CN118182012A

CN118182012A - Integrated electrically driven suspension

Info

Publication number: CN118182012A
Application number: CN202410619611.8A
Authority: CN
Inventors: 郑直; 梁磊; 袁凯; 杨庆保; 孟蓉歌
Original assignee: Proton Automotive Technology Co Ltd
Current assignee: Proton Automotive Technology Co Ltd
Priority date: 2024-05-20
Filing date: 2024-05-20
Publication date: 2024-06-14

Abstract

The invention discloses an integrated electric drive suspension, which belongs to the technical field of vehicle driving and comprises a main beam for connecting a frame and a walking drive motor arranged on the main beam, wherein the walking drive motor comprises a motor body and two output shafts coaxially connected with the motor body, the main beam is provided with an inner cavity for accommodating and installing the motor body, the output shafts are connected with rims positioned outside the inner cavity, each output shaft is connected with a rim, and different rims are symmetrically distributed on two sides of the main beam. The wheel rims are arranged on two sides of the main beam, and the wheel rims are driven to rotate by the walking driving motor in the inner cavity of the main beam, so that the distribution width of wheels can be increased by increasing the distance between the wheel rims, further the average road surface load can be realized, the load concentration phenomenon of the road surface is reduced, and the driving road surface is protected.

Description

Integrated electrically driven suspension

Technical Field

The invention relates to the technical field of vehicle driving, in particular to an integrated electrically-driven suspension.

Background

Conventional heavy truck axles commonly employ a unitary axle solution where the two wheels are connected by a unitary axle structure and the axle cannot be disconnected. For the whole bridge of the drive axle, mainly comprise a speed reducer assembly, a bridge pipe, a half shaft, a hub and the like, while for the whole bridge of the non-drive axle, the structure is simpler, and most of trucks are adopted. The integral axle has the advantages of long power transmission chain, low efficiency, large system volume, heavy weight, difficult whole vehicle arrangement and the like.

At present, along with the wider and wider application of electric drive modes, a scheme of a distributed electric drive axle is also proposed, and the distributed electric drive axle is mainly divided into two modes: the two types of the wheel hub motor drive and the wheel rim motor drive are respectively adopted. The wheel hub motor and the wheel rim motor have the characteristic of independent driving of a single wheel, and the structure of the vehicle can be greatly simplified. However, the distributed electric drive axle has some defects, and the main defect is that when the distributed electric drive axle is applied to a vehicle type with a large carrying capacity, the load on the ground is concentrated, and the road surface is damaged, so that the distributed electric drive axle cannot be applied to commercial vehicle types such as heavy trucks.

Disclosure of Invention

The invention aims to provide an integrated electric drive suspension, which solves the problems in the prior art, the rims are arranged on two sides of a main beam, and the rims are driven to rotate by a walking drive motor in an inner cavity of the main beam, so that the distribution width of wheels can be increased by increasing the distance between the rims, further the average road surface load can be realized, the load concentration phenomenon of the road surface is reduced, and the running road surface is protected.

In order to achieve the above object, the present invention provides the following solutions:

The invention provides an integrated electric drive suspension, which comprises a main beam for connecting a frame and a walking drive motor arranged on the main beam, wherein the walking drive motor comprises a motor body and two output shafts coaxially connected with the motor body, the main beam is provided with an inner cavity for accommodating and installing the motor body, the output shafts are connected with rims positioned outside the inner cavity, each output shaft is connected with a rim, and different rims are symmetrically distributed on two sides of the main beam.

Preferably, the wheel rim further comprises a speed reducer for connecting the output shaft and the wheel rim, and a shell of the speed reducer is mounted on the main beam.

Preferably, an end portion of the output shaft, which is far away from the motor body, is provided with an external gear, the speed reducer comprises a speed reduction gear set which is located inside the shell, the external gear is located inside the shell and is meshed with an input end of the speed reduction gear set, and an output end of the speed reduction gear set is connected with the rim through an output flange.

Preferably, the reduction gear set comprises a duplex planetary gear, an annular gear and a planetary carrier, wherein the duplex planetary gear comprises a first planetary gear and a second planetary gear which are coaxially connected, the first planetary gear is meshed with the external gear, the second planetary gear is meshed with the annular gear and is rotationally connected with the planetary carrier, and the planetary carrier is connected with the output flange.

Preferably, the rotation axis of the planet carrier coincides with the rotation axis of the output shaft.

Preferably, the planet carrier comprises a radial extension section and an axial extension section which are connected with each other, the radial extension section is used for connecting the second planet gears, the axial extension section penetrates through the shell and is connected with the shell through a support bearing, and the part of the axial extension section located outside the shell is connected with the output flange.

Preferably, the axial extension section comprises a first step shaft section, a second step shaft section and a third step shaft section which are sequentially arranged, the first step shaft section is provided with the support bearing, the second step shaft section is connected with the output flange through a spline, the third step shaft section is provided with external threads, and the third step shaft section is provided with the output flange fixedly connected with the axial extension section through a first locking nut.

Preferably, a brake disc is further included, and the brake disc is connected with the output flange.

Preferably, the motor body is arranged transversely, and the output shaft is coaxially connected with the rotor of the motor body.

Preferably, the main beams are installed right below the frame, and the width of the frame is larger than the distance between the two main beams which are distributed transversely.

Preferably, the steering device further comprises a steering frame assembly, wherein the steering frame assembly comprises a steering driving motor and a steering main shaft, the main beam is rotationally connected with the frame through the steering main shaft, a fixing part of the steering driving motor is connected with the frame, and a rotating part of the steering driving motor is connected with the main beam.

Preferably, the bogie assembly further comprises a steering bracket, the middle part of the steering bracket is connected with the frame through the steering main shaft, and two ends of the steering bracket are respectively connected with the main beam through an air bag and a hinge shaft.

Preferably, the bogie assembly further comprises a steering gear ring, the outer diameter side of the steering gear ring is meshed with the rotating part, the end face of the steering gear ring is fixedly connected with the steering support, one end of the steering main shaft is fixedly connected with the frame, and the other end of the steering main shaft penetrates through the steering gear ring and the steering support and is fastened through a second locking nut.

Compared with the prior art, the invention has the following technical effects:

When the tires are arranged on the traditional high-load vehicle type, a mode of centralized arrangement of double tires is adopted, so that the load is centralized on the road surface.

The wheel rims are symmetrically distributed on the same main beam, so that the main beam Liang Junheng is stressed, the stress stability of the suspension is improved, and further, the wheel rims still have higher stability under high load.

Other technical schemes included in the invention can also achieve the following technical effects:

The traditional vehicle type with the vehicle frame is characterized in that the vehicle frames are positioned on the inner sides of the wheels which are transversely distributed, the width of the vehicle frame is limited necessarily under the condition that the width of the whole vehicle is required, and therefore the anti-rolling performance of the vehicle frame is poor.

The traditional steering suspension applied to special vehicles such as heavy flat transport vehicles mainly adopts hydraulic drive and steering, and has the advantages of complex system, low transmission efficiency, low running speed, high requirements on a control system and incapability of being applied to commercial vehicles such as heavy trucks. The invention connects the main beam with the frame in a rotating way, and the main beam is driven by the steering driving motor to rotate relative to the frame, so that the suspension can realize 360-degree all-wheel steering and driving, realize unconstrained maneuver, and can be built in a modularized way to be matched with chassis of different vehicle types.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a cross-sectional view of the present invention;

FIG. 3 is a schematic representation of the power transfer of the present invention;

FIG. 4is a cross-sectional view of a steering structure of the present invention;

Wherein, 1, rim; 2. a brake disc; 3. a housing; 4. a reduction gear set; 5. a main beam; 6. a walking driving motor; 7. an air bag; 8. an output shaft; 9. a planet carrier; 10. a support bearing; 11. a first lock nut; 12. an output flange; 13. a steering bracket; 14. a bogie assembly; 15. a steering drive motor; 16. a lower bearing; 17. a steering main shaft; 18. an upper bearing; 19. steering gear ring; 20. a second lock nut; 21. a first planetary gear; 22. a second planetary gear; 23. an inner gear ring.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. 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 invention aims to provide an integrated electric drive suspension, which solves the problems in the prior art, mounts rims on two sides of a main beam, and drives the rims to rotate by using a walking drive motor in an inner cavity of the main beam, so that the distribution width of wheels can be increased by increasing the distance between the rims, further the load of a road surface can be averaged, the load concentration phenomenon of the road surface is reduced, and the running road surface is protected.

In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.

As shown in fig. 1 to 4, the present invention provides an integrated electrically driven suspension, which can be independently mounted on a frame, and different suspensions may not be structurally connected, and a plurality of suspensions are distributed in different positions of the frame in a matrix form (for example, rectangular shapes are distributed at four corners of the frame, that is, front left, front right, rear left and rear right positions), and a suspension structure for supporting a vehicle may be formed after a tire is mounted on a rim 1 of the suspension. The single suspension is provided with a walking driving motor 6, so that high-efficiency self-driving can be realized.

Specifically, the integrated electric drive suspension comprises a main beam 5 for connecting a frame and a traveling drive motor 6 mounted on the main beam 5, wherein the main beam 5 is used as a main body frame of the integrated electric drive suspension and used as a bearing structure for transmitting the weight of the frame to wheels, so that the main beam 5 has higher strength and bearing capacity and can be welded by steel plates or cast by steel plates. The walking driving motor 6 comprises a motor body and two output shafts 8 coaxially connected with the motor body, the walking driving motor 6 has enough driving power, and different models can be selected according to the actual load demand of the frame. The motor body and the output shaft 8 can adopt two output modes of single-side power output and double-side power output. When the motor is in double-sided power output, the motor can be directly driven and indirectly driven through a gear structure, and when the motor is directly driven, a double-head output motor is adopted, at the moment, the motor body and the two output shafts 8 are in linear distribution, two ends of a rotor of the motor body are connected with different output shafts 8, and when the rotor rotates, synchronous driving of the different output shafts 8 is realized; when in indirect driving, a single-head output motor is adopted, at this time, the motor body and the two output shafts 8 are distributed in a T shape, a gear structure is arranged between the motor body and the output shafts 8, and the gear structure can convert the output form of the single side of the motor body into a double-side output form, so that the driving effect of the output shafts 8 identical to that described above is realized. When the motor is in single-side power output, a single-head output motor can be still adopted, at the moment, the motor body and the two output shafts 8 are in straight-line distribution, although the two output shafts 8 are arranged, one output shaft 8 is in power connection with the motor body, the other output shaft 8 is not in power connection with the motor body, and is only in rotary connection, that is, the rim 1 connected with the other output shaft 8 serves as a driven wheel, and the side tire only plays a bearing role and does not play a driving role. It should be noted that: whether a double-ended output motor or the most common single-ended output motor is adopted, the design which can be made by the person skilled in the art is a known technical means. In addition, when the double-side power output is adopted, a differential mechanism structure can be added in the middle of the output shaft 8, so that the rotating speed difference requirement of tires on two sides in the on-site turning process can be met, and the tire abrasion is reduced. The girder 5 has the inner chamber that holds and install motor body, installs motor body at the inner chamber, on the one hand can the rational arrangement output shaft 8's position, on the other hand can also utilize girder 5 to protect motor body from colliding with. The output shaft 8 is connected with a rim 1 positioned outside the inner cavity, and the rim 1 can be used as a wheel after being provided with a tire. Each output shaft 8 is connected with a rim 1, and different rims 1 are symmetrically distributed on both sides of the main beam 5, thereby forming a form in which the travel drive motor 6 is inside, and the rims 1 are symmetrically distributed on both sides of the travel drive motor 6. The structure can synchronously support the two sides of the walking driving motor 6, improve the bearing stability, and improve the spacing between the rims 1, namely the distribution width of the wheels.

In summary, the wheel rims 1 are arranged on two sides of the main beam 5, and the wheel rims 1 are driven to rotate by the walking driving motor 6 in the inner cavity of the main beam 5, so that the distribution width of wheels can be increased by increasing the distance between the wheel rims 1, further, the load on the road surface can be averaged, the load concentration phenomenon on the road surface is reduced, and the running road surface is protected. Furthermore, the wheel rims 1 are symmetrically distributed on the same main beam 5, so that the main beam 5 can bear force uniformly, the force stability of the suspension is improved, and further the stability under high load can be higher.

If the wheel rim 1 is directly driven to rotate by the traveling driving motor 6, the traveling speed of the wheels is not controlled easily due to the higher rotating speed of the traveling driving motor 6, and a speed reducer can be further arranged to reduce the output rotating speed of the wheel rim 1 transmitted by the traveling driving motor 6 and improve the driving torque. The speed reducer may be a conventional gear reducer, a planetary gear reducer, or the like, and the speed reducer is mounted between the output shaft 8 and the rim 1, and the housing 3 of the speed reducer may be mounted on the main beam 5 by bolts.

In a further scheme, in order to connect the output shaft 8 with the speed reducer, the output shaft 8 may take the form of a gear shaft, and an external gear is provided at an end portion of the output shaft 8 far from the motor body, and rotates with the output shaft 8 when the output shaft rotates. The speed reducer comprises a speed reducing gear set 4 positioned in the shell 3, the speed reducing gear set 4 can be one-stage speed reduction, two-stage speed reduction or planetary gear speed reduction, and the occupied volume of the speed reducer can be greatly reduced by penetrating an external gear into the shell 3 and engaging with the input end of the speed reducing gear set 4, so that the whole suspension structure is more compact. The output end of the reduction gear set 4 is connected with the rim 1 through the output flange 12, so that the power of the reduction gear set 4 can be smoothly output to the rim 1, and a bolt connection mode can be adopted when the output flange 12 is connected with the rim 1.

Further, the reduction gear set 4 may include a double planetary gear including a first planetary gear 21 and a second planetary gear 22 coaxially connected, the first planetary gear 21 and the second planetary gear 22 being rotatable in synchronization but different in diameter and number of teeth, the planetary gear 21 as a power input side having a larger diameter, and the first planetary gear 21 having a larger diameter than the outer gear, so that the effect of multi-stage reduction can be achieved. The first planetary gear 21 is meshed with the external gear at the end part of the output shaft 8, the second planetary gear 22 is meshed with the annular gear 23, and the central shaft of the second planetary gear 22 is rotationally connected with the planet carrier 9, so that when the output shaft 8 rotates, under the action of the annular gear 23, the first planetary gear 21 and the second planetary gear 22 synchronously rotate, and the effect of speed reduction is realized when power is finally transmitted to the planet carrier 9 because the diameter of the first planetary gear 21 is larger than that of the external gear and the diameter of the first planetary gear 21 is larger than that of the second planetary gear 22. The planet carrier 9 is connected to the output flange 12, so that the rotation of the planet carrier 9 can be transmitted to the rim 1 via the output flange 12.

The rotation axis of the planet carrier 9 can be coincident with the rotation axis of the output shaft 8, namely, after the output shaft 8 is subjected to the speed reduction of the speed reducer, the output shaft 8 can still coaxially output power, the first planet gears 21 and the second planet gears 22 can also provide radial support for the rotation of the output shaft 8 in the running process, and further, the running stability and the compact structure after the running driving motor 6 is in power connection with the speed reducer are ensured.

The planet carrier 9 comprises a radial extension and an axial extension which are connected with each other, wherein the radial extension is used for connecting the second planet gears 22, so that the second planet gears 22 can revolve around the central shaft of the planet carrier 9 while self-transmitting; the axial extension runs through the casing 3 of reduction gear and is connected through supporting bearing 10 with casing 3, because casing 3 carries out fixed connection with girder 5, and girder 5 can pass through casing 3 with the gravity of frame and transmit the axial extension, and the output flange 12 is connected to the part that the axial extension is located outside casing 3 to utilize the rim 1 that output flange 12 connected to realize the rotation support to girder 5.

In a further scheme, the axial extension section can comprise a first step shaft section, a second step shaft section and a third step shaft section which are sequentially arranged, wherein the first step shaft section is provided with a support bearing 10, and the support bearing 10 is arranged in a through hole of the shell 3; the second step shaft section is connected with the output flange 12 through a spline, so that the rotation of the planet carrier 9 can be smoothly transmitted to the output flange 12; the third step shaft section is provided with external threads, and is installed on the third step shaft section through a first lock nut 11, one side of an output flange 12 is abutted against a shaft shoulder of the third step shaft section, and the other side of the output flange 12 is abutted against the first lock nut 11, so that the output flange 12 is fixedly connected with the axial extension section.

In order to realize the braking of the rotation of the rim 1, the automobile wheel rim further comprises a brake disc 2, wherein the brake disc 2 is connected with an output flange 12, and when the automobile wheel rim is specifically installed, the brake disc 2 can be installed on one side of the output flange 12, which is close to the walking driving motor 6, through bolts. The brake disc 2 is provided with a brake pad, and the brake pad is clamped by a caliper to realize the braking of the rotation of the rim 1.

In the scheme that adopts motor body direct and the reduction gear to be connected, motor body has the output shaft 8 that the double-end set up, and output shaft 8 coaxial coupling motor body's rotor through transversely arranging motor body at girder 5 inner chamber, can be with two output shaft 8 symmetry to girder 5's both sides output power to can make output shaft 8's rotation axle center coincide with the rotation axle center of rotor, avoid the unstable atress that offset setting brought, reduced offset wearing and tearing, improved the stability of operation.

The girder 5 can be installed under the frame, from this, the frame can be placed directly over the suspension, like this, can set up the width of frame and be greater than the interval of two girders 5 of transverse distribution, can widen the frame to, on the basis that the frame widened, can promote the anti roll performance of frame.

The running driving motor 6 generates a large amount of heat during the running process, especially the running driving motor 6 for heavy-duty trucks, and good heat dissipation is required to ensure the normal running of the running driving motor 6. The outer diameter side of the motor body can be provided with annular heat dissipation ribs, and the part of the main beam 5 wrapping the motor body can be provided with hollowed holes, so that the walking driving motor 6 can be cooled by air cooling through the annular heat dissipation ribs and/or the hollowed holes. When the air cooling efficiency is low and the heat dissipation requirement cannot be met, water cooling and/or oil cooling can be additionally or alternatively arranged for active heat dissipation, so that the heat dissipation capacity is improved. In addition, the hollowed-out holes arranged on the main beam 5 can meet the requirement of reducing the weight of the main beam 5 while meeting the structural strength.

The suspension provided by the invention can be fixedly arranged on a frame through the main beam 5, and also can be rotatably arranged on the frame through the main beam 5, and a device for controlling the steering of the suspension is required to be arranged during the rotation and the installation so as to control the advancing direction of a vehicle body. The steering control device can be a bogie assembly 14, the bogie assembly 14 comprises a steering driving motor 15 and a steering spindle 17, the main beam 5 and the frame are rotationally connected through the steering spindle 17, and when the steering device is actually arranged, the steering spindle 17 can sequentially penetrate through the main beam 5 and the frame to realize the rotational connection of the main beam 5 and the frame, the steering spindle 17 can be fixedly connected with the frame, the main beam 5 is rotationally connected with the steering spindle 17, or the steering spindle 17 is fixedly connected with the main beam 5, and the frame is rotationally connected with the steering spindle 17. The frame is connected to the fixed part that turns to driving motor 15, turns to driving motor 15's rotation portion and connects girder 5, when the rotation portion drove girder 5 rotation, can realize the rotation of girder 5 for the frame, can control the corner size and the rotation direction of suspension for the frame through the corner size and the rotation direction of controlling turning driving motor 15. In addition, the steering driving motor 15 may be connected to the steering spindle 17 to realize coaxial driving of the main beam 5 (in this case, the steering spindle 17 is required to be connected to the main beam 5 in a non-rotating manner), or may drive the main beam 5 to rotate through gear engagement (in this case, the main beam 5 may be connected to the steering spindle 17 in a rotating manner).

If only the main beam 5 is directly mounted with the frame without a shock absorbing structure, the main beam 5 and the frame cannot play a role in buffering due to rigid connection when the vehicle walks. In order to improve the shock absorption effect, the bogie assembly 14 may further comprise a steering bracket 13, wherein the middle part of the steering bracket 13 is connected with the frame through a steering main shaft 17, and two ends of the steering bracket 13 are respectively connected with the main beam 5 through an air bag 7 and a hinge shaft. Through the arrangement of the bogie assembly 14, the buffering and damping capacity of the frame can be improved, and meanwhile, the suspension system can be lifted, so that the tire abrasion can be reduced.

In a further scheme, the bogie assembly 14 may further include a steering gear ring 19, the external teeth of the steering gear ring 19 are meshed with a rotating portion of the steering driving motor 15 (the rotating portion may be provided with corresponding meshing teeth), an end surface of the steering gear ring 19 is fixedly connected with the steering bracket 13, the steering gear ring 19 may include an external gear ring and a connecting ring (or a connecting plate, the shape is not limited, and the connecting ring may be circular or rectangular, etc.), the connecting ring is fixedly connected with the steering bracket 13, and the external gear ring is used for meshing with a gear of the rotating portion. One end of the steering main shaft 17 is fixedly connected with the frame, and the other end of the steering main shaft 17 penetrates through the steering gear ring 19 and the steering bracket 13 and is fastened through a second lock nut 20. In addition, in order to rotatably support the steering spindle 17, an upper bearing 18 and a lower bearing 16 are respectively disposed at positions of the steering spindle 17 on the upper and lower sides of the steering bracket 13, and the upper bearing 18 may be a tapered roller bearing, and the tapered roller bearing may be used to provide axial supporting force for the steering spindle 17, so as to ensure smooth rotation of the suspension.

The traveling power of the suspension is output to the reduction gear set 4 meshed with the traveling driving motor 6 through the output shaft 8, the reduction gear set 4 is transmitted to the planet carrier 9 after being reduced by adopting a planetary reduction mechanism, then the power is transmitted to the output flange 12 through the planet carrier 9 and then transmitted to the rim 1 through the output flange 12, thereby controlling the rotating direction of the traveling driving motor 6, controlling the rotating direction of the rim 1 and adjusting the rotating speed of the rim 1 by adjusting the rotating speed of the traveling driving motor 6.

The steering power of the suspension is transmitted to the bogie assembly 14 through the steering gear ring 19 meshed with the steering driving motor 15, and the bogie assembly 14 drives the main beam 5 to rotate so as to drive the whole suspension to steer, so that the driving direction of the rim 1 can be controlled by controlling the rotation direction of the steering driving motor 15, and the steering angle of the rim 1 can be adjusted by adjusting the rotation angle of the steering driving motor 15.

The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims

1. An integrated electrically driven suspension, characterized by: including the girder that is used for connecting the frame and install walking driving motor on the girder, walking driving motor includes motor body and coaxial coupling motor body's two output shafts, the girder has the inner chamber that holds and install motor body, output shaft has and is located the rim of the outside of inner chamber, every the output shaft all is connected with the rim, different rim symmetric distribution is in the both sides of girder.

2. The integrated electrically driven suspension of claim 1 wherein: the speed reducer is used for connecting the output shaft and the rim, and a shell of the speed reducer is mounted on the main beam.

3. The integrated electrically driven suspension of claim 2 wherein: the end of the output shaft, which is far away from the motor body, is provided with an external gear, the speed reducer comprises a speed reduction gear set which is positioned in the shell, the external gear is positioned in the shell and is meshed with the input end of the speed reduction gear set, and the output end of the speed reduction gear set is connected with the rim through an output flange.

4. An integrated electrically driven suspension according to claim 3, wherein: the speed reduction gear set comprises a duplex planetary gear, an inner gear ring and a planetary carrier, wherein the duplex planetary gear comprises a first planetary gear and a second planetary gear which are coaxially connected, the first planetary gear is meshed with the outer gear, the second planetary gear is meshed with the inner gear ring and is rotationally connected with the planetary carrier, and the planetary carrier is connected with the output flange.

5. The integrated electrically driven suspension of claim 4 wherein: the rotation axis of the planet carrier coincides with the rotation axis of the output shaft.

6. The integrated electrically driven suspension of claim 4 wherein: the planet carrier comprises a radial extension section and an axial extension section which are connected with each other, the radial extension section is used for connecting the second planet gear, the axial extension section penetrates through the shell and is connected with the shell through a support bearing, and the part of the axial extension section located outside the shell is connected with the output flange.

7. The integrated electrically driven suspension of claim 6 wherein: the axial extension section comprises a first step shaft section, a second step shaft section and a third step shaft section which are sequentially arranged, the first step shaft section is provided with a supporting bearing, the second step shaft section is connected with the output flange through a spline, the third step shaft section is provided with external threads, and the third step shaft section is provided with a first locking nut to fixedly connect the output flange with the axial extension section.

8. The integrated electrically driven suspension of claim 4 wherein: the device further comprises a brake disc, and the brake disc is connected with the output flange.

9. The integrated electrically driven suspension of claim 1 wherein: the motor body is transversely arranged, and the output shaft is coaxially connected with the rotor of the motor body.

10. The integrated electrically driven suspension of claim 1 wherein: the main beam is arranged right below the frame, and the width of the frame is larger than the distance between the two main beams which are transversely distributed.

11. An integrated electrically driven suspension according to any one of claims 1-10, wherein: the steering device comprises a frame, and is characterized by further comprising a steering frame assembly, wherein the steering frame assembly comprises a steering driving motor and a steering main shaft, the main beam is rotationally connected with the frame through the steering main shaft, a fixing part of the steering driving motor is connected with the frame, and a rotating part of the steering driving motor is connected with the main beam.

12. The integrated electrically driven suspension of claim 11 wherein: the bogie assembly further comprises a steering bracket, the middle part of the steering bracket is connected with the frame through the steering main shaft, and two ends of the steering bracket are respectively connected with the main beam through an air bag and a hinge shaft.

13. The integrated electrically driven suspension of claim 12 wherein: the bogie assembly further comprises a steering gear ring, the outer diameter side of the steering gear ring is meshed with the rotating part, the end face of the steering gear ring is fixedly connected with the steering support, one end of the steering main shaft is fixedly connected with the frame, and the other end of the steering main shaft penetrates through the steering gear ring and the steering support and is fastened through a second locking nut.