CN103832264B - For vehicle power drive system and there is its vehicle - Google Patents
For vehicle power drive system and there is its vehicle Download PDFInfo
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- CN103832264B CN103832264B CN201410071517.XA CN201410071517A CN103832264B CN 103832264 B CN103832264 B CN 103832264B CN 201410071517 A CN201410071517 A CN 201410071517A CN 103832264 B CN103832264 B CN 103832264B
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Abstract
The invention discloses a kind of power drive system for vehicle and there is its vehicle.This power drive system comprises: single-row single-stage planetary gear train, and single-row single-stage planetary gear train comprises the first sun wheel, the first row star-wheel, the first row carrier and the first internally toothed annulus; Single double pinions mechanism, single double pinions mechanism comprises the second sun wheel, second expert's star-wheel, second layman's star-wheel, the second pinion carrier and the second internally toothed annulus, second internally toothed annulus and the first internally toothed annulus are fixed, and the second sun wheel and the first sun wheel are fixed; Driving engine, driving engine can engage the second pinion carrier; First motor, the first motor is connected with the first sun wheel; Second motor, the second motor can engage the first row carrier; Brake equipment, brake equipment can brake the first and second internally toothed annuluss.Power drive system of the present invention is provided with two motors, has enriched the operational mode of power drive system, makes power drive system can adapt to different driving demand, improves fuel economy.
Description
Technical field
The present invention relates to a kind of power drive system for vehicle and there is the vehicle of this power drive system.
Background technology
Conventional power system installs additional a low-power machine and can form hybrid power transmission system, this motor can be used for start the engine and serves as electrical generator or as assistive drive source.But, due to the remodeling just on conventional power system, be subject to the restriction of existing power system architecture and car load cabin space, shared by power of motor, the ratio of driving power is lower, can only the fuel economy of improvement vehicle by a small margin, and transmission mode is few, and practicality is poor.
Summary of the invention
The present invention is intended to solve one of above-mentioned technical matters of the prior art at least to a certain extent.
For this reason, one object of the present invention is to propose a kind of power drive system for vehicle, and this power drive system is provided with two motors, has enriched the operational mode of power drive system, make power drive system can adapt to different driving demand, improve fuel economy.
Another object of the present invention is to propose a kind of vehicle, and this vehicle comprises the above-mentioned power drive system for vehicle.
According to the power drive system for vehicle of the embodiment of the present invention, comprising: single-row single-stage planetary gear train, described single-row single-stage planetary gear train comprises the first sun wheel, the first row star-wheel, the first row carrier and the first internally toothed annulus; Single double pinions mechanism, described single double pinions mechanism comprises the second sun wheel, second expert's star-wheel, second layman's star-wheel, the second pinion carrier and the second internally toothed annulus, wherein said second internally toothed annulus and described first internally toothed annulus are fixed, and described second sun wheel and described first sun wheel are fixed; Driving engine, the mouth of described driving engine is arranged to optionally engage described second pinion carrier; First motor, the mouth of described first motor is connected with described first sun wheel; Second motor, the mouth of described second motor is arranged to optionally engage described the first row carrier; Brake equipment, described brake equipment is arranged to optionally brake described first internally toothed annulus and described second internally toothed annulus; And efferent, the Power output that described efferent is arranged to be suitable at least one in described driving engine, described first motor and described second motor to export is to the wheel of described vehicle.
Thus, according to the power drive system for vehicle of the embodiment of the present invention, by arranging the first motor and the second motor, thus compensate for the shortcoming of driving engine fuel economy deficiency at the low rotational speed, possessing again regular fuel vehicle dynamic quality and course continuation mileage requirement simultaneously.And, particularly under parallel running pattern, by the rotating speed of change first motor, output speed consecutive variations can be made, and then substantially increases driver comfort.
In addition, the power drive system according to the embodiment of the present invention has plurality of operating modes, can meet driving demand better, greatly improves the fuel economy of vehicle.
In addition, according to the power drive system for vehicle of the embodiment of the present invention, can also following additional technical feature be had:
According to one embodiment of present invention, power drive system also comprises: first clutch, and described first clutch is located between described driving engine and described second pinion carrier; And second clutch, described second clutch is located between described second motor and described the first row carrier.
According to one embodiment of present invention, described first motor, described second motor, described single-row single-stage planetary gear train, described single double pinions mechanism and described driving engine are coaxially arranged.
According to one embodiment of present invention, described first motor, described second motor, described single-row single-stage planetary gear train, described single double pinions mechanism and described driving engine are arranged in the axial direction in turn.
According to one embodiment of present invention, described first internally toothed annulus and described second internally toothed annulus into a single integrated structure.
According to one embodiment of present invention, described brake equipment is drg.
According to one embodiment of present invention, described efferent comprises output gear, and the rotor of described output gear and described second motor is fixed.
According to one embodiment of present invention, described output gear be fixed on the rotor of described second motor towards on the side of described second clutch.
According to one embodiment of present invention, power drive system also comprises: battery component, and described battery component is connected with described second motor with described first motor respectively.
Vehicle according to another embodiment of the present invention, comprises the power drive system for vehicle in above-described embodiment.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the power drive system for vehicle according to the embodiment of the present invention;
Fig. 2-Fig. 5 is the power transmission course diagram of power drive system shown in Fig. 1 when being in different mode.
Detailed description of the invention
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the present invention, and can not limitation of the present invention be interpreted as.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " cw ", orientation or the position relationship of the instruction such as " conter clockwise " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise one or more these features.In describing the invention, the implication of " multiple " is two or more, unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or D score can comprise the first and second features and directly contact, also can comprise the first and second features and not be directly contact but by the other characterisation contact between them.And, fisrt feature second feature " on ", " top " and " above " comprise fisrt feature directly over second feature and oblique upper, or only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " below " and " below " comprise fisrt feature immediately below second feature and tiltedly below, or only represent that fisrt feature level height is less than second feature.
The power drive system 100 for vehicle according to the embodiment of the present invention is described in detail below with reference to Fig. 1-Fig. 5.
Single-row single-stage planetary gear train, single double pinions mechanism, driving engine 15, first motor 1, second motor 2, brake equipment and efferent 3 is comprised according to the power drive system 100 of the embodiment of the present invention.
Single-row single-stage planetary gear train comprises the first sun wheel 8, the first row star-wheel 7, the first row carrier 5 and the first internally toothed annulus 61.Should be appreciated that single-row single-stage planetary gear train has been prior art, and be well known for ordinary skill in the art.
Specifically, with reference to shown in Fig. 1, the first sun wheel 8 and the first internally toothed annulus 61 coaxially arranged, the first sun wheel 8 can be positioned at the inner side of the first internally toothed annulus 61, the first row star-wheel 7 engages with the first sun wheel 8 and the first internally toothed annulus 61 respectively, and the first row star-wheel 7 is located in the first row carrier 5.
Single double pinions mechanism comprises the second sun wheel 13, second expert's star-wheel 12, second layman's star-wheel 10, second pinion carrier 11 and the second internally toothed annulus 62.Should be appreciated that single double pinions mechanism has been prior art, and be well known for ordinary skill in the art.
Specifically, with reference to shown in Fig. 1, second sun wheel 13 and the second internally toothed annulus 62 coaxially arranged, second sun wheel 13 can be positioned at the inner side of the second internally toothed annulus 62, second expert's star-wheel 12 engages with the second sun wheel 13, second layman's star-wheel 10 engages with second expert's star-wheel 12 and the second internally toothed annulus 62 respectively, and second expert's star-wheel 12 and second layman's star-wheel 10 are all arranged in the second pinion carrier 11.
Wherein, the second internally toothed annulus 62 and the first internally toothed annulus 61 are fixed, thus the second internally toothed annulus 62 and the first internally toothed annulus 61 can synchronous axial system.Second sun wheel 13 and the first sun wheel 8 are fixed, thus the second sun wheel 13 and the first sun wheel 8 can synchronous axial system.
With reference to shown in Fig. 1, the mouth (such as, bent axle) of driving engine 15 is arranged to optionally engage the second pinion carrier 11, to transmit power.In other words, can engage or disconnect between driving engine 15 with the second pinion carrier 11.
The feature of driving engine 15 is directly machine entered internal-combustion and produce powers after liquid or gaseous fuel and air mixing, and then is transformed into mechanical energy.For vehicle, its driving engine 15 generally can adopt four-stroke spark ignition engine or diesel engine, and driving engine 15 generally can comprise body group, piston crank mechanism, feed system, ignition system, cooling system and lubricating system etc.
Body group is the assembling body of each mechanism of driving engine 15, system, and the straight reciprocating motion of piston can be changed into the rotary motion of bent axle and exportable power by piston crank mechanism.Valve mechanism is used for timing air inlet, exhaust, ensures carrying out smoothly of each circulation of driving engine 15.Feed system can will be used for burning in gas mixture supply cylinder.Cooling system is used for cooled engine 15, ensures that the operating temperature of driving engine 15 is in suitable temperature range.Lubricating system is used for each kinematic pair in lubricating engine 15, reduces wear and waste of power.
Should be understood that, above-mentioned concrete structure, principle of work etc. about driving engine 15 and subsystems thereof, clamp mechanism has been prior art all, and is well known to those of ordinary skill in the art, here for succinct object, is described in detail no longer one by one.
With reference to shown in Fig. 1, the mouth (such as, the output shaft of the first motor 1 or rotor) of the first motor 1 is connected with the first sun wheel 8, to transmit power.In other words, the mouth of the first motor 1 carries out coordinating transmission with the first sun wheel 8, and such as the first motor 1 can output power to the first sun wheel 8, drives the first sun wheel 8 to rotate, and for example the first sun wheel 8 can drive the first motor 1 conversely, thus the first motor 1 can generate electricity.
With reference to shown in Fig. 1, the mouth (such as, the output shaft of the second motor 2 or rotor) of the second motor 2 is arranged to optionally engage the first row carrier 5, to transmit power.In other words, the mouth of the second motor 2 can engage or disconnect with between the first row carrier 5.Wherein, the first motor 1 and the second motor 2 are dynamotor, and namely the first motor 1 and the second motor 2 all can as electrical motors, or also can as electrical generator.
Brake equipment (such as, drg 9) be arranged to optionally brake the first internally toothed annulus 61 and the second internally toothed annulus 62, in other words, brake equipment can brake the first internally toothed annulus 61 and the second internally toothed annulus 62, or brake equipment also can discharge the first internally toothed annulus 61 and the second internally toothed annulus 62.According to one embodiment of present invention, brake equipment is drg 9, be understandable that, drg 9 has been prior art and being well known for ordinary skill in the art as gearshift power element, does not therefore elaborate for the concrete structure of drg 9 and principle of work here.
With reference to shown in Fig. 1, the Power output that efferent 3 is arranged to be suitable at least one in driving engine 15, first motor 1 and the second motor 2 to export to the wheel of vehicle, thus drives vehicle to travel.Alternatively, efferent 3 comprises output gear, and output gear can fix to rotate with the rotor of the second motor 2 with the rotor of the second motor 2.
According to one embodiment of present invention, power drive system 100 also comprises first clutch 14 and second clutch 4, and first clutch 14 is located between driving engine 15 and the second pinion carrier 11, for engaging or disconnecting driving engine 15 and the second pinion carrier 11.Second clutch 4 is located between the second motor 2 and the first row carrier 5, for engaging or disconnecting the second motor 2 and the first row carrier 5.
Referring to Fig. 1 and composition graphs 2-Fig. 5 describe in detail according to several typical mode of operation of the power drive system 100 of the embodiment of the present invention.
Electric-only mode, series connection increasing journey pattern, double-motor electric-only mode, driving engine and motor parallel pattern in parallel and Brake energy recovery pattern can be comprised according to the typical mode of operation of the power drive system 100 of the embodiment of the present invention.
It should be noted that, in Fig. 2-Fig. 5, arrow only schematically shows the drive path of power.First clutch 14, second clutch 4 or drg 9 place's blacking represent that this gearshift power element is in running order, and such as power-transfer clutch engages or drg 9 is braked.Such as, otherwise then represent that this gearshift power element does not work, power-transfer clutch disconnects or drg 9 disconnects.
As shown in Figure 2, power drive system 100 is in electric-only mode: first clutch 14, second clutch 4 are all in off-state, and drg 9 does not brake the first internally toothed annulus 61 and the second internally toothed annulus 62, second motor 2 is outputed power by output gear.In this mode, the first motor 1 all can be in stopped status with driving engine 15.
As shown in Figure 3, power drive system 100 is in series connection and increases journey pattern: first clutch 14 is in engagement state, second clutch 4 is in off-state, drg 9 brakes the first internally toothed annulus 61 and the second internally toothed annulus 62, the power that driving engine 15 exports successively by exporting to the first motor 1 after first clutch 14, second pinion carrier 11, second sun wheel 13, first sun wheel 8, thus drives the first motor 1 to rotate generating.Now the second motor 2 can directly output power to wheel to drive vehicle by output gear, and the electric energy of the second motor 2 can derive from the first motor 1 electricity energy.
As shown in Figure 4, power drive system 100 is in double-motor electric-only mode in parallel: second clutch 4 is in engagement state, drg 9 brakes the first internally toothed annulus 61 and the second internally toothed annulus 62, first clutch 14 are in off-state, and the power that the first motor 1 exports exports output gear to successively after the first sun wheel 8, the first row carrier 5, second clutch 4.Meanwhile, power is directly exported to output gear by the second motor 2, and two strands of power jointly drive vehicle after the coupling of output gear place.This pattern is applicable to the sufficient and Power output of the second motor 2 of the battery component electricity of vehicle and is not enough to meet and drives required drive when requiring.
As shown in Figure 5, power drive system 100 is in driving engine and motor parallel pattern: first clutch 14 and second clutch 4 are all in engagement state, drg 9 does not brake the partial power of the first internally toothed annulus 61 and the second internally toothed annulus 62, first motor 1 and the power of driving engine 15 output exports to single-row single-stage planetary gear train by the second internally toothed annulus 62 after the upper coupling of the planet circular system (second expert's star-wheel 12 and second layman's star-wheel 10) of single double pinions mechanism.Meanwhile, another part Power output to the first sun wheel 8 of the first motor 1, the first row star-wheel 7 place in single-row single-stage planetary gear train is coupled again with the power after above-mentioned coupling, exports output gear to eventually through second clutch 4.In this operating mode, the rotating speed of driving engine 15 can remain unchanged, and just can make the output speed consecutive variations exporting output gear to, realizing stepless change by regulating the rotating speed of the first motor 1.
When power drive system 100 is in Brake energy recovery pattern: the second motor 2 can generate electricity under lock torque, reclaims braking energy, and it is changed into electrical power storage in the battery component of vehicle.Under this pattern, second clutch 4 is preferably off-state.
Thus, according to the power drive system 100 for vehicle of the embodiment of the present invention, by arranging the first motor 1 and the second motor 2, thus compensate for the shortcoming of driving engine 15 fuel economy deficiency at the low rotational speed, possessing again regular fuel vehicle dynamic quality and course continuation mileage requirement simultaneously.And, particularly under parallel running pattern, by the rotating speed of change first motor 1, output speed consecutive variations can be made, and then substantially increases driver comfort.
In addition, the power drive system 100 according to the embodiment of the present invention has plurality of operating modes, can meet driving demand better, greatly improves the fuel economy of vehicle.
As shown in Figure 1, the first motor 1, second motor 2, single-row single-stage planetary gear train, single double pinions mechanism and driving engine 15 are coaxially arranged.In other words, the pivot center of the pivot center of the pivot center of the pivot center of the rotor of the first motor 1, the rotor of the second motor 2, the first sun wheel 8, the pivot center of the second sun wheel 13 and the bent axle of driving engine 15 overlaps.Thus, make the structure of power drive system 100 compacter, reasonable, take volume little, be convenient to be arranged in the machinery space of vehicle.
Further, as Figure 1-Figure 5, the first motor 1, second motor 2, single-row single-stage planetary gear train, single double pinions mechanism and driving engine 15 are arranged in the axial direction in turn.Thus, the first motor 1 and the second motor 2 are positioned at the side of two sun and planet gears, and driving engine 15 is positioned at the opposite side of sun and planet gear, makes the structure of power drive system 100 compacter, reasonable.
According to some embodiments of the present invention, the first internally toothed annulus 61 and the second internally toothed annulus 62 into a single integrated structure.In other words, single-row single-stage planetary gear train and single double pinions mechanism share an internally toothed annulus.Thus, the structure of sun and planet gear can be simplified, reduce cost, also reduce the axial dimension of power drive system 100 simultaneously to a certain extent.Such as, the first internally toothed annulus 61 and the second internally toothed annulus 62 can one machine-shapings, or by being welded and fixed.But, the present invention be not limited to this, in other embodiments of the invention, the first internally toothed annulus 61 and the second internally toothed annulus 62 also can by intermediate connecting part as connecting rod be connected.
According to one embodiment of present invention, output gear be fixed on the rotor of the second motor 2 towards on the side of second clutch 4, namely output gear is between the second motor 2 and second clutch 4.Output gear can be main reduction gear driving gear, and it directly engages with main reduction gear driven gear, but the present invention is not limited to this.
According to some embodiments of the present invention, power drive system 100 also comprises battery component, and battery component is connected with the second motor 2 with the first motor 1 respectively.First motor 1 and the second motor 2 generate electricity and can be stored in battery component, battery component also can provide electric energy to the first motor 1 and/or the second motor 2 conversely.
In addition, the vehicle comprising power drive system 100 as above is further provided according to embodiments of the invention.Should be understood that, all be well known for ordinary skill in the art for prior art as driving system, steering swivel system, brake system etc. according to other configuration example of the vehicle of the embodiment of the present invention, therefore the detailed description of conventional construction omitted herein.
In the description of this specification sheets, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not must for be identical embodiment or example.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.In addition, the different embodiment described in this specification sheets or example can carry out engaging and combining by those skilled in the art.
Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, and those of ordinary skill in the art can change above-described embodiment within the scope of the invention, revises, replace and modification.
Claims (10)
1. for a power drive system for vehicle, it is characterized in that, comprising:
Single-row single-stage planetary gear train, described single-row single-stage planetary gear train comprises the first sun wheel, the first row star-wheel, the first row carrier and the first internally toothed annulus;
Single double pinions mechanism, described single double pinions mechanism comprises the second sun wheel, second expert's star-wheel, second layman's star-wheel, the second pinion carrier and the second internally toothed annulus, wherein said second internally toothed annulus and described first internally toothed annulus are fixed, and described second sun wheel and described first sun wheel are fixed;
Driving engine, the mouth of described driving engine is arranged to optionally engage described second pinion carrier;
First motor, the mouth of described first motor is connected with described first sun wheel;
Second motor, the mouth of described second motor is arranged to optionally engage described the first row carrier;
Brake equipment, described brake equipment is arranged to optionally brake described first internally toothed annulus and described second internally toothed annulus; And
Efferent, the Power output that described efferent is arranged to be suitable at least one in described driving engine, described first motor and described second motor to export is to the wheel of described vehicle.
2. the power drive system for vehicle according to claim 1, is characterized in that, also comprise:
First clutch, described first clutch is located between described driving engine and described second pinion carrier; And
Second clutch, described second clutch is located between described second motor and described the first row carrier.
3. the power drive system for vehicle according to claim 1, is characterized in that, described first motor, described second motor, described single-row single-stage planetary gear train, described single double pinions mechanism and described driving engine are coaxially arranged.
4. the power drive system for vehicle according to claim 3, it is characterized in that, described first motor, described second motor, described single-row single-stage planetary gear train, described single double pinions mechanism and described driving engine are arranged in the axial direction in turn.
5. the power drive system for vehicle according to claim 1, is characterized in that, described first internally toothed annulus and described second internally toothed annulus into a single integrated structure.
6. the power drive system for vehicle according to claim 1, is characterized in that, described brake equipment is drg.
7. the power drive system for vehicle according to claim 2, is characterized in that, described efferent comprises output gear, and the rotor of described output gear and described second motor is fixed.
8. the power drive system for vehicle according to claim 7, is characterized in that, described output gear be fixed on the rotor of described second motor towards on the side of described second clutch.
9. the power drive system for vehicle according to claim 1, is characterized in that, also comprise:
Battery component, described battery component is connected with described second motor with described first motor respectively.
10. a vehicle, is characterized in that, comprises the power drive system for vehicle according to any one of claim 1-9.
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| CN201410071517.XA CN103832264B (en) | 2014-02-27 | 2014-02-27 | For vehicle power drive system and there is its vehicle |
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| CN201410071517.XA CN103832264B (en) | 2014-02-27 | 2014-02-27 | For vehicle power drive system and there is its vehicle |
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| CN103832264B true CN103832264B (en) | 2016-01-20 |
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| CN105346410B (en) * | 2015-10-27 | 2017-07-28 | 重庆大学 | Double-motor power drive assembly |
| CN105656241B (en) * | 2016-02-26 | 2018-05-08 | 深圳兴康动力总成有限公司 | A kind of hybrid electric drive system device |
| US10082196B2 (en) * | 2016-09-01 | 2018-09-25 | Ford Global Technologies, Llc | Hybrid transaxle |
| CN106870646A (en) * | 2017-03-10 | 2017-06-20 | 清华大学 | A kind of many planetary gear transmission mechanisms |
| CN108177512B (en) * | 2017-03-29 | 2019-11-01 | 张建龙 | Two grades of speed change electricity of integrated form drive assembly system and application method |
| CN107672440B (en) * | 2017-09-26 | 2019-07-09 | 奇瑞汽车股份有限公司 | A kind of hybrid power system and application |
| CN107599820A (en) * | 2017-10-24 | 2018-01-19 | 广西玉柴机器股份有限公司 | Hybrid drive train |
| DE102017222537A1 (en) * | 2017-12-12 | 2019-06-13 | Volkswagen Aktiengesellschaft | Drive arrangement for a hybrid vehicle |
| CN110733331B (en) * | 2018-07-20 | 2023-11-17 | 宇通客车股份有限公司 | Vehicle and planetary gear set hybrid power device thereof |
| CN109484155B (en) * | 2018-12-17 | 2023-09-05 | 北京航空航天大学 | Double-motor double-planet-row multi-mode electromechanical coupling transmission device |
| CN112413066A (en) * | 2020-11-23 | 2021-02-26 | 薛老师自动变速器技术(北京)有限公司 | Single-row single-stage planetary gear and single-row double-stage planetary gear demonstration teaching aid |
| CN113415107B (en) * | 2021-08-12 | 2023-06-30 | 吉林大学 | Dual-mode electric drive axle capable of carrying out torque parallel connection and torque directional distribution |
| CN113696676B (en) * | 2021-09-06 | 2023-12-15 | 吉林大学 | Torque directional distribution electric drive axle using planetary row plus double gear |
| CN113665353A (en) * | 2021-09-14 | 2021-11-19 | 燕山大学 | Dual-motor coupling driving system |
| CN113696721A (en) * | 2021-09-14 | 2021-11-26 | 燕山大学 | Dual-motor coupling driving system based on double-row single sun wheel type planetary mechanism |
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