An electric vehicle, an automatic driving method and equipment, and an automatic freight transportation method and system, the electric vehicle (1) comprising a plurality of sets of wheel assemblies (2) disposed at the lower surface of a chassis (10), wherein the plurality of sets of wheel assemblies (2) are independent of each other; each wheel assembly (2) comprises a wheel (21), a driving device (22) and a displacement device (23); the driving devices (22) drives the wheels (21) to rotate, and the displacement devices (23) at least drives the wheels (21) to move along the vehicle body width direction (X) of the electric vehicle (1). Each set of wheel assemblies (2) of the electric vehicle (1) has an independent power system, and the wheels (21) of each of the wheel assemblies (2) are independently controlled by means of the driving devices (22) and the displacement devices (23), so that when used to carry people, the electric vehicle (1) may meet the driving requirements of being highly flexible, stable, safe and comfortable; and when used for loading goods, the electric vehicle (1) may meet the cargo transportation requirements of being fully automated, highly efficient, highly accurate, low cost and highly safe.

A corner module of a vehicle includes: a suspension configured to be coupled to a vehicle body; a case configured to be coupled to the suspension and configured to be to be supported on the vehicle body via the suspension; an in-wheel motor disposed inside the case; a steering motor disposed inside the case; a first power transmission mechanism configured to connect the in-wheel motor and a vehicle wheel and configured to transmit a rotating force of the in-wheel motor to the vehicle wheel to drive the vehicle wheel; and a second power transmission mechanism configured to connect the steering motor and the vehicle wheel and configured to transmit a rotating force of the steering motor to the vehicle wheel to steer the vehicle wheel.

A corner module of a vehicle includes: a suspension configured to be coupled to a vehicle body; a case configured to be coupled to the suspension and configured to be to be supported on the vehicle body via the suspension; an in-wheel motor disposed inside the case; a steering motor disposed inside the case; a first power transmission mechanism configured to connect the in-wheel motor and a vehicle wheel and configured to transmit a rotating force of the in-wheel motor to the vehicle wheel to drive the vehicle wheel; and a second power transmission mechanism configured to connect the steering motor and the vehicle wheel and configured to transmit a rotating force of the steering motor to the vehicle wheel to steer the vehicle wheel.

A rigid-flexible coupling multi-degree-of-freedom walking position-adjusting leg unit and a hybrid robot platform thereof is provided and includes a vertical rigid-flexible coupling multi-degree-of-freedom walking position-adjusting leg unit and a horizontal rigid-flexible coupling multi-degree-of-freedom walking position-adjusting leg unit, which both include a moving device, a moving drive, a steering frame, a lifting frame, a spring device and an driving differential wheel set, in combination with a frame, a driver set, a battery pack and a control box, forming a multi-degree-of-freedom parallel mechanism platform. The hybrid robot platform including the rigid-flexible coupling multi-degree-of-freedom walking position-adjusting leg unit as provided by the present disclosure has functions of a rigid position adjustment, an elastic suspension and a rigid-flexible coupling position adjustment, and can automatically adapt to a working condition of the uneven ground.

A rigid-flexible coupling multi-degree-of-freedom walking position-adjusting leg unit and a hybrid robot platform thereof is provided and includes a vertical rigid-flexible coupling multi-degree-of-freedom walking position-adjusting leg unit and a horizontal rigid-flexible coupling multi-degree-of-freedom walking position-adjusting leg unit, which both include a moving device, a moving drive, a steering frame, a lifting frame, a spring device and an driving differential wheel set, in combination with a frame, a driver set, a battery pack and a control box, forming a multi-degree-of-freedom parallel mechanism platform. The hybrid robot platform including the rigid-flexible coupling multi-degree-of-freedom walking position-adjusting leg unit as provided by the present disclosure has functions of a rigid position adjustment, an elastic suspension and a rigid-flexible coupling position adjustment, and can automatically adapt to a working condition of the uneven ground.

A suspension device (rear suspension (10)) for vehicles is provided which includes a damper (40), a shaft (50) pivotably supporting an end of the damper (40), and a bush (60) including a cylindrical elastic member fitted onto the outer circumference of the shaft (50). The axis (C2) of the bush (60) is disposed along a line of intersection between an imaginary first plane (S1) and an imaginary second plane (S2), or along a line parallel to the line of intersection. The first plane (S1) is orthogonal to the axis (C1) of the damper (40) when a stroke position of a wheel (24) is a first position relative to the vehicle body (80) in the vertical direction of a vehicle body (80). The second plane (S2) is orthogonal to the axis (C1) of the damper (40) when the stroke position of the wheel (24) is a second position.

A suspension device (rear suspension (10)) for vehicles is provided which includes a damper (40), a shaft (50) pivotably supporting an end of the damper (40), and a bush (60) including a cylindrical elastic member fitted onto the outer circumference of the shaft (50). The axis (C2) of the bush (60) is disposed along a line of intersection between an imaginary first plane (S1) and an imaginary second plane (S2), or along a line parallel to the line of intersection. The first plane (S1) is orthogonal to the axis (C1) of the damper (40) when a stroke position of a wheel (24) is a first position relative to the vehicle body (80) in the vertical direction of a vehicle body (80). The second plane (S2) is orthogonal to the axis (C1) of the damper (40) when the stroke position of the wheel (24) is a second position.

The invention relates to a suspension for motor vehicles having controllable chassis clearance and stiffness, and includes a helical spring (1), having a controlling device (2) which is secured to the body of the vehicle and is located rotatably, preferably by means of a transmission stage driven by an electric motor. The controlling device (2) is embodied as a shaped nut, which is screwed directly onto the coils of the preferably cylindrical helical spring (1) and has roller bodies which are located along the helical line and are connected to coils of the helical spring; the controlling device (2) is fully movable and fixable onto and relative to the helical spring. The suspension for motor vehicles ensures enhanced stiffness of the suspension in the event of a decrease in the chassis clearance, reduced stiffness of the suspension when the chassis clearance is increased, and the possibility of building in a telescoping damper inside the helical spring without blocking access to its upper fastening point.

The invention relates to a suspension for motor vehicles having controllable chassis clearance and stiffness, and includes a helical spring (1), having a controlling device (2) which is secured to the body of the vehicle and is located rotatably, preferably by means of a transmission stage driven by an electric motor. The controlling device (2) is embodied as a shaped nut, which is screwed directly onto the coils of the preferably cylindrical helical spring (1) and has roller bodies which are located along the helical line and are connected to coils of the helical spring; the controlling device (2) is fully movable and fixable onto and relative to the helical spring. The suspension for motor vehicles ensures enhanced stiffness of the suspension in the event of a decrease in the chassis clearance, reduced stiffness of the suspension when the chassis clearance is increased, and the possibility of building in a telescoping damper inside the helical spring without blocking access to its upper fastening point.

A method for manufacturing a hollow spring member having a hollow steel spring rod having terminal sealed portions at both ends thereof. Each terminal sealed portion has a rotationally symmetric shape in which an axis passing through a center of the spring rod is an axis of symmetry. Each terminal sealed portion has an end wall portion including an end face; an arc-shaped smoothly curved surface between an outer peripheral surface of the spring rod and the end face, and a hermetically closed distal-end-center closure portion on the axis passing through the center of the spring rod. The method includes forming each of the end portions of the spring rod by forming a chamfered portion on an inner or outer peripheral side of the end portion of a hollow wire, the end portion having an opening portion at a distal end, heating the end portion of the hollow wire having the chamfered portion, and spinning the heated end portion to be gathered toward the axis from the outer peripheral side by a jig. The end wall portion, which includes the distal-end-center closure portion, is formed by the distal end of the end portion being joined together on the axis.