CN114448120A - Speed reduction formula in-wheel motor - Google Patents
Speed reduction formula in-wheel motor Download PDFInfo
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- CN114448120A CN114448120A CN202210110505.8A CN202210110505A CN114448120A CN 114448120 A CN114448120 A CN 114448120A CN 202210110505 A CN202210110505 A CN 202210110505A CN 114448120 A CN114448120 A CN 114448120A
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- 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
- H02K1/223—Rotor cores with windings and permanent magnets
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- 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
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- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/02—Arrangements for cooling or ventilating by ambient air flowing through the machine
- H02K9/04—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/08—Arrangements for cooling or ventilating by gaseous cooling medium circulating wholly within the machine casing
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
Abstract
The invention discloses a speed-reducing type hub motor which comprises an upper shell, a lower shell, a cycloid speed reducer and a wheel shaft, wherein a motor main body is arranged in an inner cavity of the lower shell and comprises a motor stator, a motor rotor, a permanent magnet patch and an electric drive winding, the motor stator is fixedly connected with the inner wall of the lower shell, a plurality of axial trapezoidal grooves are formed in the motor stator, the electric drive winding is wound in the trapezoidal grooves in a single layer mode, the motor rotor is connected with a middle shaft of the lower shell through a roller bearing, the outer surface of the motor rotor is in a sawtooth shape with the same size along the axial projection, the permanent magnet patch is attached to a straight edge of a sawtooth on the outer surface of the motor rotor, the polarities of the adjacent n permanent magnet patches facing an air gap are the same, the n permanent magnet patches jointly form a spliced magnetic pole, and n is a multiple of 2. The invention can effectively improve the performance of the hub motor and solve the problems of low magnetic energy utilization rate, large loss and insufficient cooling effect in the hub motor technology.
Description
Technical Field
The invention relates to a speed reduction type hub motor, and belongs to the technical field of hub motors.
Background
In recent years, in-wheel motors have become hot-door power devices in the field of electric machines, and particularly, the rapid development in the field of electric vehicles has been promoted. The hub motor is divided into a direct drive type and a speed reduction type, the speed reduction type hub motor usually comprises a motor, a wheel shaft, a speed reducer and a hub, a motor rotor shaft is connected with the speed reducer, and power is output through the wheel shaft after speed reduction and torque increase. At present, the technology of the hub motor is mature, but most hub motors in the market are oriented to household cars and are difficult to apply to agricultural machinery. The complex environment and the severe and variable working conditions in the farmland put forward more rigorous requirements on the performance of the hub motor, the motor needs to have a wider working range and good overload resistance due to load fluctuation and easy overload, a plurality of parts are integrated in a narrow space inside the motor, an efficient cooling and heat dissipation system is required to ensure the normal work of each part, parameters such as torque density, magnetic energy utilization rate, material utilization rate and the like considered from the energy-saving and efficient angles are required to be as high as possible, and the existing hub motor is difficult to adapt to the requirements of agricultural machinery.
Disclosure of Invention
In order to solve the problem that the existing hub motor is difficult to use agricultural machinery, the invention provides a speed-reducing hub motor which can effectively improve the performance of the hub motor and solve the problems of low magnetic energy utilization rate, large loss and insufficient cooling effect in the hub motor technology.
In order to solve the technical problems, the invention adopts the following technical means:
the invention provides a speed-reducing hub motor which comprises an upper shell, a lower shell, a cycloid speed reducer and a wheel shaft, wherein a motor main body is arranged in an inner cavity of the lower shell, the motor main body comprises a motor stator, a motor rotor, permanent magnet patches and an electric driving winding, the motor stator is fixedly connected with the inner wall of the lower shell, a plurality of axial trapezoidal grooves are formed in the motor stator, the electric driving winding is wound in the trapezoidal grooves in a single layer mode, the motor rotor is connected with a middle shaft of the lower shell through a roller bearing, the outer surface of the motor rotor is in a sawtooth shape with the same size along the axial projection, the permanent magnet patches are attached to straight edges of sawteeth on the outer surface of the motor rotor, the polarities of the adjacent n patches facing air gaps are the same, the n permanent magnet patches jointly form a spliced magnetic pole, and n is a multiple of 2.
Furthermore, on the outer surface of the motor rotor, the polarities of the adjacent 4 permanent magnet patches facing the air gap are the same, so that a spliced magnetic pole with a W-shaped projection along the axial direction is formed; the outer surface of the motor rotor is provided with 4m saw teeth, and the outer surface of the motor rotor is provided with 8m permanent magnet patches, wherein m is a positive integer.
Furthermore, two straight edges of each sawtooth on the outer surface of the motor rotor are symmetrical left and right, and the included angle alpha of the two straight edges ranges from 120 degrees to 150 degrees.
Further, the length of the motor rotor is the same as that of the permanent magnet patches, and the length of the straight edge of each sawtooth on the outer surface of the motor rotor is larger than the width of each permanent magnet patch.
Further, the width W of the permanent magnet patchesmagnetThe value range of (1) is 8-15 mm, and the thickness H of the permanent magnet patchmagnetThe value range of (A) is 3 mm-5 mm.
Furthermore, any one surface of two adjacent permanent magnet patches is not contacted with each other on the outer surface of the motor rotor, and a magnetic isolation gap not smaller than 1mm is arranged between the two adjacent permanent magnet patches.
Further, the inner wall of the inner cavity of the motor rotor is uniformly provided with k cooling grooves, the cooling grooves rotate clockwise along the inner wall of the inner cavity of the motor rotor in a spiral mode, and k is a positive integer greater than or equal to 2.
Furthermore, the motor winding is a three-phase star winding, each 10 turns of copper wire is wound into one strand, and each trapezoid groove is wound with 5 strands, so that brushless commutation is realized.
Furthermore, one end of the wheel shaft is provided with a shaft shoulder, the shaft shoulder is used for being matched with the upper shell to realize axial positioning of the wheel shaft, the cycloid speed reducer is installed between the upper shell and the lower shell, the rotating shaft is in transmission connection with the cycloid speed reducer through a pin, and the cycloid speed reducer is in transmission connection with the motor rotor through a connecting shaft.
Furthermore, a transmission shaft with a key groove is arranged on the end face of the inner cavity of the motor rotor, the transmission shaft is in transmission connection with one end of the connecting shaft through a key, and the other end of the connecting shaft is in transmission connection with a double-eccentric bearing of the cycloid speed reducer through a key.
The following advantages can be obtained by adopting the technical means:
the invention provides a speed-reducing hub motor, wherein the outer surface of a motor rotor is designed to be in a sawtooth shape, permanent magnet patches are adhered to the straight edges of the sawtooth, and a motor magnetic pole is formed by splicing a plurality of patches.
According to the hub motor, the cooling grooves which are uniformly distributed in a spiral manner are formed in the inner wall of the inner cavity of the motor rotor in a right-handed mode, and the cooling grooves can generate cooling air while the rotor rotates by utilizing the natural advantage of the rotation of the rotor, so that the cooling efficiency of the motor is improved, the air cooling effect in the motor is enhanced, the temperature of each part in the motor is reduced, and each part is in a temperature range which can maintain normal operation.
The hub motor is suitable for driving equipment of a distributed electric automobile or an electric agricultural machine, can modulate the air gap flux density waveform of the motor, weaken high-order harmonic components, reduce the consumption of permanent magnet materials, improve the utilization rate of magnetic energy, improve the output performance of the motor, reduce the loss, and have a higher working range and good overload resistance.
Drawings
FIG. 1 is a schematic cross-sectional view of a speed-reducing in-wheel motor according to the present invention;
FIG. 2 is a schematic cross-sectional view of a lower housing in an embodiment of the invention;
FIG. 3 is a schematic cross-sectional view of a connecting shaft in an embodiment of the invention;
FIG. 4 is a schematic cross-sectional view of a cycloidal reducer according to an embodiment of the present invention;
FIG. 5 is a schematic cross-sectional view of a rotor of an electric machine in an embodiment of the invention;
FIG. 6 is a schematic structural diagram of an outer surface of a rotor of a motor according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of an end face of an inner cavity of a motor rotor according to an embodiment of the present invention;
in the figure, 1 is an upper housing, 2 is a wheel shaft, 3 is a cycloid speed reducer, 4 is a connecting shaft, 5 is a motor stator, 6 is a motor rotor, 7 is a lower housing, 8 is a roller bearing, 9 is a limit bearing, 10 is a flange plate, 11 is a double eccentric bearing, 12 is a pin gear sleeve, 13 is a pin gear pin, 14 is a stepped hole, 15 is a permanent magnet patch, 16 is a pin, 17 is a cycloid wheel, 18 is a pin hole, 19 is a uniform distribution hole, 601 is a stepped shaft, 602 is a cooling groove, and 603 is a transmission shaft.
Detailed Description
The technical scheme of the invention is further explained by combining the accompanying drawings as follows:
in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The invention provides a speed-reducing hub motor, which mainly comprises an upper shell 1, a lower shell 7, a cycloidal reducer 3 and a wheel shaft 2, wherein the upper shell and the lower shell are respectively provided with an inner cavity, a rotating shaft is arranged in the inner cavity of the upper shell, one end of the wheel shaft inserted into the inner cavity of the upper shell is provided with a shaft shoulder, the shaft shoulder is used for being matched with the upper shell to realize the axial positioning of the wheel shaft, and a motor main body is arranged in the inner cavity of the lower shell. A cycloidal speed reducer and a flange plate 10 for transition are arranged between the upper shell and the lower shell, the rotating shaft is in transmission connection with the cycloidal speed reducer through a pin 16, and the cycloidal speed reducer is in transmission connection with the motor main body through a connecting shaft 4. The upper shell, the cycloid speed reducer, the flange plate, the lower shell and the wheel shaft are all provided with threaded holes, and the parts are connected through bolts or screws.
The motor main part mainly includes motor stator 5, electric motor rotor 6, permanent magnet paster 15 and electricity drive winding, and motor stator and the inner wall fixed connection of shell down have seted up a plurality of axial dovetail grooves on motor stator, and electricity drive winding individual layer coiling is in the dovetail groove, and motor winding is three-phase star type winding, and every 10 circles copper line twines into one, and coiling 5 strands, brushless switching-over in every dovetail groove. The motor rotor is connected with the middle shaft of the lower shell through a cylindrical roller bearing 8, a stepped shaft 601 is arranged at one end of the motor rotor connected with the lower shell, a stepped hole 14 is formed in the inner end face of the middle shaft of the lower shell, the stepped shaft is inserted into the stepped hole during connection, the roller bearing is arranged between the stepped shaft and the stepped hole, the axial movement of the roller bearing can be limited by the shaft shoulder of the stepped shaft, and the axial movement and the radial movement of the roller bearing can be limited by the stepped hole.
In the embodiment of the invention, the connecting shaft is arranged in the middle of the hub motor, and the outer side surface of the connecting shaft is fixedly connected with the flange plate through the limiting bearing 9. The motor rotor is provided with an inner cavity, the end face of the inner cavity of the motor rotor is provided with a transmission shaft 603 with a key groove, one end of a connecting shaft can be inserted into the inner cavity of the motor rotor and is connected with the transmission shaft through key transmission, the other end of the connecting shaft is also provided with the key groove, the other end of the connecting shaft can be connected with the double-eccentric bearing 11 of the cycloid speed reducer through key transmission, and the motor rotor can be connected with the cycloid speed reducer through the connecting shaft.
In the cycloid speed reducer, double eccentric bearings are manufactured integrally, each eccentric bearing is fixedly connected with a cycloid wheel 17, and a pin hole 18 is formed in the end face of each cycloid wheel. The shell of the cycloid speed reducer is provided with uniform distribution holes 19, needle tooth pins 13 are arranged in the uniform distribution holes during assembly, and needle tooth sleeves 12 are sleeved outside the needle tooth pins.
The end face of the wheel shaft inserted into the upper shell is provided with a pin, the pin and the wheel shaft are integrally manufactured, a pin sleeve is sleeved outside the pin, and when the cycloid wheels of the cycloid speed reducer rotate, the pin of the wheel shaft is arranged in pin holes in the end faces of the two cycloid wheels, so that the connection between the cycloid speed reducer and the wheel shaft is realized.
As can be seen from FIGS. 6 and 7, the outer surface of the motor rotor is in a sawtooth shape with the same size along the axial projection, two straight edges of each sawtooth are bilaterally symmetrical, and the included angle alpha of the two straight edges ranges from 120 degrees to 150 degrees, namely alpha is greater than or equal to 120 degrees and less than or equal to 150 degrees. The permanent magnet patch is attached to the straight edge of the sawtooth on the outer surface of the motor rotor, the length of the motor rotor is the same as that of the permanent magnet patch, and the length of the straight edge of each sawtooth on the outer surface of the motor rotor is slightly larger than the width of the permanent magnet patch.
In an embodiment of the invention, the width W of the permanent magnet patchesmagnetDepending on the theoretical calculation result in the design of the motor, W satisfies the output power and torque required by the designmagnetThe thickness H of the permanent magnet patch should be kept within the interval of 8 mm-15 mmmagnetShould be kept within the interval of 3mm to 5 mm. In determining WmagnetAnd HmagnetLater, in order to ensure that the permanent magnet patches do not interfere with each other, the included angle alpha and the straight edge length of the sawteeth need to be reasonably selected to ensure that the outer surface of the motor rotor is ensuredAny surfaces between any two adjacent permanent magnet patches are not contacted with each other, and a magnetic isolation gap not smaller than 1mm is required to be kept between every two adjacent permanent magnet patches.
In order to improve the cooling effect of the hub motor, k cooling grooves 602 are uniformly arranged on the inner wall of the inner cavity of the motor rotor, the groove shape of each cooling groove is a rectangular groove, the cooling grooves rotate clockwise in a spiral manner along the inner wall of the inner cavity of the motor rotor, and k is a positive integer greater than or equal to 2. When the motor works, the cooling groove can generate cooling air when the motor rotor rotates, the cooling efficiency of the motor is improved, the air cooling effect inside the motor is enhanced, the temperature of each part inside the motor is reduced, and each part is in a temperature range capable of maintaining normal work.
The n adjacent permanent magnet patches on the outer surface of the motor rotor have the same polarity facing the air gap, and a spliced magnetic pole can be formed by using the n adjacent permanent magnet patches with the same polarity, wherein n is a multiple of 2. And if the motor rotor has m pairs of poles, the outer surface of the motor rotor has n × m sawteeth, and 2n × m permanent magnet patches are attached to the outer surface of the motor rotor, wherein m is a positive integer.
In the embodiment of the invention, the optimal value of N is 4, the value of m is 5, the polarities of the adjacent 4 permanent magnet patches facing to the air gap are the same, according to the motor structure of the invention, a spliced magnetic pole in a W shape along the axial projection can be formed, the outer surface of the motor rotor has 20 sawteeth in total, so 40 permanent magnet patches are pasted in total, if 4 adjacent permanent magnet patches are provided, the surfaces of the permanent magnet patches, which are bonded with the straight edges of the sawteeth of the rotor, are N poles, the surfaces exposed in the air gap are S poles, the surfaces of the permanent magnet patches, which are adjacent to the S poles, are completely opposite, and so on, each pole of the motor rotor is in a W-shaped spliced magnetic pole along the axial projection, and 5 pairs of poles are formed.
The working principle of the hub motor is as follows:
when the hub motor works, a control unit of a vehicle receives a sinusoidal control signal and outputs alternating current through an inverter, the alternating current flows into a motor winding and then generates an induction magnetic field in the motor, a motor rotor is positioned in the induction magnetic field and is influenced by the induction magnetic field to attract a heteropolar permanent magnet, the motor rotor synchronously rotates and further drives an eccentric bearing in a cycloidal reducer to rotate through a connecting shaft, when the connecting shaft drives the eccentric bearing to rotate for one circle, the motion of the cycloidal gear has revolution and rotation due to the limitation of a profile curve and needle teeth on the cycloidal gear, the cycloidal gear rotates through a gear tooth (the outer profile of the cycloidal gear) in the opposite direction of an output shaft of the motor rotor so as to reduce the speed, and then the shaft is driven by a pin after the speed is reduced so as to output power with low speed and high torque, thereby achieving the purpose of reducing the speed and increasing the torque.
The speed-reducing hub motor has the advantages that the outer surface of the motor rotor is designed to be in a sawtooth shape, then the permanent magnet patches adhered to the straight edges of the sawtooth are spliced to form a motor magnetic pole, compared with the traditional arc-shaped permanent magnet patches, the width of a single permanent magnet patch is shortened, the middle part with sparse magnetic induction lines is shortened, the two side parts of the permanent magnet with dense magnetic induction lines can be more fully utilized, the benefits of the permanent magnet are fully exerted, the magnetic energy utilization rate is improved, meanwhile, the structural design of the speed-reducing hub motor can also reduce the material consumption of the permanent magnet, the material utilization rate is improved, and the magnetic density is improved on the premise that the magnetic saturation of the motor stator does not occur. The invention also generates cooling air through the cooling groove on the inner wall of the inner cavity of the motor rotor, improves the cooling efficiency of the motor and meets the cooling and heat dissipation requirements under complex environments and narrow spaces. The hub motor can modulate the air gap flux density waveform of the motor, weaken high-order harmonic components, reduce the consumption of permanent magnet materials and improve the utilization rate of magnetic energy, improve the output performance of the motor and reduce loss, comprehensively improve the parameters of the motor such as torque density, magnetic energy utilization rate, material utilization rate and the like, enable the motor to have a higher working range and good overload resistance, is suitable for driving equipment of a distributed electric automobile or electric agricultural machinery, and can meet the requirements of being responsible for the working environment.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A speed-reducing hub motor comprises an upper shell, a lower shell, a cycloidal reducer and a wheel axle, it is characterized in that the motor main body is arranged in the inner cavity of the lower shell, the motor main body comprises a motor stator, a motor rotor, a permanent magnet patch and an electric drive winding, wherein the motor stator is fixedly connected with the inner wall of the lower shell, a plurality of axial trapezoidal grooves are arranged on the motor stator, the electric drive winding is wound in the trapezoidal groove in a single layer, the motor rotor is connected with the middle shaft of the lower shell through a roller bearing, the outer surface of the motor rotor is in a sawtooth shape with the same size along the axial projection shape, the permanent magnet patches are attached to the straight edges of the sawteeth on the outer surface of the motor rotor, the polarities of n adjacent permanent magnet patches facing the air gap are the same, the n permanent magnet patches jointly form a spliced magnetic pole, and n is a multiple of 2.
2. A speed-reducing hub motor according to claim 1, wherein on the outer surface of the motor rotor, the polarities of the adjacent 4 permanent magnet patches facing the air gap are the same, so as to form a spliced magnetic pole with a W-shaped axial projection; the outer surface of the motor rotor is provided with 4m saw teeth, and the outer surface of the motor rotor is provided with 8m permanent magnet patches, wherein m is a positive integer.
3. A speed-reducing hub motor according to claim 1, wherein two straight sides of each sawtooth on the outer surface of the motor rotor are bilaterally symmetrical, and the included angle α between the two straight sides ranges from 120 ° to 150 °.
4. A speed-reducing hub motor according to claim 1, wherein the length of the motor rotor is the same as the length of the permanent magnet patches, and the length of the straight edge of each sawtooth on the outer surface of the motor rotor is greater than the width of each permanent magnet patch.
5. A speed-reducing hub motor according to claim 1, wherein the permanent magnet patchesWidth W ofmagnetThe value range of (1) is 8-15 mm, and the thickness H of the permanent magnet patchmagnetThe value range of (A) is 3 mm-5 mm.
6. A speed-reducing hub motor according to claim 1, wherein any one surface of two adjacent permanent magnet patches is not in contact with each other on the outer surface of the motor rotor, and a magnetic isolation gap not smaller than 1mm is formed between the two adjacent permanent magnet patches.
7. A speed-reducing hub motor according to claim 1, wherein k cooling slots are uniformly distributed on the inner wall of the inner cavity of the motor rotor, the cooling slots are spirally and rightly rotated along the inner wall of the inner cavity of the motor rotor, and k is a positive integer greater than or equal to 2.
8. A speed-reducing hub motor according to claim 1, wherein the motor winding is a three-phase star winding, one strand is wound every 10 turns of copper wire, 5 strands are wound in each trapezoidal groove, and brushless commutation is performed.
9. A speed-reducing in-wheel motor according to claim 1, wherein the axle is mounted in the inner cavity of the upper housing, one end of the axle is provided with a shoulder for matching with the upper housing to axially position the axle, the cycloidal reducer is mounted between the upper housing and the lower housing, the rotating shaft is in transmission connection with the cycloidal reducer through a pin, and the cycloidal reducer is in transmission connection with the motor rotor through a connecting shaft.
10. A speed-reducing hub motor according to claim 1, wherein the end surface of the inner cavity of the motor rotor is provided with a transmission shaft with a key slot, the transmission shaft is in transmission connection with one end of the connecting shaft through a key, and the other end of the connecting shaft is in transmission connection with the double eccentric bearing of the cycloidal speed reducer through a key.
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| CN202210110505.8A CN114448120B (en) | 2022-01-29 | 2022-01-29 | Speed reduction formula in-wheel motor |
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| CN202210110505.8A CN114448120B (en) | 2022-01-29 | 2022-01-29 | Speed reduction formula in-wheel motor |
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