CN104742725B - Wheel hub driving device with planetary motors and wheel power system adopting wheel hub driving device - Google Patents
Wheel hub driving device with planetary motors and wheel power system adopting wheel hub driving device Download PDFInfo
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- CN104742725B CN104742725B CN201310754755.6A CN201310754755A CN104742725B CN 104742725 B CN104742725 B CN 104742725B CN 201310754755 A CN201310754755 A CN 201310754755A CN 104742725 B CN104742725 B CN 104742725B
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Abstract
A wheel hub driving device with planetary motors comprises the planetary motors and planetary mechanisms. Each planetary motor comprises a gear ring stator and a plurality of planetary rotors radially arranged on the inner side of the gear ring stator; each planetary mechanism is used for matching rotate speed and torque of each planetary motor and a wheel hub and comprises a planetary carrier, a gear ring and a plurality of planetary gears; the planetary gears are radially arranged on the inner side of each gear ring; the planetary gears are meshed with the corresponding gear rings so as to enable the planetary gears to roll along the inner peripheries of the gear rings; the planetary gears are respectively in one-to-one correspondence to the planetary rotors, and the planetary gears are respectively coaxially connected with the planetary rotors; the planetary gears are respectively rotatably connected with the planetary carriers through rotating shafts so as to enable the planetary carriers to rotate with the planetary gears relate to the gear rings. The wheel hub driving device is higher in power density, reliability and fault safety. The invention further provides a wheel power system adopting the wheel hub driving device.
Description
【Technical field】
The present invention relates to a kind of hub drive device, more particularly to a kind of hub drive device with planetary motor and employing
The wheel power system of the hub drive device.
【Background technology】
It is a kind of ancient and advanced type of drive that wheel hub independently drives, with following significant advantage：First, wheel
Driving force and brake force can coordinate control with separately adjustable and according to car load demand, and vehicle has excellent dynamics；
Second, vehicle general arrangement is overly simplified and flexible, interior space is maximized.Its shortcoming is mainly increased unsprung mass, drop
Vehicle ground security and ride comfort during low low speed, but vehicle ride comfort when improving high speed.Research shows, as long as increasing
Plus unsprung mass it is less, and corresponding adjustment is carried out to existing suspension, you can overcome these detrimental effects.In recent years,
Along with the further development of motor and control technology, hub drive device has been got back attention.
Existing hub drive device mainly has two classes, and a kind of is the high-speed electric expreess locomotive driving means with decelerator, Yi Zhongshi
Without the slowspeed machine driving means of decelerator.The former is up to high speed, permanent magnetism, the wind of 12000～15000rpm using rotating speed more
Realizing, the decelerator gearratio of collocation is 10～12 or so to cold or water-cooled machine.The latter is generally up to 20 using magnetic pole logarithm
～24, realizing, its maximum speed is 1500～2000rpm for concentratred winding, permanent magnetism, air-cooled or water-cooled annular generator.It is just existing
For some motor technology levels, the power density of the high-speed electric expreess locomotive driving means with decelerator is higher, is also easier to and suspension
It is integrated, therefore obtained preferential concern.
U.S. Patent application US2007/0078035 A1 and US2007/0209853 A1 disclose two kinds of wheel hubs and drive dress
Put, it include being relatively large in diameter and axial length it is shorter or diameter is less and in in-wheel motor that length is longer, half embedded motor
Planetary reduction gear, brake, hub and wheel.U.S. Patent application US2008/0070736 A1 disclose another
Hub drive device, it includes being relatively large in diameter and the shorter in-wheel motor of axial length, and planetary reduction gear is embedded in in-wheel motor
In, brake, hub and wheel.United States Patent (USP) US8002060 B2 discloses another hub drive device, its bag
Include in-wheel motor, internal tooth wheel decelerator, brake, hub and the wheel arranged in wheel interior biasing.U.S. Patent application
US2008/308330 A1 disclose another kind of hub drive device, its be included in wheel interior biasing arrangement in-wheel motor, one
Level external gear driving and primary planet decelerator, brake, hub and wheel.U.S. Patent application US2009/0236158
A1 discloses another hub drive device, it includes knuckle, the in-wheel motor that is arranged in knuckle rear portion, decelerator and
For connection reducer output end and the power transmission shaft of wheel.
Technical scheme disclosed above has problems with：Power density is low, hardly possible carry out with suspension it is integrated because volume
The larger in-wheel motor with decelerator occupies the space that suspension swing arm is connected with hub；Fail safe is low, if
In-wheel motor breaks down, then the wheel will lose controllable driving force, thus may bring safety risks.
Therefore, a kind of need with high power density and the hub drive device of high fail safe of offer are also provided
Ask.
【The content of the invention】
In view of above-mentioned condition, it is necessary to provide a kind of with power density is higher and fail safe is higher with planet
The hub drive device of motor.
A kind of hub drive device with planetary motor, it includes：
Planetary motor, for providing the first power of drive hub rotation, the planetary motor includes gear ring stator and sets
In multiple planet rotors of the radially inner side of the gear ring stator；And
Planetary mechanism, for matching rotating speed of the planetary motor with the wheel hub and torque, the planetary mechanism includes
Planet carrier, gear ring and multiple planetary gears；The plurality of planetary gear is located at the gear ring radially inner side, and divides in a ring
Cloth；The plurality of planetary gear is meshed with the gear ring, makes the plurality of planetary gear can along the inner peripheral of the gear ring
Roll；The plurality of planetary gear corresponds with the plurality of planet rotor arrange respectively, and the plurality of planetary gear
Connection coaxial with the plurality of planet rotor respectively, so that each described planetary gear is coaxial with the corresponding planet rotor same
Step is rotated；The plurality of planetary gear is rotatably connected respectively by rotating shaft with the planet carrier, makes the planet carrier with institute
State multiple planetary gears to roll relative to the gear ring and rotate；
Wherein, when the planetary motor provides power to the wheel hub, the planet carrier is the output end of power, and
The planet carrier is used to drive the hub rotation, the planet rotor to drive the planetary gear rotation, the planetary gear
It is meshed with the gear ring and rolls along the gear ring, so as to drives the planet carrier to rotate.
Compared to traditional hub drive device, the above-mentioned hub drive device with planetary motor at least has following excellent
Point：
(1) from the principle of planetary motor, planetary motor has obvious area with the motor worked with radial load of routine
Not, the rotor that it is characterized in that planetary motor is planetary gear, and magnetic circuit is short, and the energy saving space, the magnetic force of rotor motion is mainly radial load,
Exert oneself big, have bigger advantage than general motor in power density.Therefore, the above-mentioned hub drive device with planetary motor
With higher power density.
(2) the above-mentioned hub drive device with planetary motor can be using two power come drive hub, and one of them is moved
Power can be provided by planetary motor, and another can be provided by power set, also, planetary motor has multiple planet rotors, by
Many set coil power supply work, substantially increase functional reliability and fail safe.Therefore, the above-mentioned wheel hub with planetary motor
Driving means reliability and fail safe are higher.
Wherein in one embodiment, the gear ring stator is connected with the gear ring, and the gear ring stator is along circle
Circumferential direction is arranged to multiple polar region domains, and the coil in each described polar region domain is whole away from arrangement.
Wherein in one embodiment, the gear ring stator is made up of stator core and coil, the stator core it is interior
Circle is provided with multiple spaced double wedges, and between every two neighboring double wedge teeth groove is formed, and the coil is wrapped in described convex
On tooth, and it is embedded in the teeth groove, and each described coil one described double wedge of correspondence, to constitute a phase, described in each
The quantity of the coil in polar region domain is identical with the quantity of the double wedge.
Wherein in one embodiment, each phase winding of the gear ring stator by each described polar region domain it is each corresponding
Coil is in series or in parallel to form, and is powered simultaneously per the adjacent winding of two-phase, and flows through the electric current of formed objects.
Wherein in one embodiment, each phase winding is electrically connected with power electronic equipment, and by electric power electricity
Sub-device is powered in order to each phase winding, when two-phase coil electricity, magnetic pull, and institute can be produced on the planet rotor
Stating magnetic pull is always so that the planet rotor towards the minimum position motion of total magnetic circuit reluctance.
Wherein in one embodiment, the planet rotor is the magnetic conduction cylinder without magnetic taxis, and the plurality of
Planet rotor arranges along the inner peripheral of the gear ring stator, wherein, the pole of the quantity of the planet rotor and the gear ring stator
Region quantity and the planetary quantity all same.
Wherein in one embodiment, the planet rotor has been embedded in magnet steel.
Wherein in one embodiment, the gear ring stator and the planet rotor respectively with the gear ring and the planet
Gear is removably secured connection, or, the gear ring stator and the planet rotor respectively with the gear ring and the planet
Gear is integrally formed.
Wherein in one embodiment, also including position sensor, the position sensor is used on the planet carrier
In the position for sensing the planet rotor.
Meanwhile, the present invention also provides a kind of wheel power system using above-mentioned hub drive device.
A kind of wheel power system, including：
Above-mentioned hub drive device；
The wheel hub, is fixedly connected with the planet carrier；
Wheel, is fixedly connected with the wheel hub, and as the wheel hub is rotated together；
Power set, for providing the second power for driving the hub rotation；And
Knuckle, for supporting the planetary motor, the power set, the planetary mechanism and the wheel hub, is used in combination
In being connected with draft hitch and transfer.
Wherein in one embodiment, also including hub bearing, the hub bearing is fixed on the knuckle, and
It is set in the rotating shaft of the wheel hub, for supporting the wheel hub.
Wherein in one embodiment, the planetary mechanism also includes sun gear, and the sun gear is located at the plurality of row
The centre position of star gear, and be meshed with the plurality of planetary gear；The power set are motor, and the motor is installed
In the centre of the plurality of planet rotor, and the connection coaxial with the sun gear of the rotor of the motor, make the sun gear
As the rotor of the motor is rotated together；
Wherein, when the power set provide power to the wheel, the power set drive the sun rotation
Dynamic, the sun gear is meshed with the planetary gear and drives the planetary gear rotation, the planetary gear and the tooth
Circle is meshed and rolls along the gear ring, so as to drive the planet carrier to rotate.
Wherein in one embodiment, the rotor of the motor is removably secured with the sun gear and is connected, or, institute
The rotor and the sun gear for stating motor is integrally formed.
Wherein in one embodiment, the power set are engine, and the engine is driven described by power transmission shaft
Hub rotation.
Wherein in one embodiment, the gear ring and the gear ring stator are fixedly connected with the knuckle.
【Description of the drawings】
Fig. 1 is the sectional view of the wheel power system with planetary motor of embodiments of the invention one；
Fig. 2 is the inner shafts partial schematic diagram shown in Fig. 1；
Fig. 3 is the outboard shafts partial schematic diagram shown in Fig. 1；
Fig. 4 is the rotary state schematic diagram of the planetary motor shown in Fig. 1 and planetary mechanism；
Fig. 5 is the structural representation of the planetary motor shown in Fig. 1；
Fig. 6 be Fig. 1 shown in planetary motor planet rotor in the case of diverse location, the polar region domain of gear ring stator
Under two phase windings correspondence coil (coil B1, C1) magnetic flux schematic diagram for producing when being powered；
When Fig. 7 is that the phase winding of gear ring stator two of the planetary motor shown in Fig. 1 is powered, planet rotor is in diverse location situation
The winding magnetic company/position/current relationship figure of lower ring gear stator；
Fig. 8 is the connection diagram of the winding with power electronic equipment of the gear ring stator of the planetary motor shown in Fig. 1；
Fig. 9 be Fig. 1 shown in planetary motor gear ring stator winding a pole (region) under each phase coil energization
Order schematic diagram；
Figure 10 is that the winding of the gear ring stator of the planetary motor shown in Fig. 1 is powered successively, and planet rotor stress does rolling fortune
Dynamic schematic diagram；
Figure 11 is the sectional view of the wheel power system of embodiments of the invention two.
【Specific embodiment】
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give the preferred embodiment of the present invention.But, the present invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose for providing these embodiments is to make the understanding to the disclosure more saturating
It is thorough comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can directly on another element
Or can also there is element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or may be simultaneously present centering elements.Term as used herein " vertical ", " level ", " left side ",
" right side " and similar statement are for illustrative purposes only.
Unless otherwise defined, all of technology used herein and scientific terminology and the technical field for belonging to the present invention
The implication that technical staff is generally understood that is identical.The term for being used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that of the invention in limiting.Term as used herein " and/or " include one or more phases
The arbitrary and all of combination of the Listed Items of pass.
The wheel power system of embodiments of the present invention, it include the hub drive device with planetary motor, wheel hub,
Wheel, power set and knuckle.Hub drive device includes planetary motor and planetary mechanism.
Planetary motor is used to provide the first power of drive hub rotation.Planetary motor includes gear ring stator and located at gear ring
Multiple planet rotors of the radially inner side of stator.Specifically, gear ring stator is circumferentially arranged to multiple polar region domains, each
Coil in polar region domain is whole away from arrangement.Gear ring stator can be fixedly connected in knuckle.
Further, gear ring stator is made up of stator core and coil, and the inner ring of stator core is provided with multiple interval settings
Double wedge, per teeth groove is formed between two neighboring double wedge, coil is wrapped on double wedge, and in embedded teeth groove, and each line
Circle one double wedge of correspondence, to constitute a phase, the quantity of the coil in each polar region domain is identical with the quantity of double wedge.
Further, each phase winding of gear ring stator by each polar region domain each corresponding coil serial or parallel connection structure
Into, and be powered simultaneously per the adjacent winding of two-phase, and flow through the electric current of formed objects.
Further, each phase winding is electrically connected with power electronic equipment, and is pressed to each phase winding by power electronic equipment
Order is powered, and when two-phase coil electricity, can produce magnetic pull on planet rotor, and magnetic pull be always so that planet rotor to
The minimum position motion of total magnetic circuit reluctance.
Specifically, planet rotor is the magnetic conduction cylinder without magnetic taxis, and multiple planet rotors are along gear ring stator
Inner peripheral arranges, wherein, the quantity of planet rotor and the pole region quantity of gear ring stator and planetary quantity all same.
Further, planet rotor has been embedded in magnet steel, to increase the torque density of planet rotor.
Planetary mechanism is used to match rotating speed of the planetary motor with wheel hub and torque.Planetary mechanism include planet carrier, gear ring and
Multiple planetary gears.
Multiple planetary gears are located at gear ring radially inner side, and are distributed in a ring.Multiple planetary gears are mutually nibbled with gear ring
Close, multiple planetary gears is rolled along the inner peripheral of gear ring.Specifically, gear ring stator is connected with gear ring.Gear ring and gear ring are fixed
Son is fixedly connected with knuckle.
Multiple planetary gears respectively with multiple planet rotors correspond arrange, and multiple planetary gears respectively with it is multiple
The coaxial connection of planet rotor, so that each planetary gear and the coaxial synchronous axial system of corresponding planet rotor.
Multiple planetary gears are rotatably connected respectively by rotating shaft with planet carrier, make planet carrier with multiple planetary gear phases
Rotate for gear ring is rolled.
Wherein, when planetary motor provides power to wheel hub, planet carrier is the output end of power, and planet carrier is used for band
Runner hub is rotated, and planet rotor drives planetary gear rotation, and planetary gear is meshed with gear ring and rolls along gear ring, so as to drive
Planet carrier is rotated.
It should be noted that gear ring stator and planet rotor are removably secured respectively with gear ring and planetary gear be connected,
Or, gear ring stator and planet rotor are integrally formed respectively with gear ring and planetary gear.
Further, hub drive device also includes position sensor, and position sensor is located on planet carrier, for sensing
The position of planet rotor.
Wheel hub is fixedly connected with planet carrier.Wheel is fixedly connected with wheel hub, and as wheel hub is rotated together.Power set
For providing the second power of drive hub rotation.Knuckle, for supporting planetary motor, power set, planetary mechanism and wheel
Hub, and for being connected with draft hitch and transfer.Preferably, hub drive device also includes hub bearing, hub spindle
Hold and be fixed on knuckle, and be set in the rotating shaft of wheel hub, for supporting wheel hub.
Power set can be motor, engine etc., and for example, when power set are motor, planetary mechanism is also included too
Sun wheel, sun gear is located at multiple planetary centre positions, and is meshed with multiple planetary gears；Power set are arranged on
The centre of multiple planet rotors, and the connection coaxial with sun gear of the rotor of motor, make sun gear with motor rotor together
Rotate.When power set provide power to wheel, power set drive sun gear to rotate, and sun gear is meshed with planetary gear
And planetary gear rotation is driven, planetary gear is meshed with gear ring and rolls along gear ring, so as to drive planet carrier to rotate.Motor
Rotor is removably secured with sun gear and is connected, or, rotor and the sun gear of motor are integrally formed.When power set are to start
Machine, engine can directly drive hub rotation by power transmission shaft.
It should be noted that, above-mentioned hub drive device can apply in electric-powered wheel power system, it is also possible to
In being applied to the wheel power system of hybrid power.
Above-mentioned wheel power system is illustrated with reference to the embodiment of diagram.
Fig. 1, Fig. 2 and Fig. 3 be respectively the cross-sectional schematic of a specific embodiment of the invention, the partial schematic diagram of inner shafts and
The partial schematic diagram of outboard shafts.Fig. 1 to Fig. 3 is referred to, the wheel power system 100 of embodiments of the invention one includes planet electricity
Machine 110 (planetary motor 100 be the first motor), the second motor 120, planetary mechanism 130, hub 140, knuckle 150 and
Wheel 160.Hub 140 includes wheel hub 141 and the hub bearing 143 being set in the rotating shaft of wheel hub 141.
Planetary motor 110 is used to providing the first power of driving moment 160, including gear ring stator 111 and is arranged in gear ring
Multiple planet rotors 113 of the radially inner side of stator 111.Second motor 120, for providing the second power of wheel 160, its bag
Include the second stator 121 and the second rotor 123.Planetary mechanism 130, for matching the motor 120 of planetary motor 110 and second and wheel
160 rotating speed and torque, planetary mechanism 130 includes sun gear 131, planet carrier 133, gear ring 135 and multiple planetary gears 137.
Wheel hub 141, for supporting and connecting planet carrier 133 and wheel 160.Hub bearing 143, rotates for supporting wheel hub 141.Turn to
Section 150, for supporting planetary motor 110, the second motor 120, planetary mechanism 130 and hub bearing 143, and and draft hitch
(not shown) is connected with transfer (not shown).
Second stator 121 of the second motor 120 is fixed in knuckle 150, the second rotor 123 and planetary mechanism 130
Sun gear 131 is connected.The sun gear 131 of planetary mechanism 130 is meshed with multiple planetary gears 137, multiple planetary gears 137
It is pivotally supported on planet carrier 133, gear ring 135 is fixed in knuckle 150.Multiple planet rotors of planetary motor 110
113 is affixed with multiple planetary gears 137 of planetary mechanism 130 respectively, and the gear ring stator 111 of planetary motor 110 is fixed in steering
In section 150, the planet carrier 133 of planetary mechanism 130 is connected with wheel hub 141, and wheel hub 141 is supported on hub bearing 143.
Fig. 4 is the rotation schematic diagram of planetary motor 110 and planetary mechanism 130.Refer to Fig. 4 in the illustrated embodiment,
Planetary mechanism 130 uses sun gear 131 and is input into, and gear ring 135 is fixed, and the deceleration of the output of planet carrier 133 increases square structure, can be with
The gearratio of realization is 1+K (K is the characteristic parameter of planet row).If the rotating speed of sun gear 131 is nt, planet carrier 133
Rotating speed nj is nt/ (1+K), and the rotating speed nx of planetary gear 137 is (3K-1) nt/ (K^2-1).Due to planetary gear 137 and planet
Rotor 113 is affixed, therefore, the rotating speed nr of planet rotor 113 is equal to the rotating speed nx of planetary gear 137, is also (3K-1) nt/ (K^
2-1)。
Fig. 5 is the structural representation of the gear ring stator 111 of planetary motor 110 and planet rotor 113.Fig. 5 is referred to, in figure
In the embodiment shown, the gear ring stator 111 of planetary motor 110 is connected with the gear ring 135 of planetary mechanism 130, gear ring stator 111 by
Stator core 1111 and coil 1113 are constituted.The inner ring of stator core 1111 is provided with multiple spaced double wedge 1111a, per phase
Teeth groove 1111b is formed between two double wedge 1111a of neighbour.Coil 1113 is wrapped on double wedge 1111a, and embedded teeth groove 1111b
It is interior, and each coil 1,113 one double wedge 1111a of correspondence, to constitute a phase, the quantity of the coil 1113 in each polar region domain
It is identical with the quantity of double wedge 1111a.Multiple planet rotors 113 are distributed in the inner side of gear ring stator 111, and and planetary mechanism
130 planetary gear 137 connects.
Without coil on planet rotor 113 in Fig. 5, using without permeability magnetic material is tended to, magnet steel can be embedded in rotor
To increase torque density.The number for assuming planet rotor 113 is N2 (as being 6), the number of the double wedge 1111a of gear ring stator 111
Amount (quantity of teeth groove 1111b) is N1 (such as 24), and the double wedge 1111a of gear ring stator 111 is averaged and is distributed into N2 region, fixed
Justice is N2 polar region domain.N1 is the integral multiple of N2, if M double wedge 1111a (coil of correspondence under each the polar region domain of gear ring stator 111
1113), it is assumed that M is 4, the coil 1113 under each polar region domain of gear ring stator 111 represented with Ai, Bi, Ci, Di respectively (i is 1,
2,3,4), the number of phases of the winding of gear ring stator 111 is defined as, M is N1/N2.Each phase winding of gear ring stator 111 is by each polar region
Under domain each corresponding coil 1113 connect (or in parallel) constitute.
The just extremely A1+ of the loop A 1 in first stator poles region of A phase windings correspondence, negative pole is A1-, and B phase windings are corresponding
The just extremely B1+ of the coil B1 in first stator poles region, negative pole is B1-, the like.The gear ring stator of planetary motor 110
The magnetic flux that A1 phase coils in 111 first polar region domains are produced passes through from double wedge A1T, and direction is just (from stator to rotor side
To), the magnetic flux that B1 phase coils are produced passes through from double wedge B1T, and direction is to bear (from rotor to stator direction), the like.
Fig. 6 for planetary motor 110 planet rotor 113 in the case of diverse location, the polar region domain of gear ring stator 111
Under two phase windings correspondence coil 1113 (coil B1, C1) magnetic flux schematic diagram for producing when being powered.Fig. 7 is gear ring stator 111
When two phase windings are powered, rotor stator winding magnetic company/position/current relationship figure in the case of diverse location.Refer to Fig. 6 and Tu
7, in the illustrated embodiment, the winding of the gear ring stator 111 of planetary motor 110 adopts two phase windings step mode two-by-two, i.e.,
All the time it is that the adjacent winding of two-phase is powered simultaneously when winding is powered, flows through the electric current of formed objects.Per phase winding (coil
1113) being powered have special power electronic equipment to realize with current control.When adjacent two phase winding is powered, one communicates positive electricity
Stream, it is another to communicate negative current.If the logical negative current of the logical positive current B1 coil of A1 coils, is represented by A1 (+) B1 (-), now, OK
The magnetic flux that A1 phase coils in first polar region domain of the gear ring stator 111 of star motor 110 are produced passes through from double wedge A1T, direction
For just (from stator to rotor direction), the magnetic flux that B1 phase coils are produced passes through from double wedge B1T, direction is for negative (from rotor to stator
Direction), magnetic flux path is：Double wedge A1T --- air gap --- rotor --- air gap --- double wedge B1T --- stator yoke (connections
The magnetic circuit of double wedge A1T and double wedge B1T.
The magnetic resistance of whole magnetic circuit is as follows：
Yoke portion magnetic resistance between two adjoining double wedges of gear ring stator 111 is Rl；
Two convex teeth portion magnetic circuit reluctances of gear ring stator 111 are respectively Rt1, Rt2；
The corresponding air-gap magnetic circuit of two convex teeth portions of gear ring stator 111 is respectively Rg1, Rg2；
The magnetic circuit reluctance that planet rotor 113 passes through magnetic flux is Rr；
The total magnetic resistance of magnetic circuit that two adjacent windings of gear ring stator 111 are powered is：
Rfi=Rl+Rt1+Rt2+Rg1+Rg2+Rr (1).
Rg1, Rg2, Rr are relevant with the position of planet rotor 113, inner side closest approach of the planet rotor 113 from gear ring stator 111
Determine the relative position angle (θ) of position (such as the center line of A1, B1 phase coil common groove) to upper with each of gear ring stator 111
The magnetic resistance for stating magnetic circuit has a great impact.
The number of turn of every phase coil in each polar region domain of the gear ring stator 111 of planetary motor 110 is set as Wp, two adjacent lines
It is ip to enclose 1113 electrical currents, then total magnetic potential of above-mentioned magnetic circuit is 2Wp*ip, to simplify the analysis, ignores and is closed without above-mentioned magnetic circuit
The magnetic flux (referred to as leakage magnetic flux) of conjunction, total magnetic linkage of two adjacent stators coils 1113 is approximately：
ψ k=4*ip (Wp) ^2/Rfi (2)
Total inductance is approximately：
Lab=4 (Wp) ^2/Rfi (3)
Obviously, total magnetic linkage and total inductance are relevant with rotor-position.
When two phase coil 1113 is powered, magnetic pull can be produced on planet rotor 113, the magnetic pull is always so that planet turns
Son 113 is towards the minimum position motion of total magnetic circuit reluctance.A position is accordingly, there exist, when two phase coil 1113 is powered,
Star rotor 113 be in poised state, if before the position, change be powered coil 1113, can make star rotor 113 keep after
Reforwarding is moved.Because planet rotor 113 is fixed in planet carrier 133, the motion of planet rotor 113 surrounds the center of planetary gear 137
In rolling movement.
In the case where two adjacent windings 1113 are powered, the magnetic pull that planet rotor 113 is subject to is：
Wherein ψ k are relevant with the position θ of star rotor 113 and biphase current ik.
From upper analysis, using current control, planetary motor 110 has good constant output characteristic.
Fig. 8 is the connection diagram of gear ring stator winding and power electronic equipment；Fig. 9 is a pole of gear ring stator winding
The energization order schematic diagram of each phase coil 1113 in region；Figure 10 is that gear ring stator winding is powered successively, and planet rotor stress is done
The schematic diagram of rolling movement.Fig. 8 to Figure 10 is referred to, in the illustrated embodiment, in energization a cycle, planet rotor
113 polar region domains for turning over a gear ring stator 111, as indicated, respectively A1 (+) B1 (-) --- B1 (-) C1 (+) ---
C1 (+) D1 (-) --- D1 (-) A (+) --- A1 (+) B1 (-) ..., it is also possible to be A1 (+) B1 (-) --- B1 (+) C1
(-)——C1(+)D1(-)——D1(+)A(-)——A1(+)B1(-)…….Wherein A1 (+) represents that A phase coils are positive logical
Electricity, A1 (-) represents that A phase coils reversely lead to, and A1 (+) B1 (-) A phase coils forward direction energization B phase coils are reversely powered.
Being powered per phase winding (coil 1113) have special power electronic equipment to realize with current control.In order to planet is electric
The energization moment of machine 110 coordinates with the position of planet rotor 113, and on the planet carrier 133 of this device special position sensing is assembled
Device, for sensing the particular location of planet rotor 113.
Compared to traditional driving means of wheel hub 141, the driving means of above-mentioned wheel hub 141 at least have advantages below：
(1) from the principle of planetary motor 110, planetary motor 110 has bright with the motor worked with radial load of routine
Aobvious difference, the rotor that it is characterized in that planetary motor 110 is planetary gear, and magnetic circuit is short, and the energy saving space, the magnetic force of rotor motion is main
For radial load, exert oneself big, have bigger advantage than general motor in power density.Therefore, the driving means of above-mentioned wheel hub 141 tool
There is higher power density.
(2) driving means of above-mentioned wheel hub 141 can be using two power come drive hub 141, and one of power can be by going
Star motor 110 is provided, and another can be provided by power set, also, planetary motor 110 has multiple planet rotors 113, by
Many set coil difference powered operations, substantially increase functional reliability and fail safe.Therefore, above-mentioned wheel hub 141 drives dress
Put reliability and fail safe is higher.
Figure 11 is the sectional view of the wheel power system 100 with power transmission shaft of the enforcement two of the present invention.Refer to Figure 11,
The wheel power system 200 of embodiments of the invention two be hybrid electric drive system, its wheel power system with embodiment one
Unite 100 essentially identical, its difference is：The power set of the wheel power system 200 of embodiment two are engine 220,
Engine 220 directly drives hub rotation using power transmission shaft 270, and now, planetary mechanism 230 eliminates sun gear.
In other words, the wheel power system 200 of embodiment two includes planetary motor 210, planetary mechanism 230, wheel hub list
Unit 240, knuckle 250 and engine 220.Planetary motor 210, for providing the first power of driving moment 260, it includes tooth
Draw a circle to approve son 211 and be arranged in multiple planet rotors 213 of the radially inner side of gear ring stator 211.Planetary mechanism 230, for matching
Rotating speed and torque of the planetary motor 210 with wheel 260, it includes planet carrier 233, gear ring 235 and multiple planetary gears 237.Wheel
Hub unit 240, rotates for supporting, connecting planet carrier 233 and wheel 260.Hub 240 includes wheel hub and is set in wheel hub
Rotating shaft on hub bearing.Knuckle 250, for supporting planetary motor 210, planetary mechanism 230 and hub 240, and
It is connected with draft hitch (not shown) and transfer (not shown).
Multiple planetary gears 237 are pivotally supported on planet carrier 233, and gear ring 235 is fixed in knuckle 250, many
Individual planet rotor 213 is affixed with multiple planetary gears 237 respectively, and gear ring stator 211 is fixed in knuckle 250, planet carrier 233
It is connected with hub 240, the power of the engine 220 come by the transmission of power transmission shaft 270 is for driving moment 260 and planet
Frame 233.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more concrete and detailed, but and
Therefore the restriction to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, some deformations and improvement can also be made, these belong to the guarantor of the present invention
Shield scope.Therefore, the protection domain of patent of the present invention should be defined by claims.
Claims (13)
1. a kind of hub drive device with planetary motor, it is characterised in that include：
Planetary motor, for providing the first power of drive hub rotation, the planetary motor includes gear ring stator and located at institute
State multiple planet rotors of the radially inner side of gear ring stator；And
Planetary mechanism, for matching rotating speed of the planetary motor with the wheel hub and torque, the planetary mechanism includes planet
Frame, gear ring and multiple planetary gears；The plurality of planetary gear is located at the gear ring radially inner side, and is distributed in a ring；Institute
State multiple planetary gears to be meshed with the gear ring, the plurality of planetary gear is rolled along the inner peripheral of the gear ring；
The plurality of planetary gear respectively with the plurality of planet rotor correspond arrange, and the plurality of planetary gear respectively with
The coaxial connection of the plurality of planet rotor, so as to each described planetary gear is coaxial with the corresponding planet rotor synchronous turn
It is dynamic；The plurality of planetary gear is rotatably connected respectively by rotating shaft with the planet carrier, makes the planet carrier with described many
Individual planetary gear is rolled relative to the gear ring and rotated；
Wherein, when the planetary motor provides power to the wheel hub, the planet carrier for power output end, it is and described
Planet carrier is used to drive the hub rotation, the planet rotor to drive the planetary gear rotation, the planetary gear and institute
State gear ring to be meshed and roll along the gear ring, so as to drive the planet carrier to rotate；
The gear ring stator is connected with the gear ring, and the gear ring stator is circumferentially arranged to multiple polar region domains,
Coil in each described polar region domain is whole away from arrangement；
The gear ring stator and the planet rotor are removably secured and are connected with the gear ring and the planetary gear respectively, or
Person, the gear ring stator and the planet rotor are integrally formed respectively with the gear ring and the planetary gear.
2. hub drive device as claimed in claim 1, it is characterised in that the gear ring stator is by stator core and coil group
Into the inner ring of the stator core is provided with multiple spaced double wedges, forms teeth groove between every two neighboring double wedge, institute
State coil to be wrapped on the double wedge, and be embedded in the teeth groove, and each one described double wedge of the coil correspondence, with
A phase is constituted, the quantity of the coil in each described polar region domain is identical with the quantity of the double wedge.
3. hub drive device as claimed in claim 2, it is characterised in that each phase winding of the gear ring stator is by each institute
The each corresponding coil for stating polar region domain is in series or in parallel to form, and is powered simultaneously per the adjacent winding of two-phase, and flows through phase
With the electric current of size.
4. hub drive device as claimed in claim 3, it is characterised in that each phase winding is electrically connected with power electronic equipment
Connect, and powered in order to each phase winding by the power electronic equipment, when two-phase coil electricity, on the planet rotor
Magnetic pull can be produced, and the magnetic pull is always so that the planet rotor towards the minimum position motion of total magnetic circuit reluctance.
5. hub drive device as claimed in claim 1, it is characterised in that the planet rotor is the magnetic conduction without magnetic taxis
Cylinder, and the plurality of planet rotor is along the inner peripheral arrangement of the gear ring stator, wherein, the quantity of the planet rotor
With the pole region quantity of the gear ring stator and the planetary quantity all same.
6. hub drive device as claimed in claim 5, it is characterised in that the planet rotor has been embedded in magnet steel.
7. hub drive device as claimed in claim 1, it is characterised in that also including position sensor, the position sensing
Device is located on the planet carrier, for sensing the position of the planet rotor.
8. a kind of wheel power system, it is characterised in that include：
Hub drive device as described in any one of claim 1～7；
The wheel hub, is fixedly connected with the planet carrier；
Wheel, is fixedly connected with the wheel hub, and as the wheel hub is rotated together；
Power set, for providing the second power for driving the hub rotation；And
Knuckle, for supporting the planetary motor, the power set, the planetary mechanism and the wheel hub, and for
Draft hitch is connected with transfer.
9. wheel power system as claimed in claim 8, it is characterised in that also including hub bearing, the hub bearing is consolidated
It is scheduled on the knuckle, and is set in the rotating shaft of the wheel hub, for supports the wheel hub.
10. wheel power system as claimed in claim 8, it is characterised in that the planetary mechanism also includes sun gear, described
Sun gear is located at the plurality of planetary centre position, and is meshed with the plurality of planetary gear；The power dress
Motor is set to, the motor is arranged on the centre of the plurality of planet rotor, and the rotor of the motor and the sun gear
Coaxial connection, makes the sun gear rotate together with the rotor of the motor；
Wherein, when the power set provide power to the wheel, the power set drive the sun gear to rotate, institute
State sun gear to be meshed with the planetary gear and drive the planetary gear rotation, the planetary gear is mutually nibbled with the gear ring
Close and roll along the gear ring, so as to drive the planet carrier to rotate.
11. wheel power systems as claimed in claim 10, it is characterised in that the rotor of the motor can with the sun gear
Releasably it is fixedly connected, or, the rotor of the motor is integrally formed with the sun gear.
12. wheel power systems as claimed in claim 8, it is characterised in that the power set are engine, described to start
Machine drives the hub rotation by power transmission shaft.
13. wheel power systems as claimed in claim 8, it is characterised in that the gear ring and the gear ring stator are fixed
It is connected in the knuckle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310754755.6A CN104742725B (en) | 2013-12-31 | 2013-12-31 | Wheel hub driving device with planetary motors and wheel power system adopting wheel hub driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310754755.6A CN104742725B (en) | 2013-12-31 | 2013-12-31 | Wheel hub driving device with planetary motors and wheel power system adopting wheel hub driving device |
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| Publication Number | Publication Date |
|---|---|
| CN104742725A CN104742725A (en) | 2015-07-01 |
| CN104742725B true CN104742725B (en) | 2017-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310754755.6A Withdrawn - After Issue CN104742725B (en) | 2013-12-31 | 2013-12-31 | Wheel hub driving device with planetary motors and wheel power system adopting wheel hub driving device |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104882997A (en) * | 2015-05-29 | 2015-09-02 | 徐少波 | Cluster motor driver |
| CN105172574B (en) * | 2015-08-24 | 2018-06-22 | 北京航天发射技术研究所 | A kind of electric driving wheel system |
| CN107324836B (en) * | 2017-06-26 | 2019-07-05 | 佛山生态海绵城市科技发展有限公司 | A kind of planetary sponge city ceramic water-permeable brick being mixed with of convection current and preparation method |
| WO2020052734A1 (en) * | 2018-09-11 | 2020-03-19 | Volvo Construction Equipment Ab | A wheel hub drive system |
| CN111237143B (en) * | 2020-01-09 | 2022-12-23 | 蒋定国 | Vehicle with one-shaft driven multi-shaft wheel type power generation device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5861331A (en) * | 1981-10-08 | 1983-04-12 | Nabeya Kogyo Kk | Flexible shaft coupling |
| JP2007161022A (en) * | 2005-12-12 | 2007-06-28 | Bridgestone Corp | In-wheel motor system |
| CN202167911U (en) * | 2011-07-30 | 2012-03-14 | 中国科学院深圳先进技术研究院 | Hub motor of electric automobile |
| CN203752887U (en) * | 2013-12-31 | 2014-08-06 | 中国科学院深圳先进技术研究院 | Hub driving device with planet motor and wheel power system adopting hub driving device |
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- 2013-12-31 CN CN201310754755.6A patent/CN104742725B/en not_active Withdrawn - After Issue
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| CN104742725A (en) | 2015-07-01 |
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