CN115666992A - 模块化混合传动装置 - Google Patents
模块化混合传动装置 Download PDFInfo
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- CN115666992A CN115666992A CN202180038154.8A CN202180038154A CN115666992A CN 115666992 A CN115666992 A CN 115666992A CN 202180038154 A CN202180038154 A CN 202180038154A CN 115666992 A CN115666992 A CN 115666992A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
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Abstract
一种模块化混合传动装置,其提供了对转子的改善的支撑以及提供了用于定子的改善的冷却布局结构。该模块化混合传动装置具有旋转组件和壳体组件。旋转组件包括转子组件、支撑转子的转子承载毂、和输入轴。转子承载毂旋转地固定在输入轴上。壳体组件容纳旋转组件,并且包括具有外壁的壳体、连接至外壁的定子组件、以及从外壁朝向输出轴延伸的径向延伸的固定壁。固定壁包括平行于输入轴的外表面延伸的轴向延伸的壁部分,并且径向滚珠轴承将输入轴支撑在该轴向延伸的壁部分上。两个定子冷却路径在壳体中形成通道。
Description
相关申请的交叉引用
本申请要求于2020年5月27日提交的美国非临时专利申请No.16/884,208的权益,该美国非临时专利申请的公开内容通过参引整体并入本文中。
技术领域
本公开涉及用于模块化混合传动装置的驱动装置。
背景技术
汽车的OEM和OEM的一级供应商已经考虑了用于MHEV(微混电动车辆)的不同的主动力系结构。在这些结构中,电动马达可以相对于其他动力系部件定位在被称为P0至P4的五个主要的点处。如图3中所示出的,P0位于ICE(内燃发动机)的前端部处,并且通常是经由带向曲轴提供动力的前端辅助驱动部。P1提供至电动马达的曲轴的直接连接。P0结构和P1结构不允许电动马达与ICE机械断开连接。P2结构提供了ICE与能够从ICE断开连接的传动装置之间的侧面附接的马达。P3结构提供了由相互啮合的齿轮连接至传动装置的电动马达。最后,P4结构提供经由相互啮合的齿轮连接至驱动轴的电动马达。P2至P4结构都允许电动马达从ICE断开连接。
在汽车行业中已经使用了P1结构并且在一些小客车中可以发现P1结构,在该结构中,电动马达在车辆传动装置与下游传动系之前直接连接至曲轴。这种布置结构提供了安装至输入轴的混合电动马达的转子,该输入轴支撑在曲轴的先导部中,其中,该转子居中在定子中。然而,可能会由于支撑不足而在电动马达的转子与定子之间发生过早接触,这导致功能丧失。例如在MHT(模块化混合传动装置)中,轴承进一步远离转子的中央轴向位置,由于在MHT的情况下轴承更接近发动机侧,因此径向滚珠轴承的倾斜公差也可能导致转子与定子之间的过早接触。
在许多车辆应用中,也不能将车载电动驱动系统封装成使得常规车辆动力系结构可以与电动驱动装置一起应用。离轴解决方案经常消耗车辆地板驻留的空间,从而需要高成本地毁坏现有的工具和压模。P0应用具有的问题在于经由蛇形带进行扭矩传递并且因此不能用于高的扭矩收集或高的车辆增压,从而限制了马达位置的有效性。
已知的P1结构中的另一问题是定子的冷却。在许多这样的应用中,定子用单独的专用冷却系统来进行冷却。然而,这根据负载可能是不充分的。一个已知的解决方案使用两个不同的冷却路径来将油/传动装置流体传递至定子。油向下传递至传动装置侧的焊接板中的孔口,该孔口将油在多个位置喷洒到定子绕组上。在发动机侧,外壳凹穴具有填充通道的冷却油,并且油穿过在壳体中钻出的多个孔口喷洒到定子绕组上。
期望为主要用于增压目的的平台提供电气化并且不需要复杂的P2结构。还期望以紧凑且简单的方式提供这种布置结构,同时还提供对定子线圈进行附加冷却的可能性。
发明内容
本公开提供了具有旋转组件和壳体组件的模块化混合传动装置。旋转组件包括适用于连接至变矩器的转子组件、支撑转子的转子承载毂、以及输入轴。转子承载毂旋转地固定在输入轴上,并且输入轴具有构造成由曲轴支撑的前端部。输入轴构造成由曲轴驱动。壳体组件容纳旋转组件,并且包括具有外壁的壳体、定子组件和径向延伸的固定壁,定子组件连接至外壁、适于驱动转子,径向延伸的固定壁从外壁朝向输入轴延伸。固定壁包括平行于输入轴的外表面延伸的轴向延伸的壁部分,径向滚珠轴承将输入轴支撑在该轴向延伸的壁部分上。径向滚珠轴承优选地定位成与转子轴向对准。
在另一方面中,密封件设置在固定壁与输入轴之间,该密封件将固定壁的一侧的湿区域与固定壁的相对侧的干区域分开。
在一个布置结构中,阻尼器组件将输入轴驱动地连接至曲轴。滚子轴承可以位于输入轴的前端部上,该前端部支撑在曲轴的先导部中。
在一个布置结构中,旋转变压器转子连接至转子承载毂,并且对旋转变压器转子的位置进行感测的旋转变压器定子连接至固定壁。旋转变压器转子可以通过压入环连接至转子承载毂的内周径(ID)。
在一个布置结构中,保持器环连接至输入轴,保持器环将径向滚珠轴承保持就位。
为了允许进行扭矩传递,P1模块转接器板和P1模块挠曲板连接至输入轴并且构造成用于连接至变矩器。P1模块挠曲板连接至带花键凸缘,带花键凸缘通过保持环保持至输入轴。
在一个布置结构中,端部环将转子组件保持在转子承载毂上。
这种新的P1构型减少了电动马达的转子与定子之间的过早接触的发生。这种构型还使用了转子承载毂内周径下方的轴向空间,其中,固定壁在两个旋转组件之间向下延伸以连接至轴承,这对于封装外延型旋转变压器转子和旋转变压器定子而言减小了任何轴向长度的增加。
这种轴承布局结构允许将转子更好地定位至定子。这种轴承布局结构防止了电动马达的转子与定子之间的导致功能丧失的过早接触的发生。轴承的关于转子堆叠件的轴向位置还允许改善马达的功能,因为在操作期间轴承将倾斜以对未对准进行补偿。这种布局结构还通过将支撑固定部件置于旋转组件之下而利用了较少的轴向空间并且因此不需要增加动力系的轴向长度来包括该模块。
关于解决针对定子线圈的已知的冷却问题,本公开提供了包括旋转组件和壳体组件的模块化混合传动装置。旋转组件具有适用于连接至变矩器的转子组件、支撑转子的转子承载毂、以及输入轴。转子承载毂旋转地固定在输入轴上,并且输入轴具有构造成由曲轴支撑的前端部。输入轴构造成由曲轴驱动。壳体组件容纳旋转组件并且具有带有外壁的壳体。定子组件连接至外壁并且适于驱动转子。径向延伸的固定壁从外壁朝向输入轴延伸。冷却水端口设置在壳体外壁中,并且冷却水端口连接至邻近定子组件延伸的壳体凹穴。
在一个方面中,在壳体外壁中设置有冷却油端口,板连接至固定壁以限定与冷却油端口连通的冷却油通道,并且在固定壁中邻近定子组件的绕组限定有孔口,孔口构造成将冷却油在传动装置侧喷洒在定子绕组上。
在另一方面中,在壳体外壁中在与固定壁轴向相反的一侧限定有凹穴,并且壳体外壁中的前部孔口与该凹穴流体连通并且构造成将冷却油在发动机侧引导到定子绕组上。前部板可以用于密封凹穴。
这种冷却布局结构通过具有用于电动马达的附加专用冷却而增加了电动马达的工作能力。这是通过既对定子钢质层压件进行水套冷却又将油喷洒到定子绕组上来完成的。用于定子绕组的油冷却是通过孔口和壳体中的交叉钻孔以及密封至壳体的板来完成的。这些板可以被焊接上。
轴承布置结构和冷却布局结构可以分开地使用或者一起使用。
附图说明
在结合示出本公开的优选实施例的附图进行阅读时,将更好地理解前述发明内容和以下详细描述。在附图中:
图1是穿过组装的驱动装置的半横截面图;
图2是图1的放大部分;以及
图3是示出了各种MHEV结构的现有技术示意图。
具体实施方式
仅出于方便在下面的描述中使用了某些术语,并且这些术语不是限制性的。词语“前”、“后”、“上”和“下”表示在附图中进行参考的方向。词语“向内地”和“向外地”是指朝向和远离附图中所参考的部分的方向。“轴向地”是指沿着轴的轴线的方向。对被引用为“a、b或c中的至少一者”(其中,a、b和c表示所列出的项目)的项目列表的参引是指项目a、b或c中的任何单个一者、或其组合。术语包括在上面具体指出的词语、这些词语的派生词以及相似含意的词语。
术语电动机器在本文中通常用于指在这里与混合驱动系统连接使用的电动马达,比如包括转子、带有绕组的定子、旋转变压器等的马达。
参照图1至图2,示出了包括旋转组件20和壳体组件50的模块化混合传动装置10。旋转组件20构造成在第一端部处连接至内燃发动机的曲轴14,并且构造成在另一端部处连接至变矩器12(示意性示出)。
旋转组件20包括由层压堆叠件制成的转子组件22,该转子组件被轴向地约束在板23、膜片弹簧24、端部环25之间,板可以由铝制成,端部环可以由钢制成,板、膜片弹簧、端部环位于转子承载毂26上。端部环25将转子36保持在转子承载毂26上,转子承载毂对转子36进行支撑。
设置有输入轴30,并且转子承载毂26优选地经由焊接连接被保持成旋转地固定到输入轴30。输入轴30具有前端部,该前端部构造成由曲轴14来支撑并且优选地由按压到曲轴先导部中的滚针轴承35来支撑。转子承载毂26连接至输入轴30以例如通过带有阻尼器弹簧34的阻尼器组件33的带花键凸缘32传递来自曲轴14的扭矩,阻尼器组件经由螺栓34螺栓连接至曲轴14。输入轴30还经由按压到输入轴30中的径向滚珠轴承29被保持在居中位置,并且在下文中更详细地进行说明。保持器环31可以连接至输入轴30以将径向滚珠轴承29保持就位。
壳体组件50容纳旋转组件20。壳体组件包括具有外壁66的壳体51以及连接至外壁66的定子组件36,该定子组件适于驱动转子22。径向延伸的固定壁37从外壁66朝向输入轴30延伸,并且包括平行于输入轴30的外表面延伸的轴向延伸的壁部分37A。径向滚珠轴承29在这里将输入轴30支撑在该轴向延伸的壁部分37A上。转子22通过固定壁37的肩部相对于定子组件36对中,固定壁通过桩接在保持环38上而将径向滚珠轴承保持就位。定子36主要由堆叠的层压件和铜线绕组58构成。
旋转变压器转子27可以通过压入环28组装在转子承载毂26的内周径处,以将旋转变压器转子固定至转子承载毂26。对旋转变压器转子27的位置并且因此对转子22的位置进行感测的旋转变压器定子67连接至固定壁37。
密封件39位于固定壁37与输入轴30之间,密封件将固定壁37的一侧的湿区域与固定壁37的相对侧的干区域分开。密封件39是位于壁37与输入轴30之间的动态密封件,并且位于轴承29与变矩器驱动板40之间,变矩器驱动板具有连接至、优选地通过多个螺栓连接件螺栓连接至P1模块挠曲板42的P1模块转接器板41。P1模块挠曲板42连接至、优选地通过机械紧固件、比如铆钉43连接至带花键凸缘44,带花键凸缘通过保持环45保持至输入轴30。位于发动机侧和传动装置侧两者上的输入轴30上的带花键部分将扭矩从发动机和电动马达传递至传动装置。
输入轴30优选地还具有与变矩器先导部46对中的孔。
壳体51优选地还包括组装至壳体的高电压和低电压头部连接件(两者均未示出)以及通过O形环53密封至壳体外壁66的定子承载件52。固定壁37螺栓连接至壳体外壁66。板55连接至、优选地激光焊接至固定壁37以在板与固定壁之间限定出流动通道,并且,该板还以O形环56密封至壳体外壁66。穿过固定壁的通道允许油穿过壳体外壁66中的端口57并且向下流动至焊接板中的孔口68,以将油喷洒在定子36的定子绕组58上,如由箭头指示的。油的喷洒还能够通过行进至传动装置侧的相同的端口到达壳体外壁66中的凹穴59来实现,其中,在凹穴59中钻有孔口69以将油在发动机侧喷洒到定子绕组58上。此处,凹穴59示出为以螺栓连接板60来密封。
附加冷却还能够通过穿过壳体外壁66中的另一端口61循环的冷却流体来实现,该端口延伸至限定有凹穴62的定子承载件52,冷却流体通过定子承载件52对定子36进行冷却。
使用径向轴承29的附加轴承支撑布置结构可以与冷却布局结构分开地使用或者一起使用。
因此,已经详细描述了本实施例,对本领域技术人员而言将理解并且将明显的是,可以做出许多物理变化而不改变本公开中所体现的发明构思和原理的情况下,在本公开的详细描述中仅例示了多种物理变化中的少数物理变化。
还将理解的是,仅结合优选实施例的一部分的许多实施例是可能的,这些实施例就这些部分而言并不改变在本公开中体现的发明构思和原理。
因此,本实施方式和可选的构型在所有方面中将被认为是示例性的和/或说明性的而不是限制性的,本公开的范围由所附权利要求表明而不是由前面的描述表明,并且因此,该实施方式的落入所述权利要求的等同含义和等同范围内的所有替代性实施方式和改变包括在本公开的范围内。
附图标记列表
驱动装置 10
变矩器 12
曲轴 14
旋转组件 20
转子组件 22
铝板 23
膜片弹簧 24
钢质端部环 25
转子承载毂 26
旋转变压器转子 27
环 28
径向滚珠轴承 29
输入轴 30
保持器环 31
带花键凸缘 32
阻尼器组件 33
阻尼器弹簧 34
滚针轴承 35
定子组件 36
固定壁 37
保持环 38
动态密封件 39
变矩器驱动板 40
P1模块转接器板 41
P1模块挠曲板 42
铆接连接件 43
带花键凸缘 44
保持环 45
变矩器先导部 46
壳体组件 50
壳体 51
定子承载件 52
O形环 53
激光焊接板 55
用于密封的O形环 56
端口 57
定子绕组 58
凹穴 59
螺栓连接板 60
冷却水端口 61
壳体凹穴 62
冷却水 64
冷却油 65
壳体外壁 66
旋转变压器定子 67
孔口 68
孔口 69。
Claims (18)
1.一种模块化混合传动装置,包括:
旋转组件,所述旋转组件包括:
转子组件,所述转子组件适于连接至变矩器,
转子承载毂,所述转子承载毂支撑转子,以及
输入轴,所述转子承载毂旋转地固定在所述输入轴上,所述输入轴具有构造成由曲轴支撑的前端部,并且所述输入轴构造成驱动地连接至所述曲轴;
壳体组件,所述壳体组件容纳所述旋转组件,所述壳体组件包括:
壳体,所述壳体具有外壁,
定子组件,所述定子组件连接至所述外壁,所述定子组件适于驱动所述转子,以及
径向延伸的固定壁,所述固定壁从所述外壁朝向所述输入轴延伸,并且包括平行于所述输入轴的外表面延伸的轴向延伸的壁部分;以及
径向滚珠轴承,所述径向滚珠轴承将所述输入轴支撑在所述轴向延伸的壁部分上。
2.根据权利要求1所述的模块化混合传动装置,其中,所述模块化混合传动装置还包括位于所述固定壁与所述输入轴之间的密封件,所述密封件将所述固定壁的一侧的湿区域与所述固定壁的相对侧的干区域分开。
3.根据权利要求1所述的模块化混合传动装置,其中,所述模块化混合传动装置还包括阻尼器组件,所述阻尼器组件适于将所述输入轴驱动地连接至所述曲轴。
4.根据权利要求1所述的模块化混合传动装置,其中,所述模块化混合传动装置还包括位于所述输入轴的前端部上的滚针轴承。
5.根据权利要求1所述的模块化混合传动装置,其中,所述模块化混合传动装置还包括连接至所述转子承载毂的旋转变压器转子和连接至所述固定壁的旋转变压器定子,所述旋转变压器定子感测所述旋转变压器转子的位置并且因此感测所述转子的位置。
6.根据权利要求5所述的模块化混合传动装置,其中,所述旋转变压器转子通过压入环连接至所述转子承载毂的内周径。
7.根据权利要求1所述的模块化混合传动装置,其中,所述模块化混合传动装置还包括连接至所述输入轴的保持器环,所述保持器环将所述径向滚珠轴承保持就位。
8.根据权利要求1所述的模块化混合传动装置,其中,所述模块化混合传动装置还包括P1模块转接器板和P1模块挠曲板,所述P1模块转接器板和P1模块挠曲板连接至所述输入轴并且构造成用于连接至变矩器。
9.根据权利要求9所述的模块化混合传动装置,其中,所述P1模块挠曲板连接至带花键凸缘,所述带花键凸缘通过保持环保持至所述输入轴。
10.根据权利要求1所述的模块化混合传动装置,其中,所述模块化混合传动装置还包括将所述转子保持在所述转子承载毂上的端部环。
11.根据权利要求1所述的模块化混合传动装置,其中,所述壳体的外壁包括冷却水端口,所述冷却水端口连接至壳体凹穴,所述壳体凹穴邻近所述定子组件延伸。
12.根据权利要求9所述的模块化混合传动装置,其中,所述模块化混合传动装置还包括冷却油端口、板和孔口,所述冷却油端口位于所述壳体外壁中,所述板连接至所述固定壁以限定与所述冷却油端口连通的冷却油通道,所述孔口邻近所述定子组件的绕组并限定在所述固定壁中,所述孔口构造成将冷却油在传动装置侧喷洒在所述定子绕组上。
13.根据权利要求12所述的模块化混合传动装置,其中,所述模块化混合传动装置还包括凹穴和前部孔口,所述凹穴在与所述固定壁轴向相反的一侧限定在所述壳体外壁中,所述前部孔口位于所述壳体外壁中且与所述凹穴流体连通,所述前部孔口构造成将冷却油在发动机侧引导到所述定子绕组。
14.根据权利要求13所述的模块化混合传动装置,其中,所述模块化混合传动装置还包括密封所述凹穴的前部板。
15.一种模块化混合传动装置,包括:
旋转组件,所述旋转组件包括:
转子组件,所述转子组件适于连接至变矩器,
转子承载毂,所述转子承载毂支撑转子,以及
输入轴,所述转子承载毂旋转地固定在所述输入轴上,所述输入轴具有构造成由曲轴支撑的前端部,并且所述输入轴构造成驱动地连接至所述曲轴;
壳体组件,所述壳体组件容纳所述旋转组件,所述壳体组件包括:
壳体,所述壳体具有外壁,
定子组件,所述定子组件连接至所述外壁,所述定子组件适于驱动所述转子,以及
径向延伸的固定壁,所述径向延伸的固定壁从所述外壁朝向所述输入轴延伸;以及
冷却水端口,所述冷却水端口位于所述壳体外壁中,所述冷却水端口连接至邻近所述定子组件延伸的壳体凹穴。
16.根据权利要求15所述的模块化混合传动装置,其中,所述模块化混合传动装置还包括冷却油端口、板和孔口,所述冷却油端口位于所述壳体外壁中,所述板连接至所述固定壁以限定与所述冷却油端口连通的冷却油通道,所述孔口邻近所述定子组件的绕组并限定在所述固定壁中,所述孔口构造成将冷却油在传动装置侧喷洒在所述定子绕组上。
17.根据权利要求16所述的模块化混合传动装置,其中,所述模块化混合传动装置还包括凹穴和前部孔口,所述凹穴在与所述固定壁轴向相反的一侧限定在所述壳体外壁中,所述前部孔口位于所述壳体外壁中且与所述凹穴流体连通,所述前部孔口构造成将冷却油在发动机侧引导到所述定子绕组上。
18.根据权利要求17所述的模块化混合传动装置,其中,所述模块化混合传动装置还包括密封所述凹穴的前部板。
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US16/884,208 US11390156B2 (en) | 2020-05-27 | 2020-05-27 | Modular hybrid transmission |
US16/884,208 | 2020-05-27 | ||
PCT/US2021/033567 WO2021242624A1 (en) | 2020-05-27 | 2021-05-21 | Modular hybrid transmission |
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US (1) | US11390156B2 (zh) |
JP (1) | JP7425229B2 (zh) |
KR (1) | KR20230003004A (zh) |
CN (1) | CN115666992A (zh) |
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JP3858472B2 (ja) | 1998-09-07 | 2006-12-13 | トヨタ自動車株式会社 | 車両用駆動装置 |
JP2007230341A (ja) | 2006-02-28 | 2007-09-13 | Fuji Heavy Ind Ltd | 車両用駆動装置 |
JP5297352B2 (ja) * | 2009-11-19 | 2013-09-25 | アイシン・エィ・ダブリュ株式会社 | 車両用駆動装置 |
US8813935B2 (en) | 2011-01-12 | 2014-08-26 | Gm Global Technology Operations, Llc | Launch / disconnect clutch for P2 hybrid powertrain |
US8770364B2 (en) | 2012-01-31 | 2014-07-08 | Ford Global Technologies, Llc | Modular powertrain component for hybrid electric vehicles |
CN207128607U (zh) | 2016-12-23 | 2018-03-23 | 舍弗勒技术股份两合公司 | 用于机动车的混合动力模块和驱动组件 |
FR3069296B1 (fr) * | 2017-07-21 | 2020-02-28 | Valeo Embrayages | Dispositif de transmission pour vehicule hybride |
US10500940B2 (en) * | 2017-08-18 | 2019-12-10 | Arvinmeritor Technology, Llc | Axle assembly having an electric motor module and a gear reduction module |
US10948062B2 (en) * | 2017-11-02 | 2021-03-16 | Schaeffler Technologies AG & Co. KG | Torque converter for modular hybrid transmission including coast engagement structure |
US10797548B2 (en) * | 2017-12-15 | 2020-10-06 | Schaeffler Technologies AG & Co. KG | Hybrid module including motor rotor clamp ring staked to rotor hub |
US10471819B2 (en) * | 2018-04-11 | 2019-11-12 | Ford Global Technologies, Llc | Hybrid transmission assembly |
US11469646B2 (en) | 2018-07-09 | 2022-10-11 | Schaeffler Technologies AG & Co. KG | Oil distribution in a hybrid module |
US11199250B2 (en) | 2018-09-25 | 2021-12-14 | Schaeffler Technologies AG & Co. KG | Hybrid module |
US11365793B2 (en) * | 2020-05-11 | 2022-06-21 | Schaeffler Technologies AG & Co. KG | Hybrid module including torque converter inside of e-motor and having remote compensation chamber |
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KR20230003004A (ko) | 2023-01-05 |
WO2021242624A1 (en) | 2021-12-02 |
JP7425229B2 (ja) | 2024-01-30 |
JP2023527350A (ja) | 2023-06-28 |
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