting member, which can facilitate the connection between the connecting rod and the support frame, facilitate the transmission of lateral force, and help improve the suspension. Rigidity of the rack.

在一种可能的实现方式中，所述连接杆为多个，多个所述连接杆分布在所述支撑架和所述固定件的两侧。In a possible implementation manner, there are multiple connecting rods, and the multiple connecting rods are distributed on both sides of the support frame and the fixing member.

这样通过多个连接杆可以保证悬架结构具有较高的承受强度，保证悬架结构的稳定性，另外，使多个连接杆分布在支撑架和固定件的两侧，可以较为均匀的分散传递侧向力，进一步提高悬架的可承受强度。In this way, a plurality of connecting rods can ensure that the suspension structure has high bearing strength and the stability of the suspension structure. In addition, the plurality of connecting rods are distributed on both sides of the support frame and the fixing member, which can be distributed and transmitted more evenly. Lateral force, to further improve the bearable strength of the suspension.

在一种可能的实现方式中，还包括第三连接件、与所述第三连接件配合的第一配合件、第四连接件以及与所述第四连接件配合的第二配合件，所述减震器一端的端部具有第一装配孔，所述减震器另一端的端部具有第二装配孔；In a possible implementation manner, it further includes a third connecting piece, a first matching piece matched with the third connecting piece, a fourth connecting piece and a second matching piece matched with the fourth connecting piece, so An end of one end of the shock absorber has a first assembly hole, and an end of the other end of the shock absorber has a second assembly hole;

所述支撑架相对所述固定件的一侧上具有凸起的第四安装座和第五安装座，所述第四安装座和所述第五安装座上分别开设有第三装配孔和第四装配孔，所述第四安装座和所述第五安装座之间具有第一间隙，所述减震器一端的端部位于所述第一间隙内，所述第三连接件的一端依次穿过所述第三装配孔、所述第一装配孔和所述第四装配孔后与所述第一配合件配合。这样就实现了减震器一端与第四安装座和第五安装座之间的转动连接，进而实现了减震器一端与支撑架之间的铰接连接。凸起的第四安装座和第五安装座可便于实现减震器与支撑架之间的连接，便于提高悬架结构的刚度。The supporting frame has a fourth and fifth protruding mounting seat on the side opposite to the fixing member, and the fourth mounting seat and the fifth mounting seat are respectively provided with a third mounting hole and a fifth mounting seat. Four mounting holes, a first gap is formed between the fourth mounting seat and the fifth mounting seat, an end of one end of the shock absorber is located in the first gap, and one end of the third connecting member is in sequence After passing through the third assembling hole, the first assembling hole and the fourth assembling hole, it is matched with the first matching piece. In this way, the rotational connection between one end of the shock absorber and the fourth mounting seat and the fifth mounting seat is realized, thereby realizing the hinged connection between one end of the shock absorber and the support frame. The raised fourth mounting seat and the fifth mounting seat can facilitate the connection between the shock absorber and the support frame, and facilitate the improvement of the rigidity of the suspension structure.

所述固定件与所述支撑架相对的一侧上具有凸起的第六安装座和第七安装座，所述第六安装座和所述第七安装座上分别开设有第五装配孔和第六装配孔，所述第六安装座和所述第七安装座之间具有第二间隙，所述减震器另一端的端部位于所述第二间隙内，所述第四连接件的一端依次穿过所述第五装配孔、所述第二装配孔和所述第六装配孔后与所述第二配合件配合。这样就实现了减震器另一端与第六安装座和第七安装座之间的转动连接，进而实现了减震器另一端与固定件之间的铰接连接。凸起的第六安装座和第七安装座可便于实现减震器与固定件的连接，便于侧向力的传递，提高悬架结构的刚度。There are sixth and seventh raised mounting seats on the opposite side of the fixing member and the support frame, and the sixth mounting seat and the seventh mounting seat are respectively provided with a fifth mounting hole and a seventh mounting seat. A sixth assembly hole, there is a second gap between the sixth mounting seat and the seventh mounting seat, the end of the other end of the shock absorber is located in the second gap, and the fourth connecting member has a second gap. One end passes through the fifth assembling hole, the second assembling hole and the sixth assembling hole in sequence and is matched with the second fitting. In this way, the rotational connection between the other end of the shock absorber and the sixth mounting seat and the seventh mounting seat is realized, thereby realizing the hinged connection between the other end of the shock absorber and the fixing member. The convex sixth mounting seat and the seventh mounting seat can facilitate the connection between the shock absorber and the fixing piece, facilitate the transmission of lateral force, and improve the rigidity of the suspension structure.

第二方面，本申请实施例提供一种角模块***，用于汽车中，至少包括驱动结构、转向结构、制动结构以及上述所述的悬架结构；In a second aspect, an embodiment of the present application provides a corner module system for use in an automobile, including at least a driving structure, a steering structure, a braking structure, and the above-mentioned suspension structure;

所述转向结构用于设置在所述汽车下车体的下方，所述悬架结构的支撑架与所述转向结构固定连接，所述悬架结构的固定件与所述驱动结构转动连接，所述驱动结构用于与所述汽车的车轮固定连接。The steering structure is used to be arranged under the lower body of the automobile, the support frame of the suspension structure is fixedly connected with the steering structure, the fixing member of the suspension structure is rotatably connected with the driving structure, so The driving structure is used for fixed connection with the wheel of the automobile.

这样通过包括有悬架结构，该悬架结构包括支撑架、连接杆和固定件，支撑架与车体相连，固定件与车轮相连，连接杆一端与支撑架铰接连接，连接杆另一端与车轮铰接连接，这样就使车轮在水平和竖直方向上具有可活动余量，在车轮发生跳动时，连接杆可以限制车轮的跳动轨迹，使其产生弧形跳动轨迹，从而保证了悬架结构的运动学特性，减小车身受力发生的跳动，有效的提升车辆的稳定性和舒适度。In this way, a suspension structure is included. The suspension structure includes a support frame, a connecting rod and a fixing piece. The support frame is connected with the vehicle body, the fixing piece is connected with the wheel, one end of the connecting rod is hingedly connected with the support frame, and the other end of the connecting rod is connected with the wheel. Hinged connection, so that the wheel has a movable margin in the horizontal and vertical directions. When the wheel jumps, the connecting rod can limit the wheel's jumping trajectory to produce an arc-shaped jumping trajectory, thus ensuring the suspension structure. The kinematic characteristics can reduce the beating caused by the force of the body, and effectively improve the stability and comfort of the vehicle.

另外，该角模块***将悬架结构、驱动结构、转向结构以及制定结构集成到一起，形成一个具有高集成度的模块化***，能够减少大量的机械传动部件，从而最大化整车布置空间。角模块***还可以独立设置在各车轮上，实现车轮的独立作业从而实现汽车不同的特殊工作模式，使汽车能够适应不同的工作场景，满足不同的驾驶需求，有效的提高了汽车的机动性能。In addition, the corner module system integrates the suspension structure, driving structure, steering structure and formulating structure to form a highly integrated modular system, which can reduce a large number of mechanical transmission components, thereby maximizing the layout space of the vehicle. The corner module system can also be independently set on each wheel to realize the independent operation of the wheel to realize different special working modes of the car, so that the car can adapt to different working scenarios, meet different driving needs, and effectively improve the maneuverability of the car.

在一种可能的实现方式中，所述转向结构包括转向电机、减速器和角度传感器；In a possible implementation manner, the steering structure includes a steering motor, a speed reducer and an angle sensor;

所述转向电机和所述减速器通过蜗轮蜗杆连接，所述角度传感器与所述减速器连接，所述减速器与所述支撑架连接。这样，转向电机转动通过涡轮蜗杆以及减速器后带动支撑架转动，支撑架通过减震器、连接杆以及固定件带动车轮发生转动，实现汽车的转向。The steering motor and the reducer are connected through a worm gear, the angle sensor is connected with the reducer, and the reducer is connected with the support frame. In this way, the rotation of the steering motor drives the support frame to rotate through the turbine worm and the reducer, and the support frame drives the wheels to rotate through the shock absorber, the connecting rod and the fixing part, so as to realize the steering of the car.

在一种可能的实现方式中，所述制动结构包括制动电机、制动钳和制动盘，所述制动盘设置在所述驱动结构靠近所述固定件的一侧上，所述制动钳设置在所述固定件上，所述制动电机与所述制动钳连接。这样当需要制动时，制动电机可带动制动钳向制动盘移动，进而与制动盘接触，制动盘位于车轮驱动结构上并随着车轮转动，而制动钳设置在固定件上相对车轮固定不动，当制动钳与制动盘接触时，两者之间相互摩擦从而时车轮停止转动，实现车轮的制动。In a possible implementation manner, the brake structure includes a brake motor, a brake caliper and a brake disc, the brake disc is arranged on a side of the drive structure close to the fixing member, and the The brake caliper is arranged on the fixing member, and the brake motor is connected with the brake caliper. In this way, when braking is required, the brake motor can drive the brake caliper to move toward the brake disc, and then contact the brake disc. The brake disc is located on the wheel drive structure and rotates with the wheel, and the brake caliper is arranged on the fixed part. When the brake caliper is in contact with the brake disc, the two rub against each other so that the wheel stops rotating to realize the braking of the wheel.

第三方面，本申请实施例提供一种汽车，至少包括车轮、下车体和上述任一所述的角模块***；In a third aspect, an embodiment of the present application provides an automobile, including at least a wheel, a lower body, and any of the above-mentioned corner module systems;

所述角模块***的转向结构设置在所述下车体的下方；The steering structure of the corner module system is arranged below the lower body;

所述车轮包括轮毂和轮胎，所述轮胎套设在所述轮毂的外周上，所述角模块***的驱动结构与所述轮毂连接。The wheel includes a wheel hub and a tire, the tire is sleeved on the outer circumference of the wheel hub, and the driving structure of the corner module system is connected with the wheel hub.

通过包括有角模块***，该角模块***包括有悬架结构，该悬架结构通过使连接杆一端与支撑架铰接连接，连接杆另一端与车轮铰接连接，这样就使车轮在水平和竖直方向上具有可活动余量，在车轮发生跳动时，连接杆可以限制车轮的跳动轨迹，使其产生弧形跳动轨迹，从而保证了悬架结构的运动学特性，减小车身受力发生的跳动，有效的提升车辆的稳定性和舒适度。By including a corner module system, the corner module system includes a suspension structure, the suspension structure is hingedly connected to the support frame at one end of the connecting rod, and the other end of the connecting rod is hingedly connected to the wheel, so that the wheel can be horizontally and vertically connected. There is a movable margin in the direction. When the wheel bounces, the connecting rod can limit the bounce trajectory of the wheel to generate an arc bounce trajectory, thereby ensuring the kinematic characteristics of the suspension structure and reducing the bounce caused by the body force. , effectively improve the stability and comfort of the vehicle.

另外，该角模块***将悬架结构、驱动结构、转向结构以及制定结构集成到一起，形成一个具有高集成度的模块化***，能够减少大量的机械传动部件，从而最大化整车布置空间。角模块***还可以独立设置在各车轮上，实现车轮的独立作业，从而实现汽车不同的特殊工作模式，使汽车能够适应不同的工作场景，满足不同的驾驶需求，有效的提高了汽车的机动性能。In addition, the corner module system integrates the suspension structure, driving structure, steering structure and formulating structure to form a highly integrated modular system, which can reduce a large number of mechanical transmission components, thereby maximizing the layout space of the vehicle. The corner module system can also be independently set on each wheel to realize the independent operation of the wheel, so as to realize different special working modes of the car, so that the car can adapt to different working scenarios, meet different driving needs, and effectively improve the mobility of the car. .

在一种可能的实现方式中，包括多个所述车轮，每个所述车轮连接有一个所述角模块***。In a possible implementation, a plurality of the wheels are included, and each of the wheels is connected with one of the corner module systems.

这样通过角模块***就能够实现车轮的独立作业，从而实现汽车不同的特殊工作模式，使汽车能够适应不同的工作场景，满足不同的驾驶需求，有效的提高了汽车的机动性能。且车轮为多个时，设置在下车体下方的角模块***较多，可以提高下车体的灵活性以及承重性。In this way, the independent operation of the wheels can be realized through the corner module system, so as to realize different special working modes of the car, so that the car can adapt to different working scenarios, meet different driving needs, and effectively improve the maneuverability of the car. And when there are multiple wheels, there are more corner module systems arranged under the lower body, which can improve the flexibility and load-bearing capacity of the lower body.

在一种可能的实现方式中，还包括电控单元和电控***，所述电控***与所述电控单元连接，所述电控单元与所述驱动结构连接，所述电控***分别与所述转向结构的转向电机、以及所述制动结构的制动电机连接。这样通过电控***就能够实现对汽车驱动结构、制动结构以及转向结构的全线控，使汽车可以通过电控***控制运行，实现汽车的可自动驾驶。In a possible implementation manner, it further includes an electric control unit and an electric control system, the electric control system is connected to the electric control unit, the electric control unit is connected to the driving structure, and the electric control system is respectively It is connected with the steering motor of the steering structure and the braking motor of the braking structure. In this way, the electric control system can realize the full line control of the driving structure, braking structure and steering structure of the automobile, so that the automobile can be controlled by the electronic control system to operate, and the automatic driving of the automobile can be realized.

在一种可能的实现方式中，还包括电控单元、转向件、驱动踏板和制动踏板；In a possible implementation, it also includes an electronic control unit, a steering member, a drive pedal and a brake pedal;

所述转向件与所述转向结构的转向电机连接，所述驱动踏板与所述电控单元连接，所述电控单元与所述驱动结构连接，所述制动踏板与所述制动结构的制动电机连接。这样驾驶员就可以通过转向件、驱动踏板以及制动踏板下发指令，使汽车可适用于人工驾驶。The steering member is connected with the steering motor of the steering structure, the driving pedal is connected with the electronic control unit, the electronic control unit is connected with the driving structure, and the brake pedal is connected with the braking structure. Brake motor connection. In this way, the driver can issue commands through the steering, drive pedal and brake pedal, making the car suitable for manual driving.

附图说明Description of drawings

图1是本申请实施例提供的一种悬架结构与车轮的装配示意图；1 is a schematic diagram of the assembly of a suspension structure and a wheel provided by an embodiment of the present application;

图2是本申请实施例提供的一种角模块***的结构示意图；2 is a schematic structural diagram of a corner module system provided by an embodiment of the present application;

图3是本申请实施例提供的一种角模块***的侧视示意图；3 is a schematic side view of a corner module system provided by an embodiment of the present application;

图4是本申请实施例提供的一种角模块***在车轮跳动时的结构示意图；FIG. 4 is a schematic structural diagram of a corner module system provided by an embodiment of the present application when a wheel bounces;

图5是本申请实施例提供的一种角模块***的另一侧视结构示意图；5 is a schematic structural diagram of another side view of a corner module system provided by an embodiment of the present application;

图6是本申请实施例提供的一种汽车在过障碍物时的示意图；6 is a schematic diagram of a vehicle passing through an obstacle according to an embodiment of the present application;

图7是本申请实施例提供的一种汽车在转弯时的示意图；FIG. 7 is a schematic diagram of a vehicle when turning according to an embodiment of the present application;

图8是本申请实施例提供的一种角模块***的拆分结构示意图；8 is a schematic diagram of a split structure of a corner module system provided by an embodiment of the present application;

图9是本申请实施例提供的一种汽车的俯视结构示意图；Fig. 9 is a top-view structural schematic diagram of an automobile provided by an embodiment of the present application;

图10是本申请实施例提供的一种汽车的结构示意图；10 is a schematic structural diagram of an automobile provided by an embodiment of the present application;

图11a是本申请实施例提供的一种汽车车轮蟹形转向的示意图；FIG. 11a is a schematic diagram of a crab steering wheel of an automobile provided by an embodiment of the present application;

图11b是本申请实施例提供的一种汽车车轮原地转向的示意图；11b is a schematic diagram of a vehicle wheel steering in situ according to an embodiment of the present application;

图11c是本申请实施例提供的一种汽车车轮四轮转向的示意图；11c is a schematic diagram of a four-wheel steering of a vehicle wheel provided by an embodiment of the present application;

图11d是本申请实施例提供的一种汽车车轮斜形转向的示意图；Fig. 11d is a schematic diagram of a vehicle wheel oblique steering provided by an embodiment of the present application;

图11e是本申请实施例提供的一种汽车车轮前轮转向的示意图；11e is a schematic diagram of a front wheel steering of a vehicle wheel provided by an embodiment of the present application;

图11f是本申请实施例提供的一种汽车车轮后轮转向的示意图；11f is a schematic diagram of a rear wheel steering of a vehicle wheel provided by an embodiment of the present application;

图12是本申请实施例提供的一种汽车各结构之间的联动方式示意图。FIG. 12 is a schematic diagram of a linkage manner between various structures of an automobile according to an embodiment of the present application.

附图标记说明：Description of reference numbers:

100-汽车； 10-车轮； 11-轮毂；100-car; 10-wheel; 11-wheel;

12-轮胎； 20-车身； 21-下车体；12-tire; 20-body; 21-underbody;

30-角模块***； 31-悬架结构； 311-支撑架；30-angle module system; 31-suspension structure; 311-support frame;

312-连接杆； 3121-第一安装座； 3122-第二安装座；312-connecting rod; 3121-first mounting seat; 3122-second mounting seat;

313-固定件； 3131-第三安装座； 3132-第三安装孔；313-fixing piece; 3131-third mounting seat; 3132-third mounting hole;

3133-第六安装座； 3134-第七安装座； 314-减震器；3133-sixth mounting seat; 3134-seventh mounting seat; 314-shock absorber;

3141-第一装配孔； 3142-第二装配孔； 315-第一衬套；3141-first assembly hole; 3142-second assembly hole; 315-first bushing;

316-第二衬套； 32-驱动结构； 33-转向结构；316-second bushing; 32-drive structure; 33-steering structure;

331-转向电机； 332-减速器； 333-角度传感器；331-steering motor; 332-reducer; 333-angle sensor;

334-蜗轮蜗杆； 34-制动结构； 341-制动钳；334-worm gear; 34-brake structure; 341-brake caliper;

342-制动盘； 40-电控***； 50-电控单元；342-brake disc; 40-electronic control system; 50-electronic control unit;

60-转向件； 70-驱动踏板； 80-制动踏板；60-steering piece; 70-drive pedal; 80-brake pedal;

200-障碍物。200 - Obstacles.

具体实施方式Detailed ways

本申请的实施方式部分使用的术语仅用于对本申请的具体实施例进行解释，而非旨在限定本申请。The terms used in the embodiments of the present application are only used to explain specific embodiments of the present application, and are not intended to limit the present application.

汽车已经成为人们日常生活中不可缺失的交通工具之一，而汽车的悬架是汽车的车架与车桥或车轮直径的连接装置，用于传递车轮与车架之间的力，并主要起到缓冲路面传递给车身的冲击的作用，从而减小路面不平对车身引起的震动，进而使汽车能够平稳的行驶。The car has become one of the indispensable means of transportation in people's daily life, and the suspension of the car is the connection device between the frame of the car and the axle or the diameter of the wheel, which is used to transmit the force between the wheel and the frame, and mainly plays the role of It can buffer the impact of the road surface to the body, thereby reducing the vibration caused by the uneven road surface to the body, so that the car can run smoothly.

因此，汽车悬架的特性关系着汽车驾驶的稳定性以及乘坐的舒适性，在对悬架特性进行研究时，主要针对悬架的运动学特性和弹性运动学特性，具体的，悬架的运动学特性(K特性，Kinematics)是指车轮在垂直方向上往复运动的过程中，由于悬架导向机构的作用而导致车轮平面(车轮所在平面)和轮心点产生角位移和线位移变化的特性。悬架的弹性运动学特性(C特性，Compliance)是指地面作用于轮胎上的力和力矩所导致的车轮平面和轮心产生角位移和线位移变化的特性。悬架所具有的K&C特性能够有效的保证车辆在运动过程中的稳定性。Therefore, the characteristics of the car suspension are related to the driving stability of the car and the comfort of the ride. When studying the characteristics of the suspension, the main focus is on the kinematics and elastic kinematics of the suspension. Specifically, the motion of the suspension Kinematics (K characteristic, Kinematics) refers to the characteristics of the angular displacement and linear displacement change of the wheel plane (the plane where the wheel is located) and the wheel center point due to the action of the suspension guide mechanism during the reciprocating motion of the wheel in the vertical direction. . The elastic kinematics characteristic (C characteristic, Compliance) of the suspension refers to the characteristic of the angular displacement and linear displacement change of the wheel plane and wheel center caused by the force and moment acting on the tire by the ground. The K&C characteristics of the suspension can effectively ensure the stability of the vehicle during motion.

随着对汽车功能性以及应用场景的多样性需求，独立性悬架逐渐得到广泛的研究，独立性悬架是每个车轮单独通过一套悬挂安装于车身上，车轮之间运动相干性较弱。如一种悬架主要由轮上横板、弹簧减震器总成、左导向杆、右导向杆、左直线轴承座和右直线轴承座构成，其中左导向杆的下端在左直线轴承座内上下滑动，左导向杆的上端和右导向杆的上端分别与轮上横板连接，轮上横板与车辆的导向结构连接。还包括直线轴承，直线轴承设置在左直线轴承座和右直线轴承座之间，弹簧减震器总成一端与直线轴承连接，另一端与轮下横板连接，左直线轴承座、右直线轴承座以及直线轴承均与车轮连接。当汽车经过不平的路面而使车轮上下跳动时，减震器弹簧总成的弹簧就会发生形变，车轮上下跳动的力由减震器弹簧总成传递至轮上横板，进而通过导向结构传递至车身，减震器弹簧总成的减震作用可以减小汽车车身的上下跳动，保证汽车车身的稳定性。With the diverse needs of automobile functionality and application scenarios, independent suspension has gradually been widely studied. Independent suspension is that each wheel is installed on the body through a set of suspensions, and the motion coherence between the wheels is weak. . For example, a suspension is mainly composed of a cross plate on the wheel, a spring shock absorber assembly, a left guide rod, a right guide rod, a left linear bearing seat and a right linear bearing seat, wherein the lower end of the left guide rod is up and down in the left linear bearing seat. sliding, the upper end of the left guide rod and the upper end of the right guide rod are respectively connected with the upper cross plate of the wheel, and the upper cross plate of the wheel is connected with the guide structure of the vehicle. It also includes a linear bearing. The linear bearing is arranged between the left linear bearing seat and the right linear bearing seat. One end of the spring shock absorber assembly is connected with the linear bearing, and the other end is connected with the lower horizontal plate of the wheel. The left linear bearing seat and the right linear bearing are connected. Both the seat and the linear bearing are connected to the wheel. When the wheel jumps up and down when the car passes through an uneven road, the spring of the shock absorber spring assembly will be deformed, and the force of the wheel jumping up and down is transmitted from the shock absorber spring assembly to the cross plate on the wheel, which is then transmitted through the guide structure. To the body, the shock absorption effect of the shock absorber spring assembly can reduce the up and down jump of the car body and ensure the stability of the car body.

然而，在上述的悬架***中，汽车在不平的路上行驶，或者是在路过障碍物时，车轮的跳动轨迹为上下跳动轨迹，车轮的定位角(车轮面与车轮中心线之间的夹角)很难发生改变，悬架的运动学特性较差，从而导致车身稳定性以及汽车乘坐舒适度的降低。However, in the above-mentioned suspension system, when the car is driving on an uneven road or passing an obstacle, the bouncing trajectory of the wheel is an up and down bouncing trajectory, and the positioning angle of the wheel (the angle between the wheel surface and the center line of the wheel) ) is difficult to change, and the kinematics of the suspension are poor, resulting in reduced body stability and reduced ride comfort.

针对上述技术问题，本申请实施例提供一种悬架结构、角模块***及汽车，该悬架结构通过包括有支撑架、连接杆和固定件，使固定件和连接杆位于支撑架的一侧，支撑架用于与下车体的转向结构连接，固定件用于与车轮连接，并使连接杆的一端与支撑架铰接连接，连接杆的另一端与固定件铰接连接，即连接杆的两端相对固定件和支撑架可转动，这样就能够使车轮在水平(垂直于车轮平面的方向)和竖直方向(平行与车轮平面的方向)上具有一定的可活动余量，从而实现车轮定位角的可调节，同时连接杆能够限定车轮在跳动过程中的轨迹，使车轮可以发生圆弧形跳动，从而保证了悬架结构的运动学特性，减小车身受力而发生的跳动，有效的提升车辆的稳定性和乘坐舒适度。In view of the above technical problems, embodiments of the present application provide a suspension structure, a corner module system, and an automobile. The suspension structure includes a support frame, a connecting rod, and a fixing member, so that the fixing member and the connecting rod are located on one side of the support frame. , the support frame is used to connect with the steering structure of the lower body, the fixed part is used to connect with the wheel, and one end of the connecting rod is hingedly connected with the support frame, and the other end of the connecting rod is hingedly connected with the fixed part, that is, the two ends of the connecting rod are hingedly connected with the fixed part. The end is rotatable relative to the fixing member and the supporting frame, so that the wheel can have a certain movable margin in the horizontal (direction perpendicular to the wheel plane) and vertical direction (parallel to the wheel plane), so as to realize the wheel positioning The angle can be adjusted, and the connecting rod can limit the trajectory of the wheel during the jumping process, so that the wheel can jump in a circular arc, thus ensuring the kinematic characteristics of the suspension structure, reducing the jumping caused by the body force, effectively Improve vehicle stability and ride comfort.

以下结合附图对本申请实施例提供的悬架结构、角模块***及汽车进行详细的说明。The suspension structure, the corner module system and the vehicle provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

本申请实施例提供的一种悬架结构，可以适用于电动车/电动汽车(Electric Vehicle，简称EV)、纯电动汽车(Pure Electric Vehicle/Battery Electric Vehicle，简称：PEV/BEV)、混合动力汽车(Hybrid Electric Vehicle，简称：HEV)、增程式电动汽车(Range Extended Electric Vehicle，简称REEV)、插电式混合动力汽车(Plug-in Hybrid Electric Vehicle，简称：PHEV)、新能源汽车(New Energy Vehicle)等任何具有悬架的车辆中。The suspension structure provided by the embodiments of the present application can be applied to electric vehicles/electric vehicles (Electric Vehicle, EV for short), pure electric vehicles (Pure Electric Vehicle/Battery Electric Vehicle, PEV/BEV for short), hybrid vehicles (Hybrid Electric Vehicle, referred to as: HEV), Extended Range Electric Vehicle (Range Extended Electric Vehicle, referred to as REEV), Plug-in Hybrid Electric Vehicle (Plug-in Hybrid Electric Vehicle, referred to as: PHEV), New Energy Vehicle (New Energy Vehicle) ) etc. in any vehicle with suspension.

具体的，本申请实施例中，以电动汽车为例，汽车可以包括有车身和车轮，其中，车身可以包括有下车体和盖设在下车体上的上车体，下车体与上车体围成用于容纳乘客的空间，车轮位于下车体的下方。该悬架结构用于连接汽车的车轮和下车体，将车轮受到的力传递到下车体，进而传递至整个车身。Specifically, in the embodiment of the present application, taking an electric vehicle as an example, the vehicle may include a body and wheels, wherein the body may include a lower body and an upper body covered on the lower body, the lower body and the upper body The body encloses a space for accommodating passengers, and the wheels are located under the lower body. The suspension structure is used to connect the wheels of the car and the lower body, and transmit the force received by the wheels to the lower body, and then to the entire body.

图1是本申请实施例提供的一种悬架结构与车轮的装配示意图，图2是本申请实施例提供的一种角模块***的结构示意图，图3是本申请实施例提供的一种角模块***的正视结构示意图，图4是本申请实施例提供的一种角模块***在车轮跳动时的结构示意图，图5是本申请实施例提供的一种角模块的侧视结构示意图。1 is a schematic diagram of the assembly of a suspension structure and a wheel provided by an embodiment of the present application, FIG. 2 is a schematic structural diagram of a corner module system provided by an embodiment of the present application, and FIG. 3 is a schematic diagram of a corner module system provided by an embodiment of the present application. FIG. 4 is a schematic structural diagram of a corner module system provided by an embodiment of the present application when wheels are jumping, and FIG. 5 is a schematic structural schematic diagram of a side view of a corner module provided by an embodiment of the present application.

其中，角模块***(ECM，Electric Corner Module)是集成有驱动结构、制动结构、转向结构以及悬架结构的一种模块。Among them, the corner module system (ECM, Electric Corner Module) is a module that integrates the driving structure, the braking structure, the steering structure and the suspension structure.

具体的，参见图1所示，悬架结构31包括支撑架311、连接杆312和固定件313，其中，固定件313与连接杆312均位于支撑架311的一侧，具体的，固定件313与连接杆312可以位于支撑架311与车轮10相对的一侧，也就是说，固定件313、连接杆312以及支撑架311可以均位于车轮10的内侧(以四轮汽车100为例，位于并列的两车轮之间)。其中，固定件313可以是位于车轮10上的转向节，支撑架311可以是设置在车轮10内侧的转向臂等。Specifically, as shown in FIG. 1 , the suspension structure 31 includes a support frame 311 , a connecting rod 312 and a fixing member 313 , wherein the fixing member 313 and the connecting rod 312 are both located on one side of the support frame 311 . Specifically, the fixing member 313 The connecting rod 312 may be located on the opposite side of the support frame 311 to the wheel 10, that is, the fixing member 313, the connecting rod 312 and the support frame 311 may all be located on the inner side of the wheel 10 (taking the four-wheeled vehicle 100 as an example, they are located side by side). between the two wheels). The fixing member 313 may be a steering knuckle located on the wheel 10 , and the support frame 311 may be a steering arm or the like disposed inside the wheel 10 .

连接杆312的一端与支撑架311铰接连接，连接杆312的另一端与固定件313铰接连接，参见图2所示，支撑架311与下车体21上设置的转向结构33连接，固定件313与车轮10转动连接，连接杆312可以传递车轮10传来的侧向力，即从车轮10至支撑架311方向上的力，车轮10受到底面的力后可以经过固定件313、连接杆312传递至支撑架311，进而通过支撑架311、转向结构33传递至下车体21以及车身20。One end of the connecting rod 312 is hingedly connected with the support frame 311 , and the other end of the connecting rod 312 is hingedly connected with the fixing member 313 , as shown in FIG. Rotatingly connected with the wheel 10 , the connecting rod 312 can transmit the lateral force from the wheel 10 , that is, the force from the wheel 10 to the support frame 311 . to the support frame 311 , and then transmitted to the lower body 21 and the body 20 through the support frame 311 and the steering structure 33 .

而本申请实施例中，连接杆312的一端与支撑架311铰接连接，即连接杆312一端可相对支撑架311转动，连接杆312的另一端与固定件313铰接连接，即连接杆312的另一端可相对固定件313转动。而由于连接杆312的转动连接，就能够使车轮10在水平(垂直于车轮10平面的方向)和竖直方向(平行于车轮10平面的方向)上具有一定的可活动余量，从而可调节车轮10的定位角，使车轮10具有类似前束、外倾、主销内倾以及后倾等特性，保证了悬架的运动学特性，从而有效的提升车身20稳定性以及乘坐舒适度。In the embodiment of the present application, one end of the connecting rod 312 is hingedly connected to the support frame 311 , that is, one end of the connecting rod 312 can rotate relative to the support frame 311 , and the other end of the connecting rod 312 is hingedly connected to the fixing member 313 , that is, the other end of the connecting rod 312 is hingedly connected to the fixing member 313 . One end is rotatable relative to the fixing member 313 . Due to the rotational connection of the connecting rod 312 , the wheel 10 can have a certain movable margin in the horizontal (direction perpendicular to the plane of the wheel 10 ) and the vertical direction (the direction parallel to the plane of the wheel 10 ), so that the wheel 10 can be adjusted The positioning angle of the wheel 10 enables the wheel 10 to have characteristics like toe-in, camber, kingpin inclination, and rearward inclination, which ensures the kinematics of the suspension, thereby effectively improving the stability of the body 20 and the ride comfort.

具体的，参见图3所示，当车轮10不动时，车轮10平面和车轮10中心线位于一条直线上，参见图4所示，当车轮10行驶在不平的路面上时，车轮10在路面的力的作用下会发生跳动，而由于与车轮10连接的固定件313通过连接杆312与支撑架311连接，而连接杆312分别与固定件313和支撑架311转动连接，以连接杆312与支撑架311连接的连接点为A，以连接杆312与固定件313连接的连接点为B。当车轮10 跳动时，车轮10的运动轨迹为以A为圆点，AB为半径的圆弧，车轮10平面就会与车轮10中心线产生如图4中的α夹角，即通过连接杆312可以限定车轮10在跳动过程中的跳动轨迹，使车轮10可以沿着上述的圆弧跳动，保证了车辆悬架的运动学特性，可以减小车身20受力而发生的跳动，从而有效的提升车身20稳定性。Specifically, as shown in FIG. 3 , when the wheel 10 is stationary, the plane of the wheel 10 and the center line of the wheel 10 are on a straight line. Referring to FIG. 4 , when the wheel 10 is driving on an uneven road, the wheel 10 is on the road Jumping will occur under the action of the force, and because the fixing member 313 connected with the wheel 10 is connected with the supporting frame 311 through the connecting rod 312, and the connecting rod 312 is respectively connected with the fixing member 313 and the supporting frame 311 in rotation, so that the connecting rod 312 is connected to the supporting frame 311. The connection point connecting the support frame 311 is A, and the connection point connecting the connecting rod 312 and the fixing member 313 is B. When the wheel 10 jumps, the motion trajectory of the wheel 10 is an arc with A as the dot and AB as the radius, and the plane of the wheel 10 and the center line of the wheel 10 will generate an angle α as shown in Figure 4, that is, through the connecting rod 312 The beating trajectory of the wheel 10 during the beating process can be limited, so that the wheel 10 can be jumped along the above-mentioned arc, which ensures the kinematic characteristics of the vehicle suspension, reduces the beating caused by the stress on the body 20, and effectively improves the Body 20 Stability.

另外，与现有的悬架结构31相比，本申请实施例提供的悬架，通过连接杆312分别与固定件313和支撑架311的转动连接，即保证了悬架的运动学特性，结构简单，有助于降低成本，同时也能够提高安装的便捷性，悬架结构31的占用空间也较小，有助于整车的空间布置，具有较好的通用性。In addition, compared with the existing suspension structure 31, the suspension provided by the embodiment of the present application is connected with the fixing member 313 and the support frame 311 through the connecting rods 312 in rotation respectively, that is, the kinematic characteristics of the suspension are ensured, and the structure It is simple, helps to reduce costs, and at the same time can improve the convenience of installation. The occupied space of the suspension structure 31 is also small, which is helpful for the spatial arrangement of the whole vehicle, and has good versatility.

结合图1至图4所示，悬架结构31还包括有减震器314，减震器314和固定件313、连接杆312位于支撑架311的同一侧，减震器314的一端与支撑架311铰接连接，减震器314的另一端与固定件313铰接连接。车轮10受到底面激励时，受力会从车轮10经过固定件313、连接杆312以及减震器314传递至支撑架311，进而传递至车身20，而参见图4所示，当车轮10跳动时，减震器314的弹簧就会被压缩，减震器314能够起到缓冲受力的作用，经过减震器314减震作用后就可以进一步减小车身20受到的力，从而减小车身20的跳动，保证了悬架结构31的弹性运动特性，从而进一步提高汽车100的车身稳定性。1 to 4, the suspension structure 31 further includes a shock absorber 314, the shock absorber 314, the fixing member 313, and the connecting rod 312 are located on the same side of the support frame 311, and one end of the shock absorber 314 is connected to the support frame. 311 is hingedly connected, and the other end of the shock absorber 314 is hingedly connected with the fixing member 313 . When the wheel 10 is excited by the bottom surface, the force will be transmitted from the wheel 10 to the support frame 311 through the fixing member 313, the connecting rod 312 and the shock absorber 314, and then to the body 20. Referring to FIG. 4, when the wheel 10 jumps , the spring of the shock absorber 314 will be compressed, the shock absorber 314 can play the role of buffering the force, and after the shock absorption effect of the shock absorber 314, the force on the body 20 can be further reduced, thereby reducing the body 20 The bouncing of the suspension structure 31 ensures the elastic motion characteristics of the suspension structure 31 , thereby further improving the body stability of the automobile 100 .

本申请实施例中，减震器314可以是现有技术中的减震器314，具体的，如减震器314可以是单筒式减震器、双筒式减震器，或者也可以是对筒式减震器等，在本申请中不再对减震器的具体结构进行阐述。In this embodiment of the present application, the shock absorber 314 may be a shock absorber 314 in the prior art. Specifically, for example, the shock absorber 314 may be a single-tube shock absorber, a double-barrel shock absorber, or a For the cylindrical shock absorber, etc., the specific structure of the shock absorber will not be described in this application.

本申请实施例中，由于连接杆312可以限定车轮10在跳动过程中的跳动轨迹，减震器314可以实现对车身20受力的减震，因此，可以通过合理的设计连接杆312的长度(A点到B点的长度)，以及减震器314的长度、刚度、阻尼等性能，就能够改变车轮10跳动过程中，车轮10平面与车轮10中心的α夹角的变化轨迹，也就能够改变悬架的K&C特性，这样就能够根据不同的车辆需求，或者是不同的使用场景需求来选择适配相应的悬架，提高车辆的适配性，保证汽车100稳定性的同时扩大适用范围。In the embodiment of the present application, since the connecting rod 312 can limit the beating trajectory of the wheel 10 during the jumping process, the shock absorber 314 can realize the shock absorption of the force on the vehicle body 20. Therefore, the length of the connecting rod 312 can be reasonably designed (( The length from point A to point B), as well as the length, stiffness, damping and other properties of the shock absorber 314, can change the trajectory of the angle α between the plane of the wheel 10 and the center of the wheel 10 during the beating process of the wheel 10. Change the K&C characteristics of the suspension, so that the corresponding suspension can be selected and adapted according to the needs of different vehicles or different usage scenarios, improving the adaptability of the vehicle, ensuring the stability of the car 100 and expanding the scope of application.

其中，可以理解的是，参见图5中所示，连接杆312可以是多个，如图5中，连接杆312可以为四个，设置四个连接杆312来实现侧向力的传递，能够保证较高的力承受强度，保证悬架的使用寿命。多个连接杆312可以分布在支撑架311和固定件313的两侧，具体的，多个连接杆312可以均匀的分布在支撑架311和固定件313的两侧。如图5中所示，四个连接杆312两两分布在支撑架311的两侧，这样能够较为均匀的分散传递侧向力，进一步保证悬架的可承受强度。Among them, it can be understood that, referring to FIG. 5 , there may be multiple connecting rods 312 . As shown in FIG. 5 , there may be four connecting rods 312 . Ensure high force bearing strength and ensure the service life of the suspension. The plurality of connecting rods 312 may be distributed on both sides of the support frame 311 and the fixing member 313 . Specifically, the plurality of connecting rods 312 may be evenly distributed on both sides of the support frame 311 and the fixing member 313 . As shown in FIG. 5 , the four connecting rods 312 are distributed on both sides of the support frame 311 two by two, so that the lateral force can be distributed and transmitted more evenly, which further ensures the bearable strength of the suspension.

其中，当连接杆312为多个，并且多个连接杆312分布在固定件313和支撑架311两侧时，结合图4所示，减震器314可以设置在两侧的连接杆312之间。Wherein, when there are multiple connecting rods 312 and the multiple connecting rods 312 are distributed on both sides of the fixing member 313 and the support frame 311 , as shown in FIG. 4 , the shock absorber 314 can be arranged between the connecting rods 312 on both sides. .

图6是本申请实施例提供的一种汽车在过障碍物时的示意图，图7是本申请实施例提供的一种汽车在转弯时的示意图。FIG. 6 is a schematic diagram of a vehicle when passing an obstacle according to an embodiment of the present application, and FIG. 7 is a schematic diagram of a vehicle when turning according to an embodiment of the present application.

参见图6所示，当上述的悬架***或角模块***30应用于汽车100中后，在汽车100遇到障碍物200时(以一侧车轮10需要翻过障碍物200为例)，车轮10受到底面的激励，由于障碍物200的存在会使车轮10的轮面与轮心之间发生相对的倾斜，即车轮10发生弧形的跳动轨迹，而由于连接杆312分别与固定件313和支撑架311铰接连接可发生相对转动，保证了悬架的运动学特性，能够减小车轮10跳动带动车身20发生跳动而使车身20倾斜的现象，如图6中所示，可以有效的减小车身20随车轮10发生的跳动，使车身20基本保持水平不动。同时减震器314的减震作用也会衰减障碍物200的激励，进一步减小车身20的跳动，从而有效的提升车身20的稳定性和乘坐舒适性。Referring to FIG. 6 , when the above-mentioned suspension system or corner module system 30 is applied to the automobile 100, when the automobile 100 encounters an obstacle 200 (taking the wheel 10 on one side to roll over the obstacle 200 as an example), the wheel 10 is excited by the bottom surface, due to the existence of the obstacle 200, a relative inclination between the wheel surface and the wheel center of the wheel 10 will occur, that is, the wheel 10 will have an arc-shaped beating trajectory, and due to the connecting rod 312 and the fixing

member

313 and 313 respectively. The hinged connection of the support frame 311 can generate relative rotation, which ensures the kinematic characteristics of the suspension, and can reduce the phenomenon that the wheel 10 jumps and drives the body 20 to jump and causes the body 20 to tilt. As shown in FIG. 6 , it can effectively reduce the The bouncing of the vehicle body 20 with the wheel 10 keeps the vehicle body 20 basically horizontal. At the same time, the shock absorption effect of the shock absorber 314 will also attenuate the excitation of the obstacle 200 , further reducing the jumping of the vehicle body 20 , thereby effectively improving the stability and riding comfort of the vehicle body 20 .

当汽车100在转弯时，在惯性的作用下，会使车身20发生倾斜，具体的，位于转弯轨迹外侧的车身20端会高于位于转弯轨迹内侧的车身20端(如图7中所示)，而在车身20的带动下车轮10会发生远离地面的运动，尤其是位于转弯轨迹外侧的车轮10可能会脱离地面，导致车身20的翻转，造成翻车的事故，影响车身20的行驶稳定性。When the car 100 is turning, the body 20 will be tilted under the action of inertia. Specifically, the end of the body 20 located on the outside of the turning trajectory is higher than the end of the body 20 located on the inner side of the turning trajectory (as shown in FIG. 7 ). However, driven by the body 20, the wheels 10 will move away from the ground, especially the wheels 10 on the outside of the turning track may be separated from the ground, causing the body 20 to overturn, causing a rollover accident and affecting the driving stability of the body 20.

而在本申请实施例中，参见图7所示，由于连接杆312分别通过铰接的方式与车轮10上的固定件313和下车体21的支撑架311连接，连接杆312可相对固定件313和支撑架311转动，在位于转弯轨迹外侧的车身20发生远离地面的倾斜时，连接杆312与固定件313和支撑架311发生相对转动，这种转动余量的存在，可以减小车身20通过连接杆312带动车轮10发生远离地面的运动的几率，从而在转弯时，能够使车轮10与地面实现更为充分的接触，提高车身20的稳定性，减少汽车100转弯时发生翻车的现象。However, in the embodiment of the present application, as shown in FIG. 7 , since the connecting rod 312 is connected to the fixing member 313 on the wheel 10 and the supporting frame 311 of the lower body 21 by means of hinged connection, the connecting rod 312 can be opposite to the fixing member 313 . When the vehicle body 20 on the outside of the turning track tilts away from the ground, the connecting rod 312 rotates relative to the fixing member 313 and the support frame 311. The existence of this rotation margin can reduce the passage of the vehicle body 20. The connecting rod 312 drives the wheel 10 to move away from the ground, so that when turning, the wheel 10 and the ground can be more fully contacted, the stability of the vehicle body 20 is improved, and the car 100 rollover phenomenon can be reduced.

图8是本申请实施例提供的一种角模块***的拆分结构示意图。FIG. 8 is a schematic diagram of a split structure of a corner module system provided by an embodiment of the present application.

参见图8所示，悬架结构31还可以包括有第一衬套315和第二衬套316，第一衬套315和第二衬套316均为弹性件，在外力的作用下可以发生弹性形变，如第一衬套315和第二衬套316可以是弹性橡胶结构。Referring to FIG. 8 , the suspension structure 31 may further include a first bushing 315 and a second bushing 316 . Both the first bushing 315 and the second bushing 316 are elastic parts, which can be elastic under the action of external force. Deformation, such as the first bushing 315 and the second bushing 316 may be elastic rubber structures.

在第一衬套315内可以固定套设有第一连接件(图中未示出)，第二衬套316内可以固定套设有第二连接件(图中未示出)，其中，第一衬套315和第一连接件可以通过压紧的方式紧密贴合在一起，第二衬套316和第二连接件也可以通过压紧的方式紧密贴合在一起，即第一衬套315和第一连接件之间固定不会发生相对移动，第二衬套316和第二连接件之间固定不会发生相对移动。A first connecting piece (not shown in the figure) may be fixedly sleeved in the first bushing 315, and a second connecting piece (not shown in the figure) may be fixedly sleeved in the second bushing 316, wherein the first A bushing 315 and the first connector can be tightly fitted together by pressing, and the second bushing 316 and the second connector can also be tightly fitted together by pressing, that is, the first bushing 315 There is no relative movement between the second bushing 316 and the second connecting piece, and no relative movement occurs between the second bushing 316 and the second connecting piece.

如图8中所示，在连接杆312的一端可以具有第一安装座3121，在第一安装座3121内可以具有第一安装孔，第一衬套315可以固定套设在第一安装孔内，即第一衬套315套设在第一安装孔内，且与第一安装孔固定不会发生相对移动，第一连接件与连接杆312之间具有第一衬套315，连接杆312的一端可以通过第一连接件与支撑架311铰接连接，这样通过第一连接件就能够实现连接杆312与支撑架311之间的转动连接。As shown in FIG. 8 , one end of the connecting rod 312 may have a first mounting seat 3121, a first mounting hole may be provided in the first mounting seat 3121, and the first bushing 315 may be fixedly sleeved in the first mounting hole , that is, the first bushing 315 is sleeved in the first mounting hole, and will not move relative to the first mounting hole, and there is a first bushing 315 between the first connecting piece and the connecting rod 312, and the One end can be hingedly connected to the support frame 311 through the first connecting piece, so that the rotational connection between the connecting rod 312 and the support frame 311 can be realized through the first connecting piece.

在连接杆312的另一端可以具有第二安装座3122，第二安装座3122内可以具有第二安装孔，第二衬套316可以固定套设在第二安装孔内，即第二衬套316套设在第二安装孔内，且与第二安装孔固定不会发生相对移动，第二连接件与连接杆312之间具有第二衬套316，连接杆312的另一端可以通过第二连接件与固定件313铰接连接，这样通过第二连接件就能够实现连接杆312与固定件313之间的转动连接。The other end of the connecting rod 312 may have a second mounting seat 3122, the second mounting seat 3122 may have a second mounting hole, and the second bushing 316 may be fixedly sleeved in the second mounting hole, that is, the second bushing 316 It is sleeved in the second installation hole and fixed with the second installation hole without relative movement. There is a second bushing 316 between the second connecting piece and the connecting rod 312, and the other end of the connecting rod 312 can be connected by the second The connecting rod 312 and the fixing member 313 are hingedly connected, so that the second connecting member can realize the rotational connection between the connecting rod 312 and the fixing member 313 .

而由于第一连接件与连接杆312之间具有第一衬套315，连接杆312一端通过第一连接件与支撑架311转动连接，第二连接件与连接杆312之间具有第二衬套316，连接杆312另一端通过第二连接件与固定件313转动连接，结合图4所示，当车轮10 发生跳动时，车轮10受到地面激励，受到的力会从车轮10经过固定件313、连接杆312传递至支撑架311，弹性的第一衬套315和第二衬套316能够对该力起到一定的缓冲减震作用，衰减地面对车身20的激励。同时第一衬套315和第二衬套316在受力作用下会发生变形，进而改变车轮10的姿态和轨迹，第一衬套315和第二衬套316与减震器314的共同作用，能够进一步保证悬架的C特性，提升车身20的稳定性。Since there is a first bushing 315 between the first connecting piece and the connecting rod 312 , one end of the connecting rod 312 is rotatably connected to the support frame 311 through the first connecting piece, and there is a second bushing between the second connecting piece and the connecting rod 312 316, the other end of the connecting rod 312 is rotatably connected with the fixing piece 313 through the second connecting piece, and as shown in FIG. The connecting rod 312 is transmitted to the support frame 311 , and the elastic first bushing 315 and the second bushing 316 can buffer and damp the force to a certain extent, and attenuate the excitation of the vehicle body 20 by the ground. At the same time, the first bushing 315 and the second bushing 316 will be deformed under the action of force, thereby changing the attitude and trajectory of the wheel 10. The first bushing 315 and the second bushing 316 and the shock absorber 314 work together, The C characteristic of the suspension can be further ensured, and the stability of the vehicle body 20 can be improved.

具体的，在固定件313与支撑架311相对的一侧上可以具有朝向支撑架311凸起的第三安装座3131，参见图8所示，第三安装座3131可以是焊接在固定件313与支撑架311相对的一侧上的，或者第三安装座3131与固定件313可以一体成型，第三安装座3131所在平面可以垂直于固定件313所在平面。在第三安装座3131上具有第三安装孔3132，如连接杆312为多个时，第三安装孔3132也可以是多个。Specifically, on the opposite side of the fixing member 313 and the supporting frame 311, there may be a third mounting seat 3131 protruding toward the supporting frame 311. Referring to FIG. 8, the third mounting seat 3131 may be welded between the fixing member 313 and the supporting frame 311. On the opposite side of the support frame 311 , or the third mounting seat 3131 and the fixing member 313 may be integrally formed, the plane where the third mounting seat 3131 is located may be perpendicular to the plane where the fixing member 313 is located. The third mounting seat 3131 has a third mounting hole 3132 . For example, when there are multiple connecting rods 312 , there may also be multiple third mounting holes 3132 .

该悬架结构31还可以包括装配件(图中未示出)，第一连接件可以穿过第三安装孔3132后与装配件配合，从而使第一连接件与固定件313连接，也就通过第一连接件与凸起的第三安装座3131的连接实现了连接杆312与固定件313的连接。由于支撑架311位于固定件313的一侧，连接杆312用来连接支撑架311和固定件313，凸起的第三安装座3131可以便于实现连接杆312与固定件313的连接，从而便于侧向力的传递，提高悬架的刚度。The suspension structure 31 may also include a fitting (not shown in the figure), and the first connecting member may pass through the third mounting hole 3132 and then cooperate with the fitting, so that the first connecting member is connected with the fixing member 313, that is, The connection between the connecting rod 312 and the fixing member 313 is realized through the connection between the first connecting member and the protruding third mounting seat 3131 . Since the support frame 311 is located on one side of the fixing member 313, the connecting rod 312 is used to connect the support frame 311 and the fixing member 313, and the raised third mounting seat 3131 can facilitate the connection between the connecting rod 312 and the fixing member 313, thereby facilitating the connection between the connecting rod 312 and the fixing member 313. The transmission of force increases the stiffness of the suspension.

其中，第一连接件可以是螺栓、螺钉以及销钉等，装配件可以是能够与第一连接件配合的螺母、螺帽等。Wherein, the first connecting piece may be a bolt, a screw, a pin, etc., and the fitting piece may be a nut, a nut, etc. that can cooperate with the first connecting piece.

参见图8所示，支撑架311至少可以包括有与固定件313相对的正面、与固定件313相背的背面，以及连接正面和背面的两个侧面。在侧面上可以开设有第四安装孔(图中未示出)，第二连接件可以与第四安装孔配合，从而通过第二连接件实现连接杆312与支撑架311的铰接连接。由于支撑架311位于固定件313的一侧，使连接杆312通过第二连接件与支撑架311的侧面连接，可以便于实现连接杆312与支撑架311之间的连接，便于侧向力的传递，有助于提高悬架结构的刚度。Referring to FIG. 8 , the support frame 311 may at least include a front face opposite to the fixing member 313 , a back face opposite to the fixing member 313 , and two side surfaces connecting the front face and the back face. A fourth mounting hole (not shown in the figure) may be opened on the side surface, and the second connecting piece may cooperate with the fourth mounting hole, so as to realize the hinged connection between the connecting rod 312 and the support frame 311 through the second connecting piece. Since the support frame 311 is located on one side of the fixing member 313, connecting the connecting rod 312 to the side of the support frame 311 through the second connecting member can facilitate the connection between the connecting rod 312 and the support frame 311 and facilitate the transmission of lateral force. , which helps to improve the stiffness of the suspension structure.

其中，第二连接件可以是螺栓、销钉以及螺钉等，而第四安装孔可以是能够与之配合的螺纹孔等。Wherein, the second connecting member may be a bolt, a pin, a screw, etc., and the fourth mounting hole may be a threaded hole or the like that can be matched therewith.

本申请实施例中，悬架结构31还可以包括有第三连接件与第三连接件配合的第一配合件、第四连接件以及与第四连接件配合的第二配合件，如图8所示，减震器314一端的端部具有第一装配孔3141，减震器314另一端的端部具有第二装配孔3142。In the embodiment of the present application, the suspension structure 31 may further include a first matching piece for the third connecting piece to match with the third connecting piece, a fourth connecting piece and a second matching piece for matching with the fourth connecting piece, as shown in FIG. 8 . As shown, one end of the shock absorber 314 has a first assembly hole 3141 , and the other end of the shock absorber 314 has a second assembly hole 3142 .

支撑架311相对固定件313的一侧上也可以具有凸起的第四安装座(图中未示出)和第五安装座(图中未示出)，第四安装座和第五安装座上分别开设有第三装配孔和第四装配孔，第四安装座和第五安装座之间具有第一间隙，减震器314一端的端部可以设置在第一间隙内，第三连接件的一端可以依次穿过第三装配孔、第一装配孔3141和第四装配孔后与第一配合件配合，从而实现了减震器314一端与第四安装座和第五安装座之间的转动连接，进而实现了减震器314一端与支撑架311之间的铰接连接。凸起的第四安装座和第五安装座可便于实现减震器314与支撑架311之间的连接，便于提高悬架结构31的刚度。The side of the support frame 311 opposite to the fixing member 313 may also have a raised fourth installation seat (not shown in the figure) and a fifth installation seat (not shown in the figure), the fourth installation seat and the fifth installation seat A third assembly hole and a fourth assembly hole are respectively opened on the upper part, and there is a first gap between the fourth mounting seat and the fifth mounting seat. One end of the shock absorber 314 can pass through the third assembly hole, the first assembly hole 3141 and the fourth assembly hole in sequence and then cooperate with the first fitting, so as to realize the connection between one end of the shock absorber 314 and the fourth mounting seat and the fifth mounting seat. The rotational connection further realizes the hinged connection between one end of the shock absorber 314 and the support frame 311 . The raised fourth mounting seat and the fifth mounting seat can facilitate the connection between the shock absorber 314 and the support frame 311 , and facilitate the improvement of the rigidity of the suspension structure 31 .

相应的，固定件313与支撑架311相对的一侧上具有凸起的第六安装座3133和第七安装座3134，第六安装座3133和第七安装座3134上分别开设有第五装配孔和第六装配孔，第六安装座3133和第七安装座3134之间具有第二间隙，减震器314另一端的端部可以设置在第二间隙内，第四连接件的一端可以依次穿过第五装配孔、第二装配孔3142和第六装配孔后与第二配合件配合，从而实现了减震器314另一端与第六安装座3133和第七安装座3134之间的转动连接，进而实现了减震器314另一端与固定件313之间的铰接连接。凸起的第六安装座3133和第七安装座3134可便于实现减震器314与固定件313的连接，便于侧向力的传递，提高悬架结构的刚度。Correspondingly, a sixth mounting seat 3133 and a seventh mounting seat 3134 are protruded on the side opposite to the support frame 311 of the fixing member 313 , and fifth mounting holes are respectively opened on the sixth mounting seat 3133 and the seventh mounting seat 3134 and the sixth mounting hole, there is a second gap between the sixth mounting seat 3133 and the seventh mounting seat 3134, the end of the other end of the shock absorber 314 can be set in the second gap, and one end of the fourth connecting piece can pass through in sequence. After passing through the fifth mounting hole, the second mounting hole 3142 and the sixth mounting hole, it is matched with the second fitting, thereby realizing the rotational connection between the other end of the shock absorber 314 and the sixth mounting seat 3133 and the seventh mounting seat 3134 , thereby realizing the hinged connection between the other end of the shock absorber 314 and the fixing member 313 . The raised sixth mounting seat 3133 and the seventh mounting seat 3134 can facilitate the connection between the shock absorber 314 and the fixing member 313 , facilitate the transmission of lateral force, and improve the rigidity of the suspension structure.

另外，结合图8和图2所示，由于支撑架311的一端用来与下车体21的转向结构33连接，支撑架311的另一端通过连接杆312、固定件313与车轮10连接，通常车轮10设置在下车体21的下方，而固定件313等位于车轮10的内侧，因此可以使支撑架311为如图中所示的L型结构，包括位于车轮10上方的第一部分和位于车轮10内侧的第二部分，可便于通过悬架结构31实现车轮10与下车体21之间的连接，同时，也能够提高整个悬架结构31的空间利用率，进一步减小悬架结构31的体积，有助于提高整车的空间布置利用率。其中，转向结构33可以设置在第一部分远离车轮10的一面。In addition, as shown in FIG. 8 and FIG. 2 , since one end of the support frame 311 is used to connect with the steering structure 33 of the lower body 21 , the other end of the support frame 311 is connected to the wheel 10 through the connecting rod 312 and the fixing member 313 , usually The wheel 10 is arranged below the lower body 21, and the fixing member 313 is located on the inner side of the wheel 10, so the support frame 311 can be an L-shaped structure as shown in the figure, including the first part above the wheel 10 and the wheel 10. The second part of the inner side can facilitate the connection between the wheel 10 and the lower body 21 through the suspension structure 31 , and at the same time, it can also improve the space utilization rate of the entire suspension structure 31 and further reduce the volume of the suspension structure 31 , which helps to improve the utilization of the space layout of the vehicle. Wherein, the steering structure 33 may be disposed on the side of the first part away from the wheel 10 .

本申请实施例还提供一种角模块***30，至少包括上述任一的悬架结构31之外，还至少包括有驱动结构32、转向结构33、制动结构34。其中，转向结构33可以设置在汽车100的下车体21的下方，悬架结构31的支撑架311与转向结构33固定连接，悬架结构31的固定件313与驱动结构32转动连接，驱动结构32可以与汽车100的车轮10固定连接，从而通过悬架结构31将车轮10与下车体21连接。在转向时，转向结构33可以带动悬架结构31转动，进而带动车轮10发生转动，实现汽车100的转向。其中，驱动结构32可以是与车轮10连接的驱动电机。The embodiment of the present application further provides a corner module system 30 , which at least includes any of the above suspension structures 31 , and also includes at least a driving structure 32 , a steering structure 33 , and a braking structure 34 . The steering structure 33 may be disposed below the lower body 21 of the automobile 100, the support frame 311 of the suspension structure 31 is fixedly connected to the steering structure 33, the fixing member 313 of the suspension structure 31 is rotatably connected to the driving structure 32, and the driving structure 32 can be fixedly connected with the wheel 10 of the automobile 100 so as to connect the wheel 10 with the lower body 21 through the suspension structure 31 . When turning, the steering structure 33 can drive the suspension structure 31 to rotate, thereby driving the wheels 10 to rotate, so as to realize the steering of the automobile 100 . The drive structure 32 may be a drive motor connected to the wheel 10 .

转向结构33用于带动车轮10实现转向，驱动结构32用于驱动车轮10进行运转，而制动结构34用于使车轮10停止运转实现制动。该角模块***30将悬架结构31、驱动结构32、转向结构33以及制动结构34集成到一起，形成一个具有高集成度的模块化***，能够减少大量的机械传动部件，从而最大化整车布置空间。同时，悬架结构31所保有的K&C特性能够有效提升汽车100的行驶稳定性和乘坐舒适性。The steering structure 33 is used to drive the wheels 10 to implement steering, the driving structure 32 is used to drive the wheels 10 to rotate, and the braking structure 34 is used to stop the wheels 10 to implement braking. The corner module system 30 integrates the suspension structure 31 , the driving structure 32 , the steering structure 33 and the braking structure 34 to form a modular system with a high degree of integration, which can reduce a large number of mechanical transmission components, thereby maximizing the overall Car layout space. At the same time, the K&C characteristics retained by the suspension structure 31 can effectively improve the driving stability and ride comfort of the automobile 100 .

另外，该角模块***30还可以独立设置在各车轮10上，实现车轮10的独立作业，如独立转向、独立驱动及独立制动等，从而能够实现多个车轮10的不同转向，横向移动以及原地转向等特殊工作模式，使汽车100能够适应不同的工作场景，满足不同的驾驶需求，有效的提高了汽车100的机动性能。In addition, the corner module system 30 can also be independently arranged on each wheel 10 to realize the independent operation of the wheel 10, such as independent steering, independent driving and independent braking, etc., so as to realize different steering, lateral movement and Special working modes such as in-situ steering enable the car 100 to adapt to different work scenarios, meet different driving needs, and effectively improve the maneuverability of the car 100 .

其中，参见图8所示，该转向结构33包括有转向电机331、减速器332和角度传感器333，转向电机331和减速器332可以通过蜗轮蜗杆334连接，减速器332可以与支撑架311连接，转向电机331转动通过蜗轮蜗杆334以及减速器332后带动支撑架311转动，支撑架311通过减震器314、连接杆312以及固定件313带动车轮10发生转动，实现汽车100的转向。8, the steering structure 33 includes a steering motor 331, a reducer 332 and an angle sensor 333, the steering motor 331 and the reducer 332 can be connected by a worm gear 334, and the reducer 332 can be connected with the support frame 311, The steering motor 331 rotates through the worm gear 334 and the reducer 332 to drive the support frame 311 to rotate.

角度传感器333与减速器332连接，可以对当前支撑架311的转动速度以及转动角度等实现检测，便于对车轮10的转向进行控制。The angle sensor 333 is connected to the reducer 332 , and can detect the current rotation speed and rotation angle of the support frame 311 , so as to control the steering of the wheel 10 .

参见图8所示，制动结构34包括制动电机(图中未示出)，制动钳341和制动盘342，其中制动盘342设置在车轮10的驱动结构32靠近固定件313的一侧上，制动钳 341设置在固定件313上，制动电机与制动钳341连接，当需要制动时，制动电机可带动制动钳341向制动盘342移动，进而与制动盘342接触，制动盘342位于车轮10驱动结构32上并随着车轮10转动，而制动钳341设置在固定件313上相对车轮10固定不动，当制动钳341与制动盘342接触时，两者之间相互摩擦从而时车轮10停止转动，实现车轮10的制动。Referring to FIG. 8 , the brake structure 34 includes a brake motor (not shown in the figure), a brake caliper 341 and a brake disc 342 , wherein the brake disc 342 is arranged on the driving structure 32 of the wheel 10 near the fixing member 313 On one side, the brake caliper 341 is arranged on the fixing member 313, and the brake motor is connected with the brake caliper 341. When braking is required, the brake motor can drive the brake caliper 341 to move toward the brake disc 342, and then connect with the brake caliper 341. The moving disc 342 is in contact, the brake disc 342 is located on the driving structure 32 of the wheel 10 and rotates with the wheel 10, and the brake caliper 341 is arranged on the fixing member 313 and is fixed relative to the wheel 10. When the brake caliper 341 is connected to the brake disc When the 342 is in contact, the two rub against each other so that the wheel 10 stops rotating, and the braking of the wheel 10 is realized.

本申请实施例还提供一种汽车，该汽车100至少包括车轮10、下车体21和上述任一的角模块***30，其中，参见图8所示，车轮10可以包括有轮毂11和轮胎12，轮胎12套设在轮毂11的外周上。An embodiment of the present application further provides an automobile, the automobile 100 at least includes a wheel 10 , a lower body 21 and any one of the above-mentioned corner module systems 30 , wherein, as shown in FIG. 8 , the wheel 10 may include a wheel hub 11 and a tire 12 , the tire 12 is sleeved on the outer circumference of the wheel hub 11 .

图9是本申请实施例提供的一种汽车的结构示意图，图10是本申请实施例提供的一种汽车的俯视结构示意图。FIG. 9 is a schematic structural diagram of an automobile provided by an embodiment of the present application, and FIG. 10 is a schematic top-view structural schematic diagram of an automobile provided by an embodiment of the present application.

参见图9和图10所示，角模块***30设置在下车体21的下方，具体的，角模块通过转向结构33与下车体21相连，角模块***30的驱动结构32与轮毂11连接，驱动结构32带动轮毂11转动进而带动车轮10转动。Referring to FIGS. 9 and 10 , the corner module system 30 is arranged below the lower body 21. Specifically, the corner module is connected to the lower body 21 through the steering structure 33, and the driving structure 32 of the corner module system 30 is connected to the wheel hub 11. The driving structure 32 drives the wheel hub 11 to rotate and then drives the wheel 10 to rotate.

其中，汽车100可以包括有多个车轮10，每个车轮10可以连接有一个该角模块***30，如图9和图10中的四轮车为例，四个车轮10每个均连接有一个角模块***30，这样就能够实现车轮10的独立工作，使车轮10具有独立转向、独立驱动及独立制动等特性，从而使汽车100能够实现四轮转向、横向移动、原地转向等特殊工作模式，极大提高低速下的机动性能，可以适应不同工作场景，满足未来大量驾驶场景的需求。Wherein, the automobile 100 may include a plurality of wheels 10, and each wheel 10 may be connected with one of the corner module systems 30. For example, the four-wheeled vehicle in FIG. 9 and FIG. 10 is an example, each of the four wheels 10 is connected with one The corner module system 30 can realize the independent work of the wheels 10, so that the wheels 10 have the characteristics of independent steering, independent driving and independent braking, so that the automobile 100 can realize special work such as four-wheel steering, lateral movement, and in-situ steering. mode, which greatly improves the maneuverability at low speeds, can adapt to different work scenarios, and meet the needs of a large number of driving scenarios in the future.

另外，每个车轮10对应连接一个角模块***30，当整车车轮10较多时，设置在下车体21下方的角模块***30较多，可以提高下车体21的灵活性以及承重性。In addition, each wheel 10 is correspondingly connected to a corner module system 30 . When there are many wheels 10 on the vehicle, more corner module systems 30 are arranged under the lower body 21 , which can improve the flexibility and load-bearing capacity of the lower body 21 .

图11a是本申请实施例提供的一种汽车车轮蟹形转向的示意图，图11b是本申请实施例提供的一种汽车车轮原地转向的示意图，图11c是本申请实施例提供的一种汽车车轮四轮转向的示意图，图11d是本申请实施例提供的一种汽车车轮斜形转向的示意图，图11e是本申请实施例提供的一种汽车车轮前轮转向的示意图，图11f是本申请实施例提供的一种汽车车轮后轮转向的示意图。Fig. 11a is a schematic diagram of a crab steering wheel of an automobile provided by an embodiment of the present application, Fig. 11b is a schematic diagram of an in-situ steering of an automobile wheel provided by an embodiment of the present application, and Fig. 11c is a schematic diagram of an automobile wheel provided by an embodiment of the present application A schematic diagram of four-wheel steering of a wheel, FIG. 11d is a schematic diagram of an automobile wheel oblique steering provided by an embodiment of the present application, FIG. 11e is a schematic diagram of a front wheel steering of an automobile wheel provided by an embodiment of the present application, and FIG. 11f is a schematic diagram of the present application The embodiment provides a schematic diagram of a rear wheel steering of an automobile wheel.

具体的，如以汽车100的转向为例，每个车轮10对应一个角模块***30，也就使每个车轮10对应一个转向结构33，使多个车轮10能够实现独立转向，从而使汽车100能够实现如图11a中的蟹形转向，如图11b中的原地转向，图11c中的四轮转向，图11d中的斜形转向，图11e中的前轮转向以及图11f中的后轮转向等，其中，图11a至图11f中X指汽车的行驶方向，实现汽车100的灵活快速转向，使汽车100可适用于不同的工作场景和工作模式，提高汽车100的功能性和通用性。Specifically, taking the steering of the automobile 100 as an example, each wheel 10 corresponds to one corner module system 30, that is, each wheel 10 corresponds to a steering structure 33, so that multiple wheels 10 can realize independent steering, so that the automobile 100 can be steered independently. Can achieve crab steering as shown in Fig. 11a, in-situ steering as shown in Fig. 11b, four-wheel steering as shown in Fig. 11c, oblique steering as shown in Fig. 11d, front wheel steering as shown in Fig. 11e and rear wheel steering as shown in Fig. 11f Steering, etc., where X in FIGS. 11 a to 11 f refers to the driving direction of the car, to achieve flexible and fast steering of the car 100 , so that the car 100 can be applied to different working scenarios and working modes, and improve the functionality and versatility of the car 100 .

参见图12所示，在一种可能的实现方式中，本申请实施例提供的汽车100还可以包括有电控单元50和电控***40，电控***40与电控单元50连接，电控单元50与驱动结构32连接，驱动结构32与车轮10连接，电控***40通过电控单元50控制驱动结构32以驱动车轮10运动。Referring to FIG. 12 , in a possible implementation manner, the automobile 100 provided by the embodiment of the present application may further include an electronic control unit 50 and an electronic control system 40 , the electronic control system 40 is connected to the electronic control unit 50 , and the electronic control unit 50 is connected to the electronic control unit 50 . The unit 50 is connected with the driving structure 32 , the driving structure 32 is connected with the wheel 10 , and the electronic control system 40 controls the driving structure 32 through the electronic control unit 50 to drive the wheel 10 to move.

电控***40还与转向结构33的转向电机331连接，转向电机331经过减速器332后通过悬架结构31与车轮10相连，通过电控***40可以实现对汽车100车轮10转向的控制，从而控制汽车100的转向运动。The electronic control system 40 is also connected to the steering motor 331 of the steering structure 33. The steering motor 331 is connected to the wheel 10 through the suspension structure 31 after passing through the reducer 332. Control the steering movement of the car 100 .

电控***40还与制动结构34的制动电机连接，通过电控***40就可以实现对汽车100车轮10的制动，从而实现对汽车100的制动。这样通过电控***40就能够实现对汽车100的驱动结构32、制动结构34以及转向结构33的全线控，使汽车100可以通过电控***40控制运行，实现汽车100的可自动驾驶。The electronic control system 40 is also connected to the braking motor of the braking structure 34 , and the electronic control system 40 can realize the braking of the wheels 10 of the automobile 100 , thereby realizing the braking of the automobile 100 . In this way, the electronic control system 40 can realize the full line control of the driving structure 32 , the braking structure 34 and the steering structure 33 of the automobile 100 , so that the automobile 100 can be controlled and operated by the electronic control system 40 , and the automatic driving of the automobile 100 can be realized.

或者，在另一种可能的实现方式中，汽车100可以包括有电控单元50、转向件60(如方向盘)、驱动踏板70(如油门)和制动踏板80(如离合)。其中转向件60与转向结构33的转向电机331连接，转向电机331经过减速器332后通过悬架结构31与车轮10相连，通过转向件60可以实现对车轮10的转向，进而实现对汽车100的转向操作。Or, in another possible implementation manner, the automobile 100 may include an electronic control unit 50, a steering member 60 (eg, a steering wheel), a driving pedal 70 (eg, an accelerator) and a brake pedal 80 (eg, a clutch). The steering member 60 is connected to the steering motor 331 of the steering structure 33 , and the steering motor 331 is connected to the wheel 10 through the suspension structure 31 after passing through the reducer 332 . Steering operation.

驱动踏板70与电控单元50连接，电控单元50与驱动结构32连接，通过施加作用力在驱动踏板70上，并通过电控单元50控制驱动结构32以驱动车轮10运动，从而实现对汽车100的驱动。The driving pedal 70 is connected with the electronic control unit 50, and the electronic control unit 50 is connected with the driving structure 32. By exerting force on the driving pedal 70, the driving structure 32 is controlled by the electronic control unit 50 to drive the wheels 10 to move, thereby realizing the control of the vehicle. 100 drives.

制动踏板80与制动结构34的制动电机连接，通过对制动踏板80施加作用力，通过制动电机就可以实现对车轮10的制动。这样驾驶员就可以通过转向件60、驱动踏板70以及制动踏板80下发指令，使汽车100可适用于人工驾驶。The brake pedal 80 is connected to the brake motor of the braking structure 34 , and by applying force to the brake pedal 80 , the braking of the wheel 10 can be realized by the brake motor. In this way, the driver can issue commands through the steering member 60, the driving pedal 70 and the brake pedal 80, so that the automobile 100 is suitable for manual driving.

在本申请实施例的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应作广义理解，例如，可以是固定连接，也可以是通过中间媒介间接相连，可以是两个元件内部的连通或者两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请实施例中的具体含义。In the description of the embodiments of the present application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a The indirect connection through an intermediate medium may be the internal communication of the two elements or the interaction relationship between the two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present application according to specific situations.

本申请实施例的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”、“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the embodiments of the present application and the above-mentioned drawings are used to distinguish similar objects, while It is not necessary to describe a particular order or sequence.

Claims

一种悬架结构，用于连接汽车(100)的车轮(10)和下车体(21)，其特征在于，包括支撑架(311)、连接杆(312)和固定件(313)；A suspension structure for connecting a wheel (10) and a lower body (21) of an automobile (100), characterized in that it comprises a support frame (311), a connecting rod (312) and a fixing member (313);

所述固定件(313)和所述连接杆(312)位于所述支撑架(311)的一侧，所述支撑架(311)用于与所述下车体(21)上的转向结构(33)连接，所述连接杆(312)一端与所述支撑架(311)铰接连接，所述连接杆(312)的另一端与所述固定件(313)铰接连接，所述固定件(313)用于与所述车轮(10)转动连接。The fixing member (313) and the connecting rod (312) are located on one side of the support frame (311), and the support frame (311) is used for connecting with the steering structure (311) on the lower vehicle body (21). 33) connection, one end of the connecting rod (312) is hingedly connected with the support frame (311), and the other end of the connecting rod (312) is hingedly connected with the fixing piece (313), the fixing piece (313) ) is used for rotational connection with the wheel (10).
根据权利要求1所述的悬架结构，其特征在于，还包括减震器(314)，所述减震器(314)和所述固定件(313)、所述连接杆(312)位于所述支撑架(311)的同一侧，所述减震器(314)的一端与所述支撑架(311)铰接连接，所述减震器(314)的另一端与所述固定件(313)铰接连接。The suspension structure according to claim 1, further comprising a shock absorber (314), wherein the shock absorber (314), the fixing member (313), and the connecting rod (312) are located at the On the same side of the support frame (311), one end of the shock absorber (314) is hingedly connected to the support frame (311), and the other end of the shock absorber (314) is connected to the fixing member (313) Hinged connection.
根据权利要求1或2所述的悬架结构，其特征在于，还包括第一衬套(315)和第二衬套(316)，第一衬套(315)和第二衬套(316)为弹性件，所述第一衬套(315)内固定套设有第一连接件，所述第二衬套(316)内固定套设有第二连接件；The suspension structure according to claim 1 or 2, characterized in that, further comprising a first bushing (315) and a second bushing (316), a first bushing (315) and a second bushing (316) It is an elastic piece, the first bushing (315) is internally fixed with a first connecting piece, and the second bushing (316) is internally fixed with a second connecting piece;

所述连接杆(312)的一端具有第一安装座(3121)，所述第一安装座(3121)内具有第一安装孔，所述第一衬套(315)固定套设在所述第一安装孔内，所述连接杆(312)的一端通过所述第一连接件与所述支撑架(311)铰接连接；One end of the connecting rod (312) is provided with a first mounting seat (3121), the first mounting seat (3121) is provided with a first mounting hole, and the first bushing (315) is fixedly sleeved on the first mounting seat (3121). In an installation hole, one end of the connecting rod (312) is hingedly connected to the supporting frame (311) through the first connecting piece;

所述连接杆(312)的另一端具有第二安装座(3122)，所述第二安装座(3122)内具有第二安装孔，所述第二衬套(316)固定套设在所述第二安装孔内，所述连接杆(312)的另一端通过所述第二连接件与所述固定件(313)铰接连接。The other end of the connecting rod (312) is provided with a second mounting seat (3122), the second mounting seat (3122) is provided with a second mounting hole, and the second bushing (316) is fixedly sleeved on the In the second installation hole, the other end of the connecting rod (312) is hingedly connected to the fixing member (313) through the second connecting piece.
根据权利要求3所述的悬架结构，其特征在于，所述固定件(313)与所述支撑架(311)相对的一侧上具有凸起的第三安装座(3131)，所述第三安装座(3131)上具有第三安装孔(3132)；The suspension structure according to claim 3, wherein the fixing member (313) has a convex third mounting seat (3131) on the side opposite to the support frame (311), and the first The three mounting bases (3131) are provided with third mounting holes (3132);

还包括装配件，所述第一连接件穿过所述第三安装孔(3132)后与所述装配件配合。A fitting is also included, and the first connecting piece is matched with the fitting after passing through the third mounting hole (3132).
根据权利要求3或4所述的悬架结构，其特征在于，所述支撑架(311)至少包括：与所述固定件(313)相对的正面、与所述固定件(313)相背的背面以及连接所述正面和所述背面的侧面；The suspension structure according to claim 3 or 4, wherein the support frame (311) at least comprises: a front face opposite to the fixing member (313), and a front face opposite to the fixing member (313) a back side and a side connecting said front side and said back side;

所述侧面上具有第四安装孔，所述第二连接件与所述第四安装孔配合。A fourth mounting hole is provided on the side surface, and the second connecting piece is matched with the fourth mounting hole.
根据权利要求1-5任一所述的悬架结构，其特征在于，所述连接杆(312)为多个，多个所述连接杆(312)分布在所述支撑架(311)和所述固定件(313)的两侧。The suspension structure according to any one of claims 1-5, characterized in that, there are a plurality of the connecting rods (312), and the plurality of the connecting rods (312) are distributed on the support frame (311) and all the connecting rods (312). the two sides of the fixing member (313).
根据权利要求2所述的悬架结构，其特征在于，还包括第三连接件、与所述第三连接件配合的第一配合件、第四连接件以及与所述第四连接件配合的第二配合件，所述减震器(314)一端的端部具有第一装配孔(3141)，所述减震器(314)另一端的端部具有第二装配孔(3142)；The suspension structure according to claim 2, further comprising a third connecting piece, a first matching piece matched with the third connecting piece, a fourth connecting piece, and a third connecting piece matched with the fourth connecting piece a second fitting, an end of one end of the shock absorber (314) has a first assembly hole (3141), and an end of the other end of the shock absorber (314) has a second assembly hole (3142);

所述支撑架(311)相对所述固定件(313)的一侧上具有凸起的第四安装座和第五安装座，所述第四安装座和所述第五安装座上分别开设有第三装配孔和第四装配孔，所述第四安装座和所述第五安装座之间具有第一间隙，所述减震器(314)一端的端部位于所述第一间隙内，所述第三连接件的一端依次穿过所述第三装配孔、所述第一装配孔(3141)和所述第四装配孔后与所述第一配合件配合；A side of the support frame (311) opposite to the fixing member (313) is provided with a fourth mounting seat and a fifth mounting seat that are raised, and the fourth mounting seat and the fifth mounting seat are respectively provided with The third mounting hole and the fourth mounting hole, the fourth mounting seat and the fifth mounting seat have a first gap, and the end of one end of the shock absorber (314) is located in the first gap, One end of the third connecting piece passes through the third assembling hole, the first assembling hole (3141) and the fourth assembling hole in sequence and then cooperates with the first matching piece;

所述固定件(313)与所述支撑架(311)相对的一侧上具有凸起的第六安装座(3133)和第七安装座(3134)，所述第六安装座(3133)和所述第七安装座(3134)上分别开设有第五装配孔和第六装配孔，所述第六安装座(3133)和所述第七安装座(3134)之间具有第二间隙，所述减震器(314)另一端的端部位于所述第二间隙内，所述第四连接件的一端依次穿过所述第五装配孔、所述第二装配孔(3142)和所述第六装配孔后与所述第二配合件配合。The fixing member (313) has a convex sixth mounting seat (3133) and a seventh mounting seat (3134) on the opposite side of the support frame (311). The sixth mounting seat (3133) and A fifth mounting hole and a sixth mounting hole are respectively opened on the seventh mounting seat (3134), and there is a second gap between the sixth mounting seat (3133) and the seventh mounting seat (3134), so The end of the other end of the shock absorber (314) is located in the second gap, and one end of the fourth connecting piece passes through the fifth assembly hole, the second assembly hole (3142) and the The sixth assembly hole is then matched with the second matching piece.
一种角模块***，用于汽车(100)中，其特征在于，至少包括驱动结构(32)、转向结构(33)、制动结构(34)以及上述权利要求1-7任一所述的悬架结构(31)；A corner module system for use in an automobile (100), characterized in that it at least comprises a driving structure (32), a steering structure (33), a braking structure (34) and any of the above-mentioned claims 1-7. suspension structure (31);

所述转向结构(33)用于设置在所述汽车(100)的下车体(21)的下方，所述悬架结构(31)的支撑架(311)与所述转向结构(33)固定连接，所述悬架结构(31)的固定件(313)与所述驱动结构(32)转动连接，所述驱动结构(32)用于与所述汽车100的车轮(10)固定连接。The steering structure (33) is configured to be arranged below the lower body (21) of the automobile (100), and the support frame (311) of the suspension structure (31) is fixed to the steering structure (33). The fixing member (313) of the suspension structure (31) is rotatably connected with the driving structure (32), and the driving structure (32) is used for fixed connection with the wheel (10) of the automobile 100.
根据权利要求8所述的角模块***，其特征在于，所述转向结构(33)包括转向电机(331)、减速器(332)和角度传感器(333)；The angle module system according to claim 8, wherein the steering structure (33) comprises a steering motor (331), a speed reducer (332) and an angle sensor (333);

所述转向电机(331)和所述减速器(332)通过蜗轮蜗杆(334)连接，所述角度传感器(333)与所述减速器(332)连接，所述减速器(332)与所述支撑架(311)连接。The steering motor (331) and the reducer (332) are connected through a worm gear (334), the angle sensor (333) is connected with the reducer (332), and the reducer (332) is connected with the The support frame (311) is connected.
根据权利要求8或9所述的角模块***，其特征在于，所述制动结构(34)包括制动电机、制动钳(341)和制动盘(342)，所述制动盘(342)设置在所述驱动结构(32)靠近所述固定件(313)的一侧上，所述制动钳(341)设置在所述固定件(313)上，所述制动电机与所述制动钳(341)连接。The corner module system according to claim 8 or 9, wherein the brake structure (34) comprises a brake motor, a brake caliper (341) and a brake disc (342), and the brake disc ( 342) is arranged on the side of the driving structure (32) close to the fixing piece (313), the brake caliper (341) is arranged on the fixing piece (313), and the brake motor is connected to the fixing piece (313). The brake caliper (341) is connected.
一种汽车，其特征在于，至少包括车轮(10)、下车体(21)和上述权利要求8-10任一所述的角模块***(30)；An automobile, characterized in that it at least comprises a wheel (10), a lower body (21) and the corner module system (30) according to any one of the above claims 8-10;

所述角模块***(30)的转向结构(33)设置在所述下车体(21)的下方；The steering structure (33) of the corner module system (30) is arranged below the lower body (21);

所述车轮(10)包括轮毂(11)和轮胎(12)，所述轮胎(12)套设在所述轮毂(11)的外周上，所述角模块***(30)的驱动结构(32)与所述轮毂(11)连接。The wheel (10) includes a wheel hub (11) and a tire (12), the tire (12) is sleeved on the outer circumference of the wheel hub (11), and a driving structure (32) of the corner module system (30) Connect with the hub (11).
根据权利要求11所述的汽车，其特征在于，包括多个所述车轮(10)，每个所述车轮(10)连接有一个所述角模块***(30)。The vehicle according to claim 11, characterized in that it comprises a plurality of said wheels (10), each said wheel (10) being connected with one said corner module system (30).
根据权利要求12所述的汽车，其特征在于，还包括电控单元(50)和电控***(40)，所述电控***(40)与所述电控单元(50)连接，所述电控单元(50)与所述驱动结构(32)连接，所述电控***(40)分别与所述转向结构(33)的转向电机(331)、以及所述制动结构(34)的制动电机连接。The automobile according to claim 12, characterized in that, further comprising an electronic control unit (50) and an electronic control system (40), the electronic control system (40) being connected to the electronic control unit (50), the The electronic control unit (50) is connected with the driving structure (32), and the electronic control system (40) is respectively connected with the steering motor (331) of the steering structure (33) and the steering motor (331) of the braking structure (34). Brake motor connection.
根据权利要求12所述的汽车，其特征在于，还包括电控单元(50)、转向件(60)、驱动踏板(70)和制动踏板(80)；The automobile according to claim 12, characterized in that, further comprising an electronic control unit (50), a steering member (60), a drive pedal (70) and a brake pedal (80);

所述转向件(60)与所述转向结构(33)的转向电机(331)连接，所述驱动踏板(70)与所述电控单元(50)连接，所述电控单元(50)与所述驱动结构(32)连接，所述制动踏板(80)与所述制动结构(34)的制动电机连接。The steering member (60) is connected with the steering motor (331) of the steering structure (33), the driving pedal (70) is connected with the electronic control unit (50), and the electronic control unit (50) is connected with The driving structure (32) is connected, and the brake pedal (80) is connected with the braking motor of the braking structure (34).