CN109681620B - Electric drive speed change gear integrating heat dissipation, lubrication and electric control braking - Google Patents

Electric drive speed change gear integrating heat dissipation, lubrication and electric control braking Download PDF

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Publication number
CN109681620B
CN109681620B CN201910004973.5A CN201910004973A CN109681620B CN 109681620 B CN109681620 B CN 109681620B CN 201910004973 A CN201910004973 A CN 201910004973A CN 109681620 B CN109681620 B CN 109681620B
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China
Prior art keywords
speed change
motor
oil
pump
braking
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CN201910004973.5A
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CN109681620A (en
Inventor
陈建文
张小鹏
米家宝
欧阳湘军
巩招兵
文孟权
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Jianglu Machinery and Electronics Group Co Ltd
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Jianglu Machinery and Electronics Group Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0412—Cooling or heating; Control of temperature
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/78—Features relating to cooling
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0402—Cleaning of lubricants, e.g. filters or magnets
    • F16H57/0404—Lubricant filters
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0434—Features relating to lubrication or cooling or heating relating to lubrication supply, e.g. pumps ; Pressure control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K9/00—Arrangements for cooling or ventilating
    • H02K9/19—Arrangements for cooling or ventilating for machines with closed casing and closed-circuit cooling using a liquid cooling medium, e.g. oil
    • H02K9/193—Arrangements for cooling or ventilating for machines with closed casing and closed-circuit cooling using a liquid cooling medium, e.g. oil with provision for replenishing the cooling medium; with means for preventing leakage of the cooling medium
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/78—Features relating to cooling
    • F16D2065/783—Features relating to cooling cooling control or adjustment
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02034—Gearboxes combined or connected with electric machines

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • General Details Of Gearings (AREA)

Abstract

The invention discloses an electric drive speed change gear integrating heat dissipation, lubrication and electric control braking, which comprises a motor, a speed change mechanism, a braking mechanism, a radiator, an electric control system, a hydraulic system and a lubricating system, wherein the braking mechanism is arranged at the tail end of the motor, and a shell at the output end of the braking mechanism at the end part of the braking mechanism is integrally formed with a shell at the tail end of the motor; a motor output end shell on the motor and a speed change mechanism input end shell are integrally formed; the hydraulic system comprises a pump and an oil tank, and the oil tank is arranged at the bottom of the speed change mechanism; the lubrication system includes a radiator; the pump comprises a big pump and a small pump, and the big pump is used for providing working oil pressure for the speed change mechanism and the brake mechanism; the small pump supplies oil for radiating and lubricating all parts. The invention aims to provide an electric drive speed change device integrating heat dissipation, lubrication and electric control braking, and the device has the advantages of high integration level, compact structure, small occupied space, low manufacturing cost, convenience in disassembly and maintenance, good control characteristic, safety and reliability in operation and the like.

Description

Electric drive speed change gear integrating heat dissipation, lubrication and electric control braking
Technical Field
The invention belongs to the technical field of electric transmission, and particularly relates to an electric drive speed change device integrating heat dissipation, lubrication and electric control braking.
Background
With the global energy crisis and the atmospheric pollution becoming more serious, the electric transmission technology is the important direction for the development of the vehicle transmission technology at present, and the electric transmission device is the core component of the power and transmission system of the electric vehicle. The electric transmission device has significant advantages in terms of a silencing effect, energy recovery, reduction of vehicle heat generation, and the like.
However, in most of the existing electric transmission devices, motors, speed change mechanisms, brake mechanisms, cooling systems, electric control systems, hydraulic systems, lubricating systems and the like are individually matched and distributed, and are not designed to be integrated integrally, and the integration research is only biased to the integration of simple motors and speed change mechanisms. Therefore, the existing electric transmission device has the problems of poor integration, dispersed arrangement, more connecting interfaces, large occupied volume, heavy weight, incapability of realizing integrated hoisting, difficult installation, low maintenance efficiency and the like, and needs to be solved urgently.
Disclosure of Invention
The invention aims to solve the problems and provides an electric drive speed change device integrating heat dissipation, lubrication and electric control and braking, which has the advantages of high integration level, compact structure, small occupied space, low manufacturing cost, convenience in disassembly and maintenance, good control characteristic, safety and reliability in operation and the like.
In order to realize the purpose, the invention adopts the technical scheme that: an electric drive speed change device integrating heat dissipation, lubrication and electric control braking comprises a motor, a speed change mechanism, a braking mechanism, a radiator, an electric control system, a hydraulic system and a lubricating system, wherein the braking mechanism is arranged at the tail end of the motor; a motor output shaft on the motor is in transmission connection with a speed change mechanism input shaft on the speed change mechanism, and a motor output end shell on the motor and a speed change mechanism input end shell are integrally formed; the electric control system is used for controlling the starting and stopping of the motor, the speed change mechanism, the brake mechanism, the radiator, the hydraulic system and the lubricating system; the hydraulic system comprises a pump and an oil tank, and the oil tank is arranged at the bottom of the speed change mechanism; the lubrication system includes a radiator; the pump comprises a large pump and a small pump, an output port of the large pump is respectively connected with a working oil inlet of the speed change mechanism and a working oil inlet of the brake mechanism through pipelines, a working oil return port of the speed change mechanism is communicated with the oil tank, and a working oil return port of the brake mechanism is communicated with the oil tank through a brake mechanism oil return pipe; the output port of the small pump is connected with an oil inlet pipeline of a radiator, the oil outlet of the radiator is connected with an inlet pipeline of a motor cooling structure through a motor heat dissipation oil inlet pipe, and the outlet of the motor cooling structure is connected with an oil tank pipeline through a motor cooling oil return pipe; an oil outlet of the radiator enters the braking mechanism through a lubricating oil inlet pipe of the braking mechanism, and an oil return pipe of the braking mechanism on the braking mechanism is connected with an oil tank; the oil outlet of the radiator enters the inside of the speed change mechanism through a speed change mechanism lubricating oil inlet pipe, and the inside of the speed change mechanism is communicated with an oil tank.
Further, the speed change mechanism is a planetary gear reducer.
Furthermore, the side surface of the motor is provided with a first supporting point, and the output end of the speed change mechanism is provided with a second supporting point.
Furthermore, a coarse filter is arranged in the oil tank, and an oil inlet of the coarse filter is arranged at the center of the bottom in the oil tank.
Further, the pump is a duplicate gear pump.
Furthermore, the motor cooling structure comprises a cooling water tank and a cooling water pipe, wherein the cooling water tank is arranged on the outer side wall of the motor stator, and the cooling water pipe is laid in the cooling water tank.
Furthermore, the hydraulic system further comprises a control valve group, and a large pump on the pump provides working oil pressure for the control valve group.
Furthermore, an oil pointer is arranged above the oil tank.
The invention has the beneficial effects that:
1. the device has the advantages of high integration level, compact structure, small occupied space, low manufacturing cost, convenient disassembly, assembly and maintenance, good control characteristic, safe and reliable work and the like.
2. The shell at the output end of the braking mechanism at the end part of the braking mechanism and the shell at the tail end of the motor are integrally formed; the integration of the brake mechanism and the motor is realized, and the overall occupied space is greatly reduced.
3. A motor output end shell on the motor and a speed change mechanism input end shell are integrally formed; the whole occupied space is greatly reduced, and the integration of the motor and the speed change mechanism is realized.
4. The big pump provides working oil pressure for speed change mechanism and brake mechanism, and speed change mechanism working fluid directly returns the oil tank, and brake mechanism working fluid returns the oil tank through the brake mechanism oil pipe to make working fluid form self-loopa.
5. In the invention, the system working oil is used as a motor cooling medium to integrate the motor, the brake mechanism and the speed change mechanism, thereby greatly simplifying the cooling structure, reducing the fault points and improving the reliability of the whole structure; the electric transmission device with high integration level is realized by reasonably adopting a common body, a common cooling structure, a common hydraulic control system and other modes, wherein the electric transmission device integrates a motor, a speed change mechanism, a brake mechanism, a cooling system, an electric control system, a hydraulic system, a lubricating system and the like.
Drawings
Fig. 1 is a schematic diagram of the principle of the present invention.
Fig. 2 is a schematic view of the front view structure of the present invention.
The text labels in the figures are represented as: 1. a brake mechanism; 2. lubricating an oil inlet pipe of a brake mechanism; 3. a brake mechanism output end shell; 4. a motor cooling structure; 5. a first support point; 6. a motor; 7. a motor heat dissipation oil inlet pipe; 8. a motor output end shell; 9. lubricating an oil inlet pipe of the speed change mechanism; 10. a speed change mechanism; 11. an electronic control system; 12. a control valve group; 14. a second support point; 13. an oil outlet pipe of the radiator; 15. a heat sink; 16. oil marks; 17. an oil inlet pipe of the radiator; 18. a coarse filter; 19. a pump; 20. a speed change mechanism input shaft; 21. an oil tank; 22. an output shaft of the motor; 23. cooling an oil return pipe by the motor; 24. a tail shaft of the motor; 25. an oil return pipe of the brake mechanism; 26. the brake mechanism transmission shaft.
Detailed Description
The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.
As shown in fig. 1-2, the specific structure of the present invention is: an electric drive speed change device integrating heat dissipation, lubrication and electric control braking, comprises a motor 6, a speed change mechanism 10, a brake mechanism 1, a radiator 15, an electric control system 11, a hydraulic system and a lubricating system, wherein the brake mechanism 1 is arranged at the tail end of the motor 6, a brake mechanism transmission shaft 26 on the brake mechanism 1 is in transmission connection with a motor tail shaft 24, and a brake mechanism output end shell 3 at the end part of the brake mechanism 1 is integrally formed with a tail end shell of the motor 6; the integration of the braking mechanism 1 and the motor 6 is realized, and the overall occupied space is greatly reduced. A motor output shaft 22 on the motor 6 is in transmission connection with a speed change mechanism input shaft 20 on the speed change mechanism 10, and a motor output end shell 8 on the motor 6 and an input end shell of the speed change mechanism 10 are integrally formed; the whole occupied space is greatly reduced, and the integration of the motor 6 and the speed change mechanism 10 is realized. The electric control system 11 is used for controlling the starting and stopping of the motor 6, the speed change mechanism 10, the brake mechanism 1, the radiator 15, the hydraulic system and the lubricating system; the hydraulic system comprises a pump 19 and an oil tank 21, and the oil tank 21 is arranged at the bottom of the speed change mechanism 10; the lubrication system comprises a radiator 15; the whole hydraulic system is integrated in the device, and the whole occupied space is greatly reduced. The pump 19 comprises a big pump and a small pump, an output port of the big pump is respectively connected with a working oil inlet of the speed change mechanism 10 and a working oil inlet of the brake mechanism 1 through pipelines, a working oil return port of the speed change mechanism 10 is communicated with the oil tank 21, and a working oil return port of the brake mechanism 1 is communicated with the oil tank 21 through a brake mechanism oil return pipe 25; the big pump provides working oil pressure for the speed change mechanism 10 and the brake mechanism 1, the working oil of the speed change mechanism 10 directly returns to the oil tank 21, and the working oil of the brake mechanism 1 returns to the oil tank 21 through the oil return pipe 25 of the brake mechanism, so that the working oil forms self-circulation. The cooling systems of the motor 6, the speed change mechanism 10 and the brake mechanism 1 adopt a parallel connection mode and share one radiator 15; the output port of the small pump is connected with an oil inlet (namely a radiator oil inlet pipe 17) of a radiator 15 through a pipeline, an oil outlet (namely a radiator oil outlet pipe 13) of the radiator 15 is connected with an inlet pipeline of a motor cooling structure 4 through a motor heat radiation oil inlet pipe 7, and an outlet of the motor cooling structure 4 is connected with an oil tank 21 through a motor cooling oil return pipe 23; the small pump absorbs oil from the oil tank, enters the radiator 15 and cools oil in the oil tank 21, the cooled oil enters the motor cooling structure 4 and cools the motor 6, and oil returns to the oil tank 21 from the motor cooling oil return pipe 23 after the motor 6 is cooled, so that self-circulation of the motor cooling oil is formed. An oil outlet of the radiator 15 (namely a radiator oil outlet pipe 13) enters the brake mechanism 1 through the brake mechanism lubricating oil inlet pipe 2, and a brake mechanism oil return pipe 25 on the brake mechanism 1 is connected with an oil tank 21; an oil outlet of the radiator 15 enters the speed change mechanism 10 through a speed change mechanism lubricating oil inlet pipe 9, and the inside of the speed change mechanism 10 is communicated with an oil tank 21; meanwhile, the oil cooled from the radiator 15 enters the brake mechanism 1 through the brake mechanism lubricating oil inlet pipe 2 to lubricate the brake mechanism 1, the lubricated oil returns to the oil tank 21 from the brake mechanism oil return pipe 25 to form self circulation of the lubricating oil of the brake mechanism 1, and the lubricating oil enters the speed change mechanism through the speed change mechanism lubricating oil inlet pipe 9 to lubricate the speed change mechanism and directly returns to the oil tank to form self circulation. The system directly utilizes the working oil of the system as the cooling medium of the motor 6 to cool and integrate the motor 6, the brake mechanism 1 and the speed change mechanism 10, thereby greatly simplifying the cooling structure, reducing the fault points and improving the reliability of the whole structure. Through the reasonable adoption of the modes of sharing the body, sharing the cooling structure, sharing the hydraulic control system and the like, the electric transmission device which integrates the motor, the speed change mechanism, the brake mechanism, the cooling system, the electric control system, the hydraulic system, the lubricating system and the like and has high integration level is realized.
Preferably, the speed change mechanism 10 is a planetary reducer.
Preferably, the motor 6 is provided with a first supporting point 5 on the side, and the output end of the speed changing mechanism 10 is provided with a second supporting point 14.
Preferably, a coarse filter 18 is arranged in the oil tank 21, and an oil inlet of the coarse filter 18 is arranged at the bottom center position in the oil tank 21. The effective oil return of the speed changer is ensured when the vehicle inclines longitudinally and laterally, and the requirement on the depth of an oil tank is reduced.
Preferably, the pump 19 is a double gear pump.
Preferably, the motor cooling structure 4 includes a cooling water tank and a cooling water pipe, the cooling water tank is provided on the outer side wall of the motor stator, and the cooling water pipe is laid in the cooling water tank.
Preferably, the hydraulic system further comprises a control valve group 12, and a large pump on the pump 19 provides working oil pressure for the control valve group 12.
Preferably, an oil pointer 16 is further arranged above the oil tank 21.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. The foregoing is only a preferred embodiment of the present invention, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present invention, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments.

Claims (8)

1. An electric drive speed change device integrating heat dissipation, lubrication and electric control braking is characterized by comprising a motor (6), a speed change mechanism (10), a brake mechanism (1), a radiator (15), an electric control system (11), a hydraulic system and a lubricating system, wherein the brake mechanism (1) is arranged at the tail end of the motor (6), a brake mechanism transmission shaft (26) on the brake mechanism (1) is in transmission connection with a motor tail shaft (24), and a brake mechanism output end shell (3) at the end part of the brake mechanism (1) and a motor (6) tail end shell are integrally formed; a motor output shaft (22) on the motor (6) is in transmission connection with a speed change mechanism input shaft (20) on the speed change mechanism (10), and a motor output end shell (8) on the motor (6) and an input end shell of the speed change mechanism (10) are integrally formed; the electric control system (11) is used for controlling the starting and stopping of the motor (6), the speed change mechanism (10), the brake mechanism (1), the radiator (15), the hydraulic system and the lubricating system; the hydraulic system comprises a pump (19) and an oil tank (21), and the oil tank (21) is arranged at the bottom of the speed change mechanism (10); the lubrication system comprises a radiator (15); the pump (19) comprises a big pump and a small pump, the output port of the big pump is respectively connected with the working oil inlet of the speed change mechanism (10) and the working oil inlet of the brake mechanism (1) through pipelines, the working oil return port of the speed change mechanism (10) is communicated with the oil tank (21), and the working oil return port of the brake mechanism (1) is communicated with the oil tank (21) through a brake mechanism oil return pipe (25); the output port of the small pump is connected with an oil inlet pipeline of a radiator (15), the oil outlet of the radiator (15) is connected with an inlet pipeline of a motor cooling structure (4) through a motor heat dissipation oil inlet pipe (7), and the outlet of the motor cooling structure (4) is connected with an oil tank (21) through a motor cooling oil return pipe (23) through a pipeline; an oil outlet of the radiator (15) enters the braking mechanism (1) through a lubricating oil inlet pipe (2) of the braking mechanism, and a braking mechanism oil return pipe (25) on the braking mechanism (1) is connected with an oil tank (21); an oil outlet of the radiator (15) enters the speed change mechanism (10) through a speed change mechanism lubricating oil inlet pipe (9), and the inside of the speed change mechanism (10) is communicated with an oil tank (21).
2. An electrically driven transmission integrating heat dissipation, lubrication and electric control braking as claimed in claim 1, characterized in that said transmission mechanism (10) is a planetary reducer.
3. An electrically driven speed change device with integrated heat dissipation, lubrication and electric control braking as claimed in claim 1, characterized in that the motor (6) is provided with a first support point (5) on the side and the output of the speed change mechanism (10) is provided with a second support point (14).
4. An electrically-driven speed change device integrating heat dissipation, lubrication and electric control braking as claimed in claim 1, wherein a coarse filter (18) is disposed in the oil tank (21), and an oil inlet of the coarse filter (18) is disposed at a bottom center position in the oil tank (21).
5. An electrically driven transmission incorporating heat dissipating lubrication and electrically controlled braking as claimed in claim 1 wherein said pump (19) is a double gear pump.
6. An electrically-driven speed change device integrating heat dissipation, lubrication and electric control braking as claimed in claim 1, wherein the motor cooling structure (4) comprises a cooling water tank and a cooling water pipe, the cooling water tank is arranged on the outer side wall of the motor stator, and the cooling water pipe is laid in the cooling water tank.
7. An electrically-driven transmission incorporating heat-dissipating lubrication and electrically-controlled braking as claimed in claim 1, wherein said hydraulic system further comprises a control valve block (12), and a large pump on said pump (19) provides operating oil pressure to said control valve block (12).
8. An electrically-driven speed change device integrating heat dissipation, lubrication and electric control braking as claimed in claim 1, wherein a fuel level (16) is further provided above the fuel tank (21).
CN201910004973.5A 2019-01-03 2019-01-03 Electric drive speed change gear integrating heat dissipation, lubrication and electric control braking Active CN109681620B (en)

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Application Number Priority Date Filing Date Title
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CN109681620B true CN109681620B (en) 2020-09-01

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CN112389190A (en) * 2019-08-19 2021-02-23 比亚迪股份有限公司 Integrated bridge assembly and vehicle
KR20220045317A (en) * 2020-10-05 2022-04-12 현대자동차주식회사 Oil recovery structure for cooling motor
CN114244033A (en) * 2021-12-28 2022-03-25 擎风电驱动科技(苏州)有限公司 Integrated water-cooled motor assembly for electric motorcycle

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CN202251898U (en) * 2011-09-08 2012-05-30 江阴克威齿轮箱制造有限公司 Mine speed reducer
CN106394663B (en) * 2015-07-31 2019-08-13 比亚迪股份有限公司 The combined system of vehicle braking and steering
ITUA20164391A1 (en) * 2016-06-15 2017-12-15 Bonfiglioli Riduttori Spa MOTOR
CN205744653U (en) * 2016-06-28 2016-11-30 常州东风农机集团有限公司 The hydraulic system of high-speed transplanter
CN106374673B (en) * 2016-09-22 2019-06-28 中国北方车辆研究所 Two grades of shift wheel hub motor driving devices
CN106246822B (en) * 2016-09-22 2018-07-24 中国北方车辆研究所 Wheel motor drive device with planet speed change mechanism

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