CN102092256B - Structure and method for reducing equivalent unsprung weight of wheel-rim electrically-driven system of single trailing arm type suspension - Google Patents

Structure and method for reducing equivalent unsprung weight of wheel-rim electrically-driven system of single trailing arm type suspension Download PDF

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CN102092256B
CN102092256B CN201110053092A CN201110053092A CN102092256B CN 102092256 B CN102092256 B CN 102092256B CN 201110053092 A CN201110053092 A CN 201110053092A CN 201110053092 A CN201110053092 A CN 201110053092A CN 102092256 B CN102092256 B CN 102092256B
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wheel
single longitudenal
unsprung weight
arm suspension
motor
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CN102092256A (en
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陈辛波
钟再敏
唐峰
王心坚
卢志坚
沈雨霏
陆承超
乔良
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Tongji University
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Abstract

The invention discloses a structure and method for reducing the equivalent unsprung weight of a wheel electrically-driven system of a single trailing arm type suspension, which is characterized in that an elastic rubber hinge is supported on a frame, one end of a swing arm of the single trailing arm type suspension is connected with the elastic rubber hinge, and the other end of the swing arm is connected with a reducer casing; the reducer casing is connected with a sleeve of a half axle; a motor is fixedly arranged on the reducer casing, the power output end of the motor is connected with a small gear, then the small gear is meshed with the large gear, and the large gear is connected with the sleeve of the half axle; and after the gear reducing is performed, the power is outputted to a rim by the half axle so as to drive wheels. The equivalent unsprung weight is reduced by reducing the distance between the mass centre of non-concentric parts of a wheel and a central swing axis of the single trailing arm type suspension. The structure and method disclosed by the invention have the advantages of increasing the vibration frequencies of wheels, reducing the resonance, reducing the impact and vibration from road surfaces, and improving the running smoothness of vehicles.

Description

Reduce single longitudenal arm suspension fork wheel edge power drive system equivalence unsprung weight structure and method
Technical field
The present invention relates to a kind of electric automobile chassis and transmission field, particularly a kind of single longitudenal arm suspension fork wheel edge power drive system equivalence unsprung weight structure and method of reducing.
Background technology
The affects ride safety of automobile property of automobile unsprung weight (nonspring carried mass), ride comfort.At present, the wheel limit power drive system that with the electric drive wheel is representative is because its drive system and complete vehicle structure is succinct, driving efficiency is high, and each driving wheel torque can independently be controlled, and helps improving the rideability under the abominable pavement conditions and becomes the research focus.But, will increase the automobile unsprung weight because motor is installed in the drive wheel.
When calculating the automobile unsprung weight, the sole mass of all parts was as unsprung weight in directly will taking turns in the past.But this is devious in fact, and different according to the form of suspension, and the deviation of its generation is also with different.Particularly in the electronlmobil that uses the wheel limit to drive, because the wheel motor quality is bigger, its different arrangements with respect to suspension also will have bigger difference to the influence that automobile vibration produces.That is what, automobile vibration is really exerted an influence is equivalent unsprung weight.
Wheel limit power drive system mass distribution is not that wheel limit power drive system sole mass simple superposition is got final product to the equivalent unsprung weight effect that automobile suspension system produced, but considered wheel limit power drive system quality is with respect to the distribution form of suspension.
Summary of the invention
Technical matters to be solved by this invention is that a kind of unsprung weight that reduces will be provided, and that reduces resonance reduces single longitudenal arm suspension fork wheel edge power drive system equivalence unsprung weight structure and method.
In order to solve above technical matters; The invention provides a kind of single longitudenal arm suspension fork wheel edge power drive system equivalence unsprung weight structure that reduces; Said single longitudenal arm suspension fork wheel edge power drive system comprises vehicle frame, elastic caoutchouc hinge, single longitudenal arm suspension swing arm, deceleration box, miniature gears, brake clamp, brake disc, hub bearing, semiaxis, wheel hub, wheel rim, motor, big gear wheel, axle tube; Wherein elastic caoutchouc hinge, single longitudenal arm suspension swing arm, deceleration box, axle tube and motor are fixedly installed in together; Wheel hub, wheel rim, hub bearing, semiaxis, axle tube and brake disc are the parts concentric with wheel, and deceleration box, miniature gears, brake clamp, motor and big gear wheel are and the nonconcentric(al) parts of wheel; Said elastic caoutchouc hinged bearing is in vehicle frame, and an end and the elastic caoutchouc of single longitudenal arm suspension swing arm are hinged, and the other end is connected with deceleration box; Deceleration box is connected with axle tube, and motor is installed on the deceleration box, is provided with power intake and clutch end in the deceleration box; The motor power mouth is connected with miniature gears, and miniature gears meshes with big gear wheel again, and big gear wheel connects with axle tube; Behind gear reduction, output power to wheel rim by semiaxis, with drive wheels.
To take turns the limit power drive system and be installed on the single longitudenal arm suspension, and swing around the single longitudenal arm center of oscillation.
Tradition vehicle body and vehicle frame coupled system model of vibration comprise body quality m 2, wheel mass m 1, suspension rate K, resistance of shock absorber coefficient C, tire stiffness K t, input function of road surface roughness q.Select wheel and vehicle body vertical coordinate z 1, z 2Be generalized coordinate, the differential equation of motion that obtains system is:
Figure 623595DEST_PATH_IMAGE001
Consider the coupled system model of vibration of the actual centroid position influence of suspension and vehicle wheel component, m 1Be suspension and vehicle wheel component quality, suppose that the actual centroid position of suspension and vehicle wheel component is L to the hinge length of swing arm and vehicle body 1, the swing arm length overall is L, the swing arm end with the vehicle body hinged place with the vehicle body bob,
Figure 677002DEST_PATH_IMAGE002
For with respect to initial equipoise
Figure 579099DEST_PATH_IMAGE003
Corner, J 1For suspension trailing arm and wheel limit power drive system pile warp are crossed self barycenter and are parallel to the rotor inertia of swing arm central axis.Suppose
Figure 59759DEST_PATH_IMAGE004
,
Figure 352200DEST_PATH_IMAGE005
for going up the initial deformation of lower spring under the static balance situation.
Introduce inertial force system, be converted into static problems.
Analyze the swing arm moment balance:
Figure 271614DEST_PATH_IMAGE006
Analysis
Figure 965901DEST_PATH_IMAGE007
is stressed to get:
Figure 617462DEST_PATH_IMAGE008
In addition according to having under the initial static balance situation:
Figure 725095DEST_PATH_IMAGE009
In addition, the relation between three coordinates is:
Figure 120304DEST_PATH_IMAGE010
As
Figure 669097DEST_PATH_IMAGE002
hour, have
Thereby (1), (2), (3) formula can be simplified to:
Figure 585024DEST_PATH_IMAGE012
To (6) formula differentiate:
With (8) formula substitution (4) formula; Cancellation
Figure 249541DEST_PATH_IMAGE014
,
Figure 508484DEST_PATH_IMAGE015
can get set of equations with (4) formula substitution (5) formula cancellation:
Figure 997234DEST_PATH_IMAGE016
Wherein, ;
The set of equations of more traditional coupled system model of vibration can obtain: equivalent unsprung weight .Simultaneously, can make the equivalence of wheel vertical stiffness for
Figure 749792DEST_PATH_IMAGE019
.
Cause
Figure 991418DEST_PATH_IMAGE020
is generally much smaller than
Figure 594438DEST_PATH_IMAGE021
; And
Figure 972329DEST_PATH_IMAGE022
is little; So
Figure 136857DEST_PATH_IMAGE023
is very little, so
Figure 600199DEST_PATH_IMAGE024
.
Visible by above analysis; It only is that variation has taken place equivalent unsprung weight that model can be considered, i.e.
Figure 944593DEST_PATH_IMAGE025
.It is thus clear that reduce equivalent unsprung weight and L 1With L certain relation is arranged.When one timing of single longitudenal arm suspension center of oscillation axis to wheel center length L, system's barycenter is the principal element of the equivalent unsprung weight size of decision to the distance size between the suspension center of oscillation axis.Here L 1The barycenter that is wheel and suspended rack assembly is to the distance between the single longitudenal arm suspension center of oscillation axis, so this centroid position affects L 1Size.
Certainly; This equivalent formula can be used for the calculating of the equivalent unsprung weight of single part generation; Both the equivalent unsprung weight of each parts can be considered ; For each part; Its
Figure 10955DEST_PATH_IMAGE027
is less, so the equivalent unsprung weight of each part is regarded as
Figure 227172DEST_PATH_IMAGE028
.L wherein iFor be numbered i (i=2,3 ..., 14) the part barycenter to the distance between the single longitudenal arm suspension center of oscillation axis.When part was calculated respectively, the centroid position when each part was more little to the distance between the single longitudenal arm suspension center of oscillation axis equally, and the equivalent unsprung weight of its generation is also just more little.
According to this formula, with equivalent unsprung weight separated into two parts, first comprises the parts concentric with wheel such as wheel rim, wheel hub, is immutable, and the equivalent unsprung weight of its generation can't change; Second portion is produced by the parts variable with respect to single longitudenal arm suspension center of oscillation axial line distance; This equivalence unsprung weight is directly proportional with sole mass; This ratio be its barycenter to suspension center of oscillation axial line distance than last wheel center to suspension center of oscillation axial line distance square; The equivalent unsprung weight of its generation is different and different with respect to the distance of single longitudenal arm with their barycenter; Reasonable Arrangement reduces the distance of these parts barycenter to single longitudenal arm suspension center of oscillation axis with respect to the parts of single longitudenal arm center of oscillation distance variable, can reduce equivalent unsprung weight.
Superior effect of the present invention is:
1) reduces unsprung weight the unsteadiness of wheels frequency is improved, can reduce resonance, reduce, improve occupant's traveling comfort, improve ride of vehicle, improve the service life of parts from the ground-surface shock and vibration;
2) reduce the ground connection performance that unsprung weight can also better be suspended in midair dynamic response and improve wheel, increase the driving safety of automobile.
Description of drawings
Fig. 1 adopts the structural representation of single longitudenal arm suspension for the present invention;
Fig. 2 is traditional vehicle body and vehicle frame coupled system model of vibration figure;
Fig. 3 is for considering the coupled system model of vibration figure of the actual centroid position influence of suspension and vehicle wheel component;
Fig. 4 is the swing arm force diagram;
Fig. 5 is m 2Force analysis figure;
Label declaration among the figure
1-vehicle frame; 2-elastic caoutchouc hinge;
3-single longitudenal arm suspension swing arm; 4-deceleration box;
5-miniature gears; 6-brake clamp;
7-brake disc; 8-hub bearing;
9-semiaxis; 10-wheel hub;
12-motor; 13-big gear wheel;
14-axle tube.
The specific embodiment
See also shown in the accompanying drawing, the present invention is done further description.
As shown in Figure 1; The invention provides a kind of single longitudenal arm suspension fork wheel edge power drive system equivalence unsprung weight structure that reduces; Said single longitudenal arm suspension fork wheel edge power drive system comprises vehicle frame 1, elastic caoutchouc hinge 2, single longitudenal arm suspension swing arm 3, deceleration box 4, miniature gears 5, brake clamp 6, brake disc 7, hub bearing 8, semiaxis 9, wheel hub 10, wheel rim 11, motor 12, big gear wheel 13, axle tube 14; Wherein elastic caoutchouc hinge 2, single longitudenal arm suspension swing arm 3, deceleration box 4, axle tube 14 and motor 12 are fixedly installed in together; Wheel hub 10, wheel rim 11, hub bearing 8, semiaxis 9, axle tube 14 and brake disc 7 are parts concentric with wheel, and deceleration box 4, miniature gears 5, brake clamp 6, motor 12 and big gear wheel 13 are and the nonconcentric(al) parts of wheel; Said elastic caoutchouc hinge 2 is supported on vehicle frame 1, and an end of single longitudenal arm suspension swing arm 3 is connected with elastic caoutchouc hinge 2, and the other end is connected with deceleration box 4; Deceleration box 4 is connected with axle tube 14, and motor 12 is installed on the deceleration box 4, is provided with power intake and clutch end in the deceleration box 4; Motor 12 clutch ends are connected with miniature gears 5, and miniature gears 5 meshes with big gear wheel 13 again, and big gear wheel 13 connects with axle tube 14; Hub bearing 8 is supported between axle tube 14 and the wheel hub 10, and wheel hub 10 captive joint wheel rims 11 are behind gear reduction; Output power to wheel rim 11 by semiaxis 9, with drive wheels.Brake disc 7 is installed together with wheel rim 11, wheel hub 10, and together with wheel revolutions, and 6 of brake clamps are fixed on the axle tube 14 through the brake clamp adapter plate.
To take turns the limit power drive system and be installed on the single longitudenal arm suspension, and swing around the single longitudenal arm center of oscillation.
As shown in Figure 2, traditional vehicle body and vehicle frame coupled system model of vibration comprise body quality m 2, wheel mass m 1, suspension rate K, resistance of shock absorber coefficient C, tire stiffness K t, input function of road surface roughness q.Select wheel and vehicle body vertical coordinate z 1, z 2Be generalized coordinate, the differential equation of motion that obtains system is:
Figure 109678DEST_PATH_IMAGE029
As shown in Figure 3, consider the coupled system model of vibration that the actual centroid position of suspension and vehicle wheel component influences, m 1Be suspension and vehicle wheel component quality, suppose that the actual centroid position of suspension and vehicle wheel component is L to the hinge length of swing arm and vehicle body 1, the swing arm length overall is L, the swing arm end with the vehicle body hinged place with the vehicle body bob,
Figure 524479DEST_PATH_IMAGE002
For with respect to initial equipoise
Figure 201448DEST_PATH_IMAGE003
Corner, J 1For suspension trailing arm and wheel limit power drive system pile warp are crossed self barycenter and are parallel to the rotor inertia of swing arm central axis.Suppose
Figure 639382DEST_PATH_IMAGE004
, for going up the initial deformation of lower spring under the static balance situation.
Introduce inertial force system, be converted into static problems.
As shown in Figure 4, analyze the swing arm moment balance:
Figure 594886DEST_PATH_IMAGE030
As shown in Figure 5, analysis
Figure 708335DEST_PATH_IMAGE007
is stressed to get:
Figure 217856DEST_PATH_IMAGE008
As shown in Figure 5, analysis
Figure 442163DEST_PATH_IMAGE021
is stressed to get
In addition according to having under the initial static balance situation:
Figure 769240DEST_PATH_IMAGE009
In addition, the relation between three coordinates is:
Figure 115907DEST_PATH_IMAGE010
As
Figure 262855DEST_PATH_IMAGE002
hour, have
Figure 290854DEST_PATH_IMAGE031
Thereby (1), (2), (3) formula can be simplified to:
Figure 472436DEST_PATH_IMAGE012
To (6) formula differentiate:
Figure 990005DEST_PATH_IMAGE032
(7)
Figure 889828DEST_PATH_IMAGE033
(8)
With (8) formula substitution (4) formula; Cancellation , can get set of equations with (4) formula substitution (5) formula cancellation:
Figure 180498DEST_PATH_IMAGE034
Wherein,
Figure 865820DEST_PATH_IMAGE017
;
The set of equations of more traditional coupled system model of vibration can obtain: equivalent unsprung weight
Figure 235621DEST_PATH_IMAGE018
.Simultaneously, can make the equivalence of wheel vertical stiffness for
Figure 391796DEST_PATH_IMAGE019
.
Cause
Figure 188851DEST_PATH_IMAGE020
is generally much smaller than
Figure 860004DEST_PATH_IMAGE021
; And
Figure 767917DEST_PATH_IMAGE022
is little; So
Figure 778598DEST_PATH_IMAGE023
is very little, so
Figure 808871DEST_PATH_IMAGE024
.
Visible by above analysis; It only is that variation has taken place equivalent unsprung weight that model can be considered, i.e.
Figure 905003DEST_PATH_IMAGE025
.It is thus clear that reduce equivalent unsprung weight and L 1With L certain relation is arranged.When one timing of single longitudenal arm suspension center of oscillation axis to wheel center length L, system's barycenter is the principal element of the equivalent unsprung weight size of decision to the distance size between the suspension center of oscillation axis.Here L 1The barycenter that is wheel and suspended rack assembly is to the distance between the single longitudenal arm suspension center of oscillation axis, so this centroid position affects L 1Size.
Certainly; This equivalent formula can be used for the calculating of the equivalent unsprung weight of single part generation; The equivalent unsprung weight that is each parts can be considered
Figure 616607DEST_PATH_IMAGE026
; For each part; Its is less, so the equivalent unsprung weight of each part is regarded as
Figure 948548DEST_PATH_IMAGE028
.L wherein iFor be numbered i (i=2,3 ..., 14) the part barycenter to the distance between the single longitudenal arm suspension center of oscillation axis.When part was calculated respectively, the centroid position when each part was more little to the distance between the single longitudenal arm suspension center of oscillation axis equally, and the equivalent unsprung weight of its generation is also just more little.
According to this formula, with equivalent unsprung weight separated into two parts, first comprises the parts concentric with wheel such as wheel rim, wheel hub, is immutable, and the equivalent unsprung weight of its generation can't change; Second portion is produced by the parts variable with respect to single longitudenal arm suspension center of oscillation axial line distance; This equivalence unsprung weight is directly proportional with sole mass; This ratio be its barycenter to suspension center of oscillation axial line distance than last wheel center to suspension center of oscillation axial line distance square; The equivalent unsprung weight of its generation is different and different with respect to the distance of single longitudenal arm with their barycenter; Reasonable Arrangement reduces the distance of these parts barycenter to single longitudenal arm suspension center of oscillation axis with respect to the parts of single longitudenal arm center of oscillation distance variable, can reduce equivalent unsprung weight.
Elastic caoutchouc hinge 2, single longitudenal arm suspension swing arm 3, deceleration box 4, miniature gears 5, brake clamp 6, brake disc 7, hub bearing 8, semiaxis 9, wheel hub 10, wheel rim 11, motor 12, big gear wheel 13, axle tube 14 among Fig. 1; Centroid position be O, O to the distance between the single longitudenal arm suspension center of oscillation axis be L 1, the equivalent unsprung weight that these parts produced does
The equivalent unsprung weight of its generation of parts that wheel rim 11, wheel hub 10 etc. and wheel are concentric can't change, and its distance with respect to single longitudenal arm of parts such as motor 12, big gear wheel 13 is different and different according to arranging.With equivalent unsprung weight separated into two parts, first comprises that wheel rim 11, wheel hub 10 etc. are immutable, and second portion is that those parts with respect to single longitudenal arm axis of oscillation distance variable produce.According to shown in Figure 1, with motor 12, reduction pinion teeth 5, brake clamp 6, deceleration box 4, and big gear wheel 13 and the nonconcentric(al) parts of wheel, arrange to be close to single longitudenal arm center of oscillation axis, can effectively reduce the equivalent unsprung weight of system.
Single longitudenal arm suspension fork wheel edge power drive system can use coil spring, torsion bar spring.
Single longitudenal arm suspension fork wheel edge power drive system can be used for non-wheel flutter, the complete use in the left and right sides.

Claims (1)

1. one kind reduces single longitudenal arm suspension fork wheel edge power drive system equivalence unsprung weight structure; It is characterized in that: said single longitudenal arm suspension fork wheel edge power drive system comprises vehicle frame, elastic caoutchouc hinge, single longitudenal arm suspension swing arm, deceleration box, miniature gears, brake clamp, brake disc, hub bearing, semiaxis, wheel hub, wheel rim, motor, big gear wheel, axle tube; Wherein elastic caoutchouc hinge, single longitudenal arm suspension swing arm, deceleration box, axle tube and motor are fixedly installed in together; Wheel hub, wheel rim, hub bearing, semiaxis, axle tube and brake disc are the parts concentric with wheel, and deceleration box, miniature gears, brake clamp, motor and big gear wheel are and the nonconcentric(al) parts of wheel; Said elastic caoutchouc hinged bearing is in vehicle frame, and an end and the elastic caoutchouc of single longitudenal arm suspension swing arm are hinged, and the other end is connected with deceleration box; Deceleration box is connected with axle tube, and motor is installed on the deceleration box, is provided with power intake and clutch end in the deceleration box; The motor power mouth is connected with miniature gears, and miniature gears meshes with big gear wheel again, and big gear wheel connects with axle tube; Behind gear reduction, output power to wheel rim by semiaxis, with drive wheels; To take turns the limit power drive system and be installed on the single longitudenal arm suspension, and swing around single longitudenal arm suspension center of oscillation; With the nonconcentric(al) parts of wheel, be variable in the wheel limit power drive system, reduce the distance of these parts barycenter, promptly reduced equivalent unsprung weight to single longitudenal arm suspension center of oscillation axis with respect to the distance of single longitudenal arm suspension center of oscillation axis.
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CN102582417B (en) * 2012-02-24 2014-11-05 无锡永凯达齿轮有限公司 Speed-reducing type wheel electric drive system of electric vehicle
CN103707749B (en) * 2013-12-11 2016-11-16 同济大学 A kind of integration single longitudenal arm gear speed-reducing type wheel power drive system
CN103832271A (en) * 2014-02-27 2014-06-04 浙江工业大学之江学院工业研究院 Independent drive independent steering mechanism of electric vehicle
CN108313889B (en) * 2018-01-03 2020-04-28 山东淄建集团有限公司 Hoisting device is assisted to super high-rise creeping formwork
CN110001381A (en) * 2019-04-16 2019-07-12 智导灵(苏州)智能科技有限公司 A kind of new-energy automobile wheel side separated type drive assembly
CN111186269A (en) * 2020-01-21 2020-05-22 同济大学 Integrated symmetric support single-swing-arm suspension wheel side electric driving system

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EP0878332A1 (en) * 1997-05-16 1998-11-18 Conception et Développement Michelin Unit comprising a wheel and a suspension integrated in the wheel hub
CN200953505Y (en) * 2006-10-09 2007-09-26 上海燃料电池汽车动力系统有限公司 Composite axle planetary frame outputting external rotor hub electric machine structure
WO2008035455A1 (en) * 2006-09-19 2008-03-27 Ntn Corporation Sensor-equipped axle unit integral with in-wheel motor
CN101638052A (en) * 2009-08-21 2010-02-03 山东大学 Wheel assembly with integration of independent driving, steering, suspending and braking

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Publication number Priority date Publication date Assignee Title
EP0878332A1 (en) * 1997-05-16 1998-11-18 Conception et Développement Michelin Unit comprising a wheel and a suspension integrated in the wheel hub
WO2008035455A1 (en) * 2006-09-19 2008-03-27 Ntn Corporation Sensor-equipped axle unit integral with in-wheel motor
CN200953505Y (en) * 2006-10-09 2007-09-26 上海燃料电池汽车动力系统有限公司 Composite axle planetary frame outputting external rotor hub electric machine structure
CN101638052A (en) * 2009-08-21 2010-02-03 山东大学 Wheel assembly with integration of independent driving, steering, suspending and braking

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