Vehicle having driving and steering wheels carried by legs articulated to the vehicle structure, with each leg incorporating a system for driving and orienting the respective wheel

A vehicle, comprising a vehicle structure and a plurality of wheels carried by respective legs articulated to the vehicle structure, wherein one or more of said articulated legs comprises a leg structure carrying an electric motor for driving a respective wheel, and a mechanical transmission operatively interposed between a shaft of said electric motor and a hub of said wheel, wherein said leg structure is pivotally mounted on a main support around an axis, which is transversal with respect to a longitudinal direction of the vehicle, wherein a spring element and a damper member are operatively interposed between said main support and the leg structure,

• wherein said main support is—in turn—rotatably mounted about said transverse axis on a base support, which is connected to the structure of the vehicle,
• wherein an actuator device is operatively interposed between said main support and said base support to adjust the position of the main support around said transverse axis with respect to the base support, the rotation of the main support being transmitted to the leg structure by said spring element and/or by said damper member, which are interposed between the main support and the leg structure,
• in such a way that the activation of said actuator device adjusts the position of a leg of the legs with respect to the vehicle, and consequently the height of the vehicle from the ground, while for a given adjustment of the height of the vehicle, during running of the vehicle, the leg structure pivots around said transverse axis with respect to said main support, against the action of said spring element and said damper member,
• said leg structure comprising a support casing within which said electric motor is arranged, and which includes:
• a first end portion rotatably supported by said main support around said transverse axis, and
• a second end portion that carries a wheel support unit, and
• wherein said wheel support unit includes:
• a hub-bearing support, rotatably mounted around a wheel steering axis on an auxiliary support for camber adjustment, which is—in turn—pivotally carried by the second end portion of the leg structure around a camber adjustment axis, and
• a camber adjustment actuator device carried, directly or indirectly, by said second end portion of the leg structure.