CN108199538B - Servo hub motor - Google Patents
Servo hub motor Download PDFInfo
- Publication number
- CN108199538B CN108199538B CN201810099024.5A CN201810099024A CN108199538B CN 108199538 B CN108199538 B CN 108199538B CN 201810099024 A CN201810099024 A CN 201810099024A CN 108199538 B CN108199538 B CN 108199538B
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- Prior art keywords
- shaft core
- hub motor
- servo
- stator
- fixed
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 32
- 239000010959 steel Substances 0.000 claims abstract description 32
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 230000002093 peripheral effect Effects 0.000 claims description 7
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 claims 3
- 238000009434 installation Methods 0.000 abstract 1
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2786—Outer rotors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/0094—Structural association with other electrical or electronic devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/01—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for shielding from electromagnetic fields, i.e. structural association with shields
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention discloses a servo hub motor, which comprises a rotor assembly; a stator assembly disposed within the rotor assembly; the front end cover is fixed at the front end face of the rotor assembly; the rear end cover is fixed at the rear end face of the rotor assembly, an accommodating cavity is formed at the end part of the rotor assembly, corresponding to the shaft core, and comprises a first cavity for accommodating the end part of the shaft core and a second cavity positioned at the inner side of the first cavity; the encoder comprises a plurality of stages of magnetic steels and a magneto-electric sensor, wherein the plurality of stages of magnetic steels are fixed in the second chamber, the magneto-electric sensor is fixed at the end part of the shaft core and corresponds to the plurality of stages of magnetic steels, and a signal wire on the magneto-electric sensor is connected to an output signal wire in the stator assembly to output a detection signal. The inside of the servo hub motor can be provided for the installation of the encoder, so that when the servo hub motor works, the encoder installed inside the servo hub motor works.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a servo hub motor.
Background
The in-wheel motor technology is also called in-wheel motor technology, and is characterized in that a power device, a transmission device and a control device are integrated into a hub, so that the mechanical part of the electric vehicle is greatly simplified. The hub motor driving system is mainly divided into two structural forms according to the rotor form of the motor: an inner rotor type and an outer rotor type.
The conventional encoder for the rotary motor is an inner rotor, the rotating part of the encoder is connected with the motor rotating shaft when in use, and the stator, namely the shell part of the encoder is connected with the motor stator shell along with the rotation of the shaft core, namely the whole encoder is assembled outside the motor. The outer rotor hub motor is characterized in that the shaft core does not rotate, the motor body, namely the housing rotates, and the encoder cannot be installed and connected outside the motor rotating housing.
In view of this, it is necessary to provide a servo hub motor with an encoder mounted therein to solve the above-mentioned drawbacks.
Disclosure of Invention
The invention aims to provide a servo hub motor with an encoder installed inside.
In order to solve the technical problems, the invention provides a servo hub motor, which comprises:
A rotor assembly;
A stator assembly disposed within the rotor assembly;
The front end cover is fixed at the front end face of the rotor assembly;
The rear end cover is fixed at the rear end face of the rotor assembly, an accommodating cavity is formed at the end part of the rotor assembly, corresponding to the shaft core, and comprises a first cavity for accommodating the end part of the shaft core and a second cavity positioned at the inner side of the first cavity;
The encoder comprises a plurality of stages of magnetic steels and a magneto-electric sensor, wherein the plurality of stages of magnetic steels are fixed in the second chamber, the magneto-electric sensor is fixed at the end part of the shaft core and corresponds to the plurality of stages of magnetic steels, and a signal wire on the magneto-electric sensor is connected to an output signal wire in the stator assembly to output a detection signal.
The further technical scheme is as follows: an electromagnetic shielding cover for accommodating the encoder is arranged in the accommodating chamber.
The further technical scheme is as follows: the electromagnetic shielding cover comprises a first top surface which is circular and a circular ring-shaped side wall which downwards extends from the edge of the first top surface, a first columnar body is outwards formed in a protruding mode at the middle of the first top surface, a first round hole is formed in the first columnar body, the end portion of the shaft core is arranged in the circular ring-shaped side wall, and the multistage magnetic steel is fixed in the first round hole.
The further technical scheme is as follows: the servo hub motor further comprises a bushing, the bushing is fixedly installed in the second cavity, a second round hole is formed in the bushing, and the multistage magnetic steel is installed in the second round hole.
The further technical scheme is as follows: the bushing is made of copper, aluminum or plastic.
The further technical scheme is as follows: the rotor assembly comprises a hub and rotor magnetic steel, the rotor magnetic steel is arranged on the inner peripheral surface of the hub, the stator assembly is arranged on the inner side of the rotor magnetic steel, and the rear end cover and the front end cover are respectively fixed on the rear end face and the front end face of the hub.
The further technical scheme is as follows: a inflation-free tire is arranged on the peripheral surface of the hub.
The further technical scheme is as follows: the stator assembly comprises a stator core, an upper bearing, a lower bearing and a shaft core, wherein the stator core is arranged in the rotor assembly, a plurality of stator salient poles which are uniformly distributed are formed on the outer peripheral surface of the stator core, each stator salient pole is wound with a coil, the shaft core sequentially penetrates through the upper bearing, the stator core, the lower bearing and the front end cover, the upper bearing is fixed on the shaft core, the rear end part of the shaft core is fixedly provided with a mounting disc for mounting the magnetic sensor, one side of the shaft core is provided with a lead groove for penetrating a signal wire on the magnetic sensor, and the other side of the shaft core is provided with a lead hole for penetrating the output signal wire.
The further technical scheme is as follows: the rear end cover and the front end cover are fixedly arranged at two end faces of the rotor assembly through screws.
Compared with the prior art, the servo hub motor can be internally provided with the encoder, namely the servo hub motor is provided with the magneto sensor of the encoder at the end part of the shaft core in the stator assembly, the rear end cover is provided with a containing cavity corresponding to the end part of the shaft core, the containing cavity comprises a first cavity used for containing the end part of the shaft core and a second cavity positioned at the inner side of the first cavity, the multi-stage magnetic steel of the encoder is correspondingly fixed in the second cavity, and the signal wire on the magneto sensor is connected with the output signal wire in the stator assembly to output a detection signal, so that the encoder can be reasonably arranged in the motor.
Drawings
FIG. 1 is an exploded view of a servo hub motor according to an embodiment of the present application.
Fig. 2 is a schematic perspective view of the assembled servo hub motor shown in fig. 1.
FIG. 3 is a schematic cross-sectional view of the servo hub motor of FIG. 2 in the A-A direction.
Fig. 4 is a right side view schematically showing the servo hub motor shown in fig. 2.
Detailed Description
The present invention will be further described with reference to the drawings and examples below in order to more clearly understand the objects, technical solutions and advantages of the present invention to those skilled in the art.
Referring to fig. 1-4, fig. 1-4 illustrate one embodiment of a servo hub motor 10 of the present application. In the embodiment shown in the drawings, the servo hub motor 10 includes a rear end cover 100, a stator assembly 200, a rotor assembly 300, a front end cover 400, and an encoder 500, wherein the stator assembly 200 is disposed in the rotor assembly 300, and the front end cover 400 is fixed at the front end surface of the rotor assembly 300; the rear end cover 100 is fixed at the rear end face of the rotor assembly 300, and an accommodating chamber is formed at the end part of the rear end cover, which corresponds to the shaft core 204, of the stator assembly 200, and the accommodating chamber comprises a first chamber 102 for accommodating the end part of the shaft core 204 and a second chamber 103 positioned inside the first chamber 102; the encoder 500 includes a multi-stage magnetic steel 501 and a magneto-electric sensor, the magneto-electric sensor is mounted on a circuit board 502, the multi-stage magnetic steel 501 is fixed in the second chamber 103, the circuit board 502 is fixed at the end of the shaft core 204, the magneto-electric sensor fixed on the circuit board 502 corresponds to the multi-stage magnetic steel 501, and a signal line 503 on the magneto-electric sensor is connected to an output signal line in the stator assembly 200 to output a detection signal. Based on this design, encoder 500 can be rationally installed inside motor 10 for when servo in-wheel motor 10 during operation, install in servo in-wheel motor 10 inside encoder 500 work, when rotor subassembly 300 rotates, because rear end cap 100 is fixed in on the rotor subassembly 300, multistage magnet steel 501 follows rotor subassembly 300 is rotatory, and the angular position change of multistage magnet steel 501 is responded to the magneto-electric sensor, and changes into position detection signal and export to external control ware through signal line 503, makes external control ware obtain the running condition of high accuracy servo in-wheel motor 10, thereby does benefit to the accurate control to servo in-wheel motor 10.
In the embodiment shown in the drawings, the rotor assembly 300 includes a hub 301 and a rotor magnetic steel 302, the rotor magnetic steel 302 is disposed on an inner circumferential surface of the hub 301, the stator assembly 200 is disposed inside the rotor magnetic steel 302, the rear end cover 100 and the front end cover 400 are respectively fixed on a rear end surface and a front end surface of the hub 301 by screws, and a inflation-free tire 303 is mounted on an outer circumferential surface of the hub 301.
With continued reference to fig. 3, an output signal line 800 is indicated in fig. 3. In some embodiments, the stator assembly 200 includes a stator core 201, an upper bearing 202, a lower bearing 203, and a shaft core 204, where the stator core 201 is disposed in the rotor assembly 300, that is, the stator core 201 is disposed inside the rotor magnetic steel 302, a plurality of uniformly distributed stator salient poles 207 are formed on an outer peripheral surface of the stator core 201, each stator salient pole 207 is wound with a coil 208, the shaft core 204 sequentially penetrates through the upper bearing 202, the stator core 201, the lower bearing 203, and the front end cover 400, the upper bearing 202 is fixed on the shaft core 204, a mounting disc 206 for mounting the circuit board 502 is fixed at a rear end of the shaft core 204, a lead slot 205 through which a signal wire 503 on a magnetic sensor penetrates is opened on one side of the shaft core 204, a lead hole 209 through which the output signal wire 800 penetrates is opened on the other side, and the mounting disc 206 and the upper bearing 202 are both located in the first chamber 102. In this embodiment, the signal line 503 penetrates into the stator assembly 200 from the lead slot 205 and is correspondingly connected to the output signal line 800, and the output signal line 800 includes three phase lines 801 connected to the stator winding and a first output signal line 802 correspondingly connected to the signal line 503 on the magneto sensor.
Preferably, in this embodiment, a receiving space 401 for receiving the lower bearing 203 is formed in the middle of the front end cover 400, the lower bearing 203 and the receiving space 401 are mounted in a tight fit manner, the lower bearing 203 and the shaft core 204 are mounted in a clearance fit manner, the upper bearing 202 and the mounting disc 206 are mounted in a tight fit manner, the upper bearing 202 and the first chamber 102 are mounted in a clearance fit manner, that is, the outer rings of the upper bearing 202 and the lower bearing 203 rotate along with the rotor assembly 300, and the inner rings of the upper bearing 202 and the lower bearing 203 do not rotate.
In some embodiments, the servo hub motor 10 further includes an electromagnetic shielding cover 600 and a bushing 700 for accommodating the encoder 500 therein, where the electromagnetic shielding cover 600 is disposed in the accommodating chamber, and includes a circular first top surface 601 and a circular side wall 602 extending downward from an edge of the first top surface 601, a first pillar 603 is formed in a protruding manner at a middle of the first top surface 601, and a first circular hole is formed inside the first pillar 603; wherein a first cylindrical body 603 in the electromagnetic shielding cover 60 is disposed in the second chamber 103, and the first top surface 601 and the annular sidewall 602 are disposed in the first chamber 102; the bushing 700 is fixedly arranged in the first round hole, a second round hole is formed in the bushing 700, and the multi-stage magnetic steel 501 is fixedly arranged in the second round hole in an adhesive manner; the upper bearing 202 in the stator assembly 200 is located within the first chamber 102, while the mounting plate 206 mounted in the rear end of the stator assembly 200 and the magnetoelectric sensor mounted on the mounting plate 206 are located within the annular sidewall 602. In this embodiment, the bushing 700 is made of copper, aluminum, or plastic, and in some other embodiments, the bushing 700 may be made of other non-magnetically conductive materials. Preferably, in this embodiment, the electromagnetic shielding cover 600 is press-fit into the accommodating chamber, and the bushing 700 is also press-fit into the first circular hole. Based on the design of electromagnetic shield 600, interference of electromagnetic signals external to motor 10 with encoder 500 may be shielded.
The following describes in detail the installation process of the servo hub motor 10:
Firstly, a shaft core 204 is tightly press-fit into a stator core 201, an upper bearing 202 is tightly press-fit onto the shaft core 204, a mounting plate 206 is fixedly mounted at the rear end part of the shaft core 204, a circuit board 501 with a magneto sensor is mounted on the mounting plate 206 through screws, a signal wire 503 on the magneto sensor penetrates into a stator assembly 200 through a lead groove 205 of the shaft core 204, an output signal wire 800 penetrates from one end of a lead hole 209 and penetrates out into the stator assembly 200 through the other end, three phase wires 801 are connected with a stator winding, and a first output signal wire 802 is correspondingly connected to the signal wire 503 on the magneto sensor; then, the lower bearing 203 is press-fitted into the accommodating space 401 of the front end cover 400; press-fitting electromagnetic shield 600 into the accommodation chamber of rear end cap 100, press-fitting bushing 700 into the first circular hole of electromagnetic shield 600, and bonding multi-stage magnetic steel 501 to bushing 700; finally, the stator core 201 with the shaft core 204, the upper bearing 202 and the circuit board 501 mounted therein is mounted into the rotor assembly 300, then the front end cover 400 with the lower bearing 203 mounted therein is assembled, the rear end cover 100 is assembled, and the front end cover 400 and the rear end cover 100 are fixed on both end surfaces of the rotor assembly 300 by screws, so that the motor 10 is assembled.
In summary, the servo hub motor of the present application may have the encoder mounted therein, that is, the servo hub motor of the present application mounts the magneto-sensor of the encoder at the end of the shaft core in the stator assembly, the rear end cover forms a receiving chamber corresponding to the end of the shaft core, the receiving chamber includes a first chamber for receiving the end of the shaft core and a second chamber located inside the first chamber, the multi-stage magnetic steel of the encoder is correspondingly fixed in the second chamber, and the signal line on the magneto-sensor is connected to the output signal line in the stator assembly to output the detection signal, so that the encoder may be reasonably mounted inside the motor.
The foregoing is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Various equivalent changes and modifications can be made by those skilled in the art based on the above embodiments, and all equivalent changes or modifications made within the scope of the claims shall fall within the scope of the present invention.
Claims (8)
1. The utility model provides a servo wheel hub motor which characterized in that, servo wheel hub motor includes:
A rotor assembly;
A stator assembly disposed within the rotor assembly;
The front end cover is fixed at the front end face of the rotor assembly;
The rear end cover is fixed at the rear end face of the rotor assembly, an accommodating cavity is formed at the end part of the rotor assembly, corresponding to the shaft core, and comprises a first cavity for accommodating the end part of the shaft core and a second cavity positioned at the inner side of the first cavity;
The encoder comprises a plurality of stages of magnetic steels and a magnetic sensor, wherein the plurality of stages of magnetic steels are fixed in the second chamber, the magnetic sensor is fixed at the end part of the shaft core and corresponds to the plurality of stages of magnetic steels, one side of the shaft core is provided with an axial lead wire groove for a signal wire on the magnetic sensor to penetrate, the other side of the shaft core is provided with a lead wire hole for an output signal wire to penetrate, and the signal wire on the magnetic sensor is connected to the output signal wire in the stator assembly through the lead wire groove so as to output a detection signal.
2. The servo hub motor of claim 1, wherein: an electromagnetic shielding cover for accommodating the encoder is arranged in the accommodating chamber.
3. The servo hub motor of claim 2, wherein: the shielding cover comprises a first top surface which is circular and a circular ring-shaped side wall which downwards extends from the edge of the first top surface, a first columnar body is outwards formed in a protruding mode at the middle of the first top surface, a first round hole is formed in the first columnar body, the end portion of the shaft core is arranged in the circular ring-shaped side wall, and the multistage magnetic steel is fixed in the first round hole.
4. The servo hub motor of claim 1, wherein: the servo hub motor further comprises a bushing, the bushing is fixedly installed in the second cavity, a second round hole is formed in the bushing, and the multistage magnetic steel is installed in the second round hole.
5. The servo hub motor of claim 4, wherein: the bushing is made of copper, aluminum or plastic.
6. The servo hub motor of claim 1, wherein: the rotor assembly comprises a hub and rotor magnetic steel, the rotor magnetic steel is arranged on the inner peripheral surface of the hub, the stator assembly is arranged on the inner side of the rotor magnetic steel, and the rear end cover and the front end cover are respectively fixed on the rear end face and the front end face of the hub.
7. The servo hub motor of claim 6, wherein: a inflation-free tire is arranged on the peripheral surface of the hub.
8. The servo hub motor of claim 1, wherein: the stator assembly comprises a stator core, an upper bearing, a lower bearing and a shaft core, wherein the stator core is arranged in the rotor assembly, a plurality of stator salient poles which are uniformly distributed are formed on the outer peripheral surface of the stator core, a coil is wound on each stator salient pole, the shaft core sequentially penetrates through the upper bearing, the stator core, the lower bearing and the front end cover, the upper bearing is fixed on the shaft core, and a mounting disc for mounting the magneto-electric sensor is fixed at the rear end part of the shaft core; the rear end cover and the front end cover are fixedly arranged at two end faces of the rotor assembly through screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810099024.5A CN108199538B (en) | 2018-01-31 | 2018-01-31 | Servo hub motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810099024.5A CN108199538B (en) | 2018-01-31 | 2018-01-31 | Servo hub motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108199538A CN108199538A (en) | 2018-06-22 |
| CN108199538B true CN108199538B (en) | 2024-07-23 |
Family
ID=62592205
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810099024.5A Active CN108199538B (en) | 2018-01-31 | 2018-01-31 | Servo hub motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108199538B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110224541B (en) * | 2019-06-21 | 2024-03-15 | 苏州盛亿电机有限公司 | Mobile platform hub motor adopting inductance encoder |
| CN110474508B (en) * | 2019-09-19 | 2024-04-02 | 深圳中菱科技有限公司 | Outer rotor motor |
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| CN202260955U (en) * | 2011-09-28 | 2012-05-30 | 浙江中科德润科技有限公司 | Hub motor |
| CN106643821A (en) * | 2017-03-09 | 2017-05-10 | 常州寻心电子科技有限公司 | Angular position detection method and angular displacement sensor |
| CN206432854U (en) * | 2016-11-25 | 2017-08-22 | 上海擎朗智能科技有限公司 | A kind of wheel hub motor |
| CN207819692U (en) * | 2018-01-31 | 2018-09-04 | 东昌电机(深圳)有限公司 | A kind of servo wheel hub motor |
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| JP2007113931A (en) * | 2005-10-18 | 2007-05-10 | Harmonic Drive Syst Ind Co Ltd | Magnetic encoder |
| CN101282071A (en) * | 2008-05-26 | 2008-10-08 | 湘潭电机股份有限公司 | Permanent magnetism synchronous wheel hub motor for directly driving electric vehicle wheel |
| DE102009051979A1 (en) * | 2009-11-04 | 2011-06-09 | Sew-Eurodrive Gmbh & Co. Kg | Electric motor, has cross-hall sensor and Wiegand sensor arranged on printed circuit board of flange socket part and detecting angular positions of permanent magnets, which are arranged at rotor shaft |
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| JP6281688B2 (en) * | 2014-02-04 | 2018-02-21 | 日立オートモティブシステムズ株式会社 | Motor control device and power steering device |
| CN103944344A (en) * | 2014-05-21 | 2014-07-23 | 哈尔滨理工大学 | Four-pole brushless direct current position motor and detection method thereof |
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| DE102015101248A1 (en) * | 2015-01-28 | 2016-07-28 | Fraba B.V. | Magnet-based rotation angle measuring system |
| CN105024493A (en) * | 2015-07-29 | 2015-11-04 | 无锡赛盈电机科技有限公司 | Motor shaft of electric motor for electromobile |
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| CN106357074A (en) * | 2016-09-28 | 2017-01-25 | 深圳市雅腾电机有限公司 | Hub motor for robot walking system |
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| CN202260955U (en) * | 2011-09-28 | 2012-05-30 | 浙江中科德润科技有限公司 | Hub motor |
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Also Published As
| Publication number | Publication date |
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| CN108199538A (en) | 2018-06-22 |
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Effective date of registration: 20200211 Address after: 518000 Guangtian green decoration industrial base Park, building 2, No. 86 Xiangyang Road, Yanchuan community, Yanluo street, Bao'an District, Shenzhen City, Guangdong Province Applicant after: Dongxingchang Technology (Shenzhen) Co.,Ltd. Address before: 518000, Shenzhen, Guangdong, Baoan District manhole street, Whampoa community, hung Tian Road, hung Tian, Jin Yuan Industrial Zone, building D, A24 third Applicant before: DONGCHANG MOTOR (SHENZHEN) Co.,Ltd. |
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