CN205377612U - Duplex tool port drive arrangement for electric automobile - Google Patents
Duplex tool port drive arrangement for electric automobile Download PDFInfo
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- CN205377612U CN205377612U CN201620066278.3U CN201620066278U CN205377612U CN 205377612 U CN205377612 U CN 205377612U CN 201620066278 U CN201620066278 U CN 201620066278U CN 205377612 U CN205377612 U CN 205377612U
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Abstract
The utility model discloses a duplex tool port drive arrangement for electric automobile, include: be a coaxial actuating mechanism who arranges side by side and the 2nd actuating mechanism, an actuating mechanism and the 2nd actuating mechanism all include: the stator, its fixed setting, and the winding has stator winding on the stator, and the wound rotor, its rotatable setting is in inside the stator to but rotary motion passes through primary shaft output, the cage rotor, it sets up the stator with between the wound rotor to but rotary motion passes through secondary shaft output, a drive mechanism and the 2nd drive mechanism, its respectively with an actuating mechanism and the 2nd actuating mechanism connect, selective general the power take off of the primary shaft or secondary shaft to and can selectively incite somebody to action the primary shaft is fixed. The utility model discloses can realize multiple mode to can be in the same place the locking of first and second actuating mechanism, have the advantage that the reliability is high.
Description
Technical field
This utility model relates to electric automobile driving mechanism technical field, particularly to a kind of double mechanical port driving device used for electric vehicle.
Background technology
Along with the continuous growth of countries in the world automobile pollution, result in Global Oil yield height increases.And petroleum resources are limited on the earth, excessive exploitation will cause energy crisis.Therefore, the R&D intensity strengthening new-energy automobile is imperative.Pure electric automobile is as a kind of main Types of new-energy automobile, and it all adopts driven by power, and compared with conventional fuel oil automobile, the energy source needed for electric automobile extensively and can accomplish zero-emission in car running process, serves the effect of protection environment；The recyclable braking energy when braking, saves a large amount of electric energy.Automotive performance, as the core component of drive system, is served the impact of key by drive motor.At present, the drive motor kind used by electric automobile mainly has: direct current generator, permagnetic synchronous motor, AC induction motor and switched reluctance machines etc..
Direct current generator is compared with alternating current generator, and efficiency is low, easily produces commutation spark, quality and volume bigger between brush and diverter.Therefore, direct current generator application in drive system of electric automobile is limited.Switched reluctance machines has bigger electromagnetic noise and torque pulsation when running, and constrains its application on electric automobile to a certain extent.Permagnetic synchronous motor has that simple in construction, volume be little, light weight and the high advantage of efficiency, but compared with AC induction motor, has cost high and the shortcoming such as difficulty in starting.The advantages such as AC induction motor has that simple in construction, volume be little, light weight and reliable operation, but its speed regulation process exists slip, therefore, produced slip power causes electric efficiency step-down, and makes temperature of rotor uprise.Wound induction motor doubly-fed adjustable speed can realize the feedback of slip power, and efficiency is higher, but as vehicle-mounted drive motor, every drive motor needs to be equipped with two frequency-variable controllers, makes drive system excessively complicated.Conventional brush-less double feedback electric engine, compared with wound induction motor, simply eliminates collector ring, thus avoiding the abrasion of brush.But because itself and the above various traditional motor all have a common feature, being namely all Single Mechanical port, when as vehicle-mounted drive motor, being just equipped with two frequency-variable controllers, drive system is still complex.
Automotive performance is affected no less important by the arrangement form of drive motor.Its form can be divided mainly into:
1 single motor imparts power to the drive form of driving wheel by decelerator and differential mechanism；
2 bi-motors or many motors impart power to the drive form of driving wheel by decelerator；
3 drive forms adopting wheel hub motor.
The first arrangement form is similar with orthodox car engine arrangement form, it does not have making full use of motor-driven feature so that transmission system efficiency is relatively low, differential gear quality is bigger.The second arrangement form can cancel common mechanical differential gear box, according to the needs of different operating modes, can accurately control the output torque of each driving wheel.But the quantity owing to adding drive motor causes that the quantity of electric machine controller increases accordingly.Simultaneously driving the total material usage of motor also can be significantly increased, such as casing volume and winding overhang length strengthen the material usage caused to be increased.Therefore, this arrangement form result in the increase of automobile total quality and the growth of cost.The third arrangement form both can adopt high speed internal rotor coordinate the form of decelerator, it is possible to adopt the relatively large low speed external rotor electric machine form of volume, namely our described In-wheel motor driving.This arrangement form, except the advantage with the second arrangement form, is also fully utilized by the space of inside wheel, advantageously reduces automobile barycenter.But this kind of arrangement form makes automobile unsprung mass be significantly increased, and reduces riding comfort.It addition, when the limit climbs operating mode, if a side drive wheel is unsettled or is absorbed in mud, then opposite side driving wheel is difficult to ensure that required driving torque.
Except the multiple arrangement form of above-mentioned conventional motors, along with electric automobile increasingly comes into one's own, Chinese scholars it is also proposed multiple type motor-driven, make driving device be more suitable for electric automobile, but wherein have the shortcomings such as much still suffer from that volume is big, quality is big, power consumption is many, control is difficult and the mechanical ports rotary inertia of left and right output is inconsistent.
Utility model content
The purpose of this utility model is to overcome the existing defect that Vidacare corp volume is big, power consumption is many, provide the double mechanical port driving device of a kind of shared stator, the torque of its two mechanical ports and rotating speed can independently control, and increase the control ability of the control stability of automobile.
Another purpose of the present utility model is to provide the driving device of a kind of multi-operation mode, and section components breaks down abrasion, driving device still can normal operation, improve reliability and the adaptability of driving device.
Driving device is made to have multiple-working mode
The technical scheme that this utility model provides is:
A kind of double mechanical port driving device used for electric vehicle, including:
In the first driving mechanism being coaxially arranged in juxtaposition and the second driving mechanism, described first driving mechanism and the second driving mechanism all include:
Stator, it is fixedly installed, and is wound with stator winding on described stator；And
Wound rotor, it is rotatably disposed in described stator interior, and rotatable movement is by the first axle output；
Cage rotor, it is arranged between described stator and described wound rotor, and rotatable movement is by the second axle output；
First drive mechanism and the second drive mechanism, it is connected with described first driving mechanism and the second driving mechanism respectively, is optionally exported by the power of described first axle or the second axle, and can optionally be fixed by described first axle.
Preferably, also including lockable mechanism, it is arranged between described first driving mechanism and the second driving mechanism, it is possible to coaxially locked by the cage rotor of the cage rotor of the first driving mechanism and the second driving mechanism.
Preferably, the stator of described first driving mechanism and the stator of the second driving mechanism share same stator winding.
Preferably, described first drive mechanism and the second drive mechanism all include:
First shaft gear, itself and described first axle are fixedly and coaxially connected；
Second shaft gear, it is fixed with described second axle and is connected；
Deceleration driving gear, it is arranged between described first shaft gear and the second shaft gear, and described deceleration driving gear can optionally engage with described first shaft gear and the second shaft gear, passes to described deceleration driving gear with the power by the first axle or the second axle；
Reduction driven gear, it engages with described deceleration driving gear, and connects wheel, to impart power to wheel；
Fixed gear ring, it is fixedly installed, and optionally engages with described first shaft gear, to be fixed by the first axle.
Preferably, also include control circuit, comprising:
Left bidirectional rectifying inverter, is connected with left collector ring, provides electric current for the first driving mechanism；
Middle bidirectional rectifying inverter, it is connected with described stator winding, thinks that described stator winding is powered；
Right bidirectional rectifying inverter, is connected with right collector ring, provides electric current for the second driving mechanism；
Left rotor switchs around group selection, and it is connected with described left collector ring, is optionally turned on the control winding in described first driving mechanism or torque winding by described left collector ring；
Right rotor switchs around group selection, and it is connected with described right collector ring, is optionally turned on the control winding in described second driving mechanism or torque winding by described right collector ring.
Preferably, described left rotor all includes around group selection switch around group selection switch and right rotor:
Sliding sleeve, it is linked on described first axle, and can move along described first axle axis；Described sliding sleeve is connected with described collector ring；
Controlling winding contact piece, it is arranged on the side of described sliding sleeve, and is connected with described control winding by wire；
Torque winding contact piece, it is arranged on the opposite side of described sliding sleeve, and is connected with described torque winding by wire；
Wherein said sliding sleeve can horizontally slip, to be turned on control winding or torque winding by collector ring.
Preferably, described lockable mechanism includes:
Intermediate support plate, it is rotatably arranged between described first driving mechanism and the second driving mechanism,
Left clutch, it is fixed on the left side of described intermediate support plate, is optionally connected with the cage rotor of described first driving mechanism；
Right clutch, it is fixed on the right side of described intermediate support plate, is optionally connected with the cage rotor of described second driving mechanism.
Preferably, lockable mechanism includes:
Inner rotary table, it is fixed with the cage rotor of described first driving mechanism and is connected, and described inner rotary table has slideway groove radially；
Outer rotary table, it is circular, and is fixedly and coaxially connected with the cage rotor of described second driving mechanism；Described outer rotary table inner periphery is provided with through slot, in described inner rotary table is arranged at；
Sliding york, it includes sliding end and promote-side, and described sliding end is arranged in slideway groove, and is provided with sliding york spring between described sliding end and inner rotary table, so that described sliding york moves radially inwardly in described slideway groove；
Sliding york sleeve, it matches with the promote-side of described sliding york, described sliding york can be promoted to be moved radially outwards in described slideway groove, and make sliding end be inserted into foremost in through slot, to realize the locking of described inner rotary table and outer rotary table.
Preferably, described cage rotor includes squirrel-cage winding, and described squirrel-cage winding includes
First end short circuit ring and the second end short circuit ring, it is circular, is respectively arranged at the two ends that cage rotor is axial,
Region sliver, it is provided with even number, is parallel to cage rotor axis and is uniformly distributed circumferentially, and sliver two ends, described region are connected with described first end short circuit ring and the second end short circuit ring respectively, and cage rotor surface is divided into even number region；
Concentric type sliver, it is arranged in described region, and described concentric type sliver two ends are connected with first end short circuit ring or the second end short circuit ring, to form loop；
Wherein, in the concentric type sliver in adjacent two regions, the concentric type sliver two ends in a region are connected with first end short circuit ring, and the concentric type sliver two ends in another region are connected with the second end short circuit ring.
Preferably, described wound rotor is along being radially from outer to inner sequentially coaxially wound with control winding and torque winding；The number of poles of described control winding and the number of poles of described stator winding differ, and the number of poles of described torque winding is identical with the number of poles of described stator winding.
The beneficial effects of the utility model are:
The utility model proposes a kind of double mechanical port driving device, there are all advantages of AC induction motor, also can realize the feedback of slip power, and the doubly-fed adjustable speed system comparing two wound induction motors decreases a frequency-variable controller.This device has the advantage that the range of speeds is big, volume is little and is easy to layout.This device may be installed on vehicle frame, thus decreasing unsprung mass, improves the comfortableness taken.The torque of its two mechanical ports and rotating speed can independently control, and increase the control ability of the control stability of automobile.When upper abrupt slope, a side drive wheel unsettled or skid time, can by the power phase adduction of two mechanical ports by one side ports output.Owing to this driving device left and right driver part is symmetrical expression distribution, thus the rotary inertia that two mechanical ports have is equal, stability when being thus easy to output direct torque and Brake energy recovery controls, and avoids the eccentric wear phenomenon of the side brake caused because automotive proplsion left and right sides rotary inertia is different.
Accompanying drawing explanation
Fig. 1 is double mechanical port driving device population structure schematic diagram used for electric vehicle described in the utility model.
Fig. 2 is left second driving mechanism structure schematic diagram described in the utility model.
Fig. 3 is wound rotor structural representation described in the utility model.
Fig. 4 is drive mechanism structural representation described in the utility model.
Fig. 5 is lockable mechanism structural representation described in the utility model.
Fig. 6 is the structural representation of another embodiment of lockable mechanism described in the utility model.
Fig. 7 is control circuit schematic diagram described in the utility model.
Fig. 8 is that rotor windings described in the utility model selects switch structure diagram.
Fig. 9 is squirrel-cage winding circumferentially deploying figure described in the utility model.
Detailed description of the invention
Below in conjunction with accompanying drawing, this utility model is described in further detail, to make those skilled in the art can implement according to this with reference to description word.
As shown in Figure 1, this utility model provides a kind of double mechanical port driving device used for electric vehicle, including casing the 100, first driving mechanism the 200, second driving mechanism the 300, first drive mechanism the 400, second drive mechanism 500, control circuit 600 and lockable mechanism 700.From the first driving mechanism 200, the power of output drives left side wheel to rotate through the first drive mechanism 400, and from the second driving mechanism 300, the power of output drives right side wheels to rotate through the second drive mechanism 500.Described lockable mechanism 700 is arranged between the first driving mechanism 200 and the second driving mechanism 300, for making can mutually transmit between them torque by the first driving mechanism 200 and the second driving mechanism 300 locking.
Casing 100, as the protection mechanism of this device, also acts the effect of each rotating shaft in a support arrangement.First driving mechanism 200 and the second driving mechanism 300 are arranged at the middle part in casing 100, and the first driving mechanism 200 and the second driving mechanism 300 are with the mid-plane of casing 100 for the plane of symmetry, symmetrical layout.First drive mechanism 400 is arranged at the left side of the first driving mechanism 200, second drive mechanism 500 is arranged at the right side of the second driving mechanism 300, and the first drive mechanism 400 and the second drive mechanism 500 are also with the mid-plane of casing 100 for the plane of symmetry, symmetrical layout.
As in figure 2 it is shown, described first driving mechanism 200 is identical with the structure of the second driving mechanism 300.Described first driving mechanism 200 includes left stator core 210, left cage rotor 220, left wound rotor 230；Described second driving mechanism 300 includes right stator core 310, right cage rotor 320, right wound rotor 330.
Described first driving mechanism 200 and the second driving mechanism 300 share a combined stator, and described combined stator includes left stator core 210, right stator core 310 and the intermediate supports seat 240 being arranged between them.Having teeth groove on the inner peripheral surface of intermediate supports seat 240, the material of intermediate supports seat 240 is non-magnetic metal material, its objective is to reduce this place's winding inductance to region, thus reducing the magnetic flux that in winding, electric current produces in this place.Left stator core 210 and right stator core 310 are axially close to assembling with intermediate supports seat 250, and left stator core 210 and right stator core 310 have same teeth groove with intermediate supports seat 240.Should ensure that after three's close fit that each tooth space centerline overlaps, stator winding 250 is through to be assemblied in this combined stator teeth groove, becomes a complete combined stator.Left stator core 210 and right stator core 310 are assembled by stalloy, serve good magnetic conduction effect, increase magnetic flux produced by winding unitary current.
Described combined stator is fitted in the inner surface of casing 100 and arranges, at the housing part coordinated with combined stator, having the cooling jacket axially isometric with cylinder shape stator in casing 100, cooling jacket scope covers the outer circumference surface of whole combined stator, and stator winding 250 can be made fully to dispel the heat.
Described left cage rotor 220 is identical with the structure of right cage rotor 320, all in for columnar structured, being positioned at inside assembling iron core inner peripheral surface.Wherein, left cage rotor 220 is between left stator core 210 and left wound rotor 230, and the air gap between left cage rotor 220 and left stator core 210 is air gap outside left side, and the air gap between left cage rotor 220 and left wound rotor 230 is air gap in left side；Owing to this driving device becomes to be symmetrically arranged, right cage rotor 320 is between right stator core 310 and right wound rotor 330, air gap between right cage rotor 320 and right stator core 310 is air gap outside right side, and the air gap between right cage rotor 320 and right wound rotor 330 is air gap in right side.
For left cage rotor 220, the rotary motion of described left cage rotor 220 is exported by left second axle 221.Owing to the rotary motion of left cage rotor 220 can export from two ends, left and right, therefore the two ends, left and right of left cage rotor 220 are all connected with left second axle 221.
As it is shown in figure 9, described left cage rotor 220 and right cage rotor 320 also include cylindric iron core, squirrel-cage winding and core ends bracing frame.Squirrel-cage winding includes along cylindric iron core circumferential array and is parallel to the axial sliver of core center and end short circuit ring.This mouse cage winding can adopt the thought of the closed-loop structure cage rotor " number of poles transducer " of conventional brush-less double feedback electric engine, but this utility model has improved in form, its form is the uniform arrangement of several circumference and is parallel to core center axial region sliver, being positioned at cage rotor two ends and be respectively arranged with first end short circuit ring 222 and the second end short circuit ring 223, sliver 224 two ends, described region are connected with the two end short circuit ring respectively.Cage rotor surface has been divided several uniform region by regional sliver 224 and end short circuit ring 222,223, will have several concentric type sliver loop in each area.So-called concentric type distribution, it is simply that start circumferentially evenly distributed to both sides from longitudinal center line with the axial sliver 225 in each region, and sliver length this centrage symmetrically formula relatively increases.Described in this utility model in a region side of the axial sliver 225 that the every pair of length is identical by a horizontal sliver 226 phase short circuit, opposite side and the end short circuit ring phase short circuit in this region.Different from conventional brush-less double feedback electric engine cage rotor winding, cage type winding of the present utility model has even number region, wherein the sliver in the region in odd number order is connected with the end short circuit ring of cage rotor side, and the sliver in the region in even number order is connected with the end short circuit ring of cage rotor opposite side, so make the electric current in cage type winding uniform, so that rotor heating amount is uniform, motor-driven mechanism is conducive to dispel the heat.Owing in this utility model, cage rotor is one columnar structured, and the magnetic flux in motor-driven mechanism needs guiding through two-layer air gap, therefore, for reducing leakage field, the sliver in cage rotor on rotor radial through the cylindric iron core at place.The bracing frame of mechanical support effect has all been had at cage rotor iron core both ends, in the middle of driving device, the bracing frame of one end has a circular hole centered by rotor axis, bearing is installed in hole, by this hole, cage rotor is installed in a device near one end that driving device is middle.Be fixed with the hollow cylindrical sleeve for connecting clutch driven plate in the outside of this end bracing frame, this sleeve axis and cage rotor axis coincide.
As it is shown on figure 3, described left wound rotor 230 includes left wound rotor iron core 231, left control winding 232 and left-hand rotation square winding 233.Left wound rotor iron core 231 is the cylinder-shaped iron core being assembled by stalloy, left wound rotor iron core 231 periphery arranges double winding in teeth groove, left control winding 232 and left-hand rotation square winding 233, double winding is radially upper and lower double-layer separate cloth along left wound rotor 230.Internal layer winding near axle center is left-hand rotation square winding 233, and the number of poles of left-hand rotation square winding 233 is equal with the number of poles of stator winding 250；Being left control winding 232 near the outer layer winding of left wound rotor 230 outer circumference surface, this winding number of poles and stator winding 250 number of poles are not etc..Two windings upper and lower two-layer next-door neighbour in same teeth groove arrange, efficiently utilizes tooth socket space, decreases the problem causing magnetic resistance to increase because winding distance makes air gap expand.Preferred as one, the left-hand rotation square winding 233 in this device is heterogeneous symmetric winding with left control winding 232 and stator winding 250.
The rotary motion of left wound rotor 230 is exported by left first axle 234, and described left first axle 234 is fixed on the axis place of left wound rotor 230.Described left first axle 234 two ends are respectively by two bearings.Described left second axle 221 is set on left first axle 234, so that left first axle 234 plays the purpose supporting left cage rotor 220 so that it is can rotate around left first axle 234 axis.
As shown in Figure 4, the first drive mechanism 400 is identical with the structure of the second drive mechanism 500, for the first drive mechanism 400.First drive mechanism 400 includes the left fixed gear ring 401 arranged from left to right, left first shaft gear 402, left deceleration driving gear 403, left second shaft gear 404 and the left reduction driven gear 405 engaged with described left deceleration driving gear 403 with this.
Wherein left fixed gear ring 401 is relatively fixed installation with casing 100.Left first shaft gear 402 is fixedly connected with by spline with left first axle 234, the gear teeth that left first shaft gear 402 periphery upper shaft two rows mutually arranged side by side are identical, is provided with lock unit 406 between itself and left fixed gear ring 401.Left fixed gear ring 401 is an external tooth gear, and its outside is meshed with an internal-gear, and both at straight-tooth gear, this internal-gear is left locking clutch collar 407.When the first shaft gear 402 moves left locking clutch collar 407 to the left, left fixed gear ring 401 is coupled together by locking clutch collar 407 with left first shaft gear 402, then left first axle 234 will be fixed and cannot rotate relative to casing.
Left deceleration driving gear 403 passes through needle bearing empty set on left first axle 234, the both sides of left deceleration driving gear 403 are fixed with left first and engage gear ring and left second joint gear ring, and engaging of both sides is respectively equipped with, on gear ring, a left side the first axle clutch collar 408 and left second axle clutch collar 409 that engage.It is provided with lock unit 406 between left first axle clutch collar 408 and left first shaft gear 402, when left first axle clutch collar 408 moves to the left, left deceleration driving gear 403 and left first shaft gear 402 will be made to be fixedly connected with, exported to left wheel by left reduction driven gear 405 by the torque of left wound rotor 230.
Left second shaft gear 404 is rigidly connected with an empty set left side the second axle 221 on left first axle 234, it is provided with lock unit 406 between left second axle clutch collar 409 and left deceleration driving gear 403, when left second axle clutch collar 409 moves right, left deceleration driving gear 403 will be made to be rigidly connected with left second shaft gear 404, the torque that left cage rotor 220 exports can be transferred to left wheel by left reduction driven gear 405.
Described lockable mechanism 700 is arranged between the first driving mechanism 200 and the second driving mechanism 300, for left cage rotor 220 and right cage rotor 320 being locked, makes they synchronous axial system.
As it is shown in figure 5, described lockable mechanism 700 includes intermediate support plate 711, between itself and intermediate supports seat 240 inner peripheral surface, it is equipped with needle bearing 712, makes the intermediate support plate 711 can be freely rotatable around own axes.Each one clutch of fixing connection of intermediate support plate about 711, wherein the left clutch plate 713 of left clutch is connected with left cage rotor 220, and the right clutch plate 714 of right clutch is connected with right cage rotor 320.When left platen 715 and right platen 716 move to intermediate support plate 711 direction respectively, the torque of left cage rotor 220 and right cage rotor 320 can be passed to intermediate support plate 711, the medium that namely intermediate support plate 711 transmits mutually as left and right cage rotor torque.When the attachment condition residing for left and right wheels differs bigger, clutch left and right platen can be promoted so that the driving torque of low attachment side is delivered to high attachment side.When left and right clutch compresses completely, mutually being locked by left and right cage rotor and make its synchronous operation, now this clutch is equivalent to the diff-lock of orthodox car.Owing to transmitting energy without magnetic flux herein, for reducing leakage field, the parts such as intermediate support plate 711, left clutch plate 713, right clutch plate 714, left platen 715 all adopt non-magnet material.
As shown in Figure 6, in another embodiment, described lockable mechanism 700 includes sliding york sleeve 721, sliding york 722, sliding york spring 723, inner rotary table 725 and outer rotary table 726.
Described inner rotary table 725 is fixedly and coaxially connected with left second axle 221, enables inner rotary table to rotate together with along with left cage rotor 220.Described sliding york sleeve 721 is rotatable to be linked on left second axle 221, and sliding york sleeve 721 can slide axially on left second axle 221.Inner rotary table 725 is the metal dish of certain thickness circle, and its left end face has N number of slideway groove, and each groove is extended conducting to outer rim radially by the inner rotary table center of circle.Flute surfaces is cylindrical, and in groove, the position close to outer rim is provided with spring base.Being provided with sliding york 722 in slideway groove, described sliding york 722 includes two parts, and a part is the sliding end of sliding york 722, and it is the metal straight rod being enclosed within sliding york spring 723 and is arranged in groove, and metal straight rod end is wedge structure；Another part is the promote-side of sliding york 722, and its cross-sectional area is identical with sliding end metal straight rod, but these two parts are to form in 30 degree of welded corner joints.Outer rotary table 726 is a circular metal dish, and its thickness is identical with inner rotary table 725.Having identical with the slideway groove number of inner rotary table 725 axially through groove on outer rotary table 726 end face, grooved is a upside down funnel shape, and this through slot bottom land is near the outer rim of outer rotary table 726, and groove depth is 0.6 times of sliding york 722 sliding end length.The two adjacent infundibulate hypotenuses axially through groove intersect at a point, and the distance in this some distance axle center is equal with the radius of inner rotary table 725, and after coaxially assembling by inner rotary table 725 and outer rotary table 726, this joining is tangent with inner rotary table 725 outer circumference surface.The right side of outer rotary table 726 is connected with a cage type support, and cage type support is logical to be fixedly and coaxially connected with right second axle 321.When needs locking left and right cage rotor, can passing through a release bearing and promote sliding york sleeve 721, the promote-side promoting sliding york 722 is moved axially by sliding york sleeve 721 along sliding york sleeve, so that sliding york 722 mobile terminal overcomes sliding york spring 723 elastic force to be displaced outwardly.When sliding york 722 tapered end is not just to the axial pass-through holes of outer rotary table 726, first tapered plane with funnel-shaped hole is contacted by sliding york 722 tapered end, due to the existence of this active force, sliding york 722 is made to enter in groove, it is achieved the locking of left cage rotor 220 and right cage rotor 320.
As it is shown in fig. 7, described control circuit 600 includes left bidirectional rectifying inverter 610, middle bidirectional rectifying inverter 620, right bidirectional rectifying inverter 630, set of cells 640, left collector ring 650, right collector ring 660, left rotor around group selection switch 670, right rotor around group selection switch 680.
Described left collector ring 650, right collector ring 660, left rotor switch in 680 individual region being arranged in casing 100 around group selection switch 670, right rotor around group selection, it is prevented that the lubrication wet goods impact on its work of drive mechanism.
The socket of described left collector ring 650 is connected on the external cylindrical surface of left first axle 234, the left slip ring of collector ring 650 matches with the brush of its circumference contact, brush by wire with casing 100 outside bidirectional rectifying inverter be connected, collector ring utilizes electric energy that brush transmits by wire to pass to left rotor through the hollow passageway of left first axle and switchs the central contact sheet of 670 around group selection.
As shown in Figure 8, left rotor switchs 670 around group selection is be made up of the isolation material annulus being tightly sleeved on left first axle 234 external cylindrical surface and the left sliding sleeve 671 that the uniform conductive copper sheet of circumference and outside are socketed on insulation annulus outer surface.Because this utility model is taken as three-phase windings for the winding in driving mechanism, then having three conductive copper sheets on same circumferencial direction, be called a copper sheet group, in like manner, when the winding number of phases in motor-driven mechanism is N, a copper sheet group is then to there being N number of conductive copper sheet.Such copper sheet group has three row vertically, and outer rows is called control winding contact piece 672, and three conductive copper sheets of these row are connected with each phase conductor in the three-phase electricity of left control winding 232 respectively；Inner column is called torque winding contact piece 673, is connected with each phase conductor in the three-phase electricity of left-hand rotation square winding 233；Middle column is called power contact sheet, its outer sheath is connected to left sliding sleeve 671, left sliding sleeve 671 is the cylinder of an insulant, cylinder inner cylinder face is equipped with strips of conductive spring leaf, spring leaf is equal at the width of circumferencial direction with the copper sheet contacted, spring leaf axial length is more than adjacent copper sheet axial spacing and less than two times of adjacent copper sheet axial spacings, its object is to when sliding sleeve 671 slides, can only be only control winding to be connected with power supply or only torque winding is connected with power supply, and two windings can not be made to be concurrently accessed power supply.The outer cylinder of sliding sleeve 671 has the groove 674 of a circumferencial direction, slide switch just can be made to be axially moveable by controlling switch shift fork with matching.This selection construction of switch can ensure that when left first axle 234 turns over any angle, can control sliding sleeve 671 and move.Right rotor switchs 680 around group selection and is symmetrically arranged around group selection switch 670 with left rotor, and structure is identical.
Electric-control system has three bidirectional rectifying inverter, is placed in outside casing 100, be connected with each armature winding in casing 100 by wire.The unidirectional current that power battery pack exports can be converted to the alternating current of the different frequency needed for electric drive mechanism and amplitude by this bidirectional rectifying inverter, certainly also the unidirectional current of size is specified in convertible output, additionally can by electric driver Brake energy recovery time the alternating current that produces be converted to unidirectional current and flow to power battery pack 640.Left bidirectional rectifying inverter 610 three-phase electricity wire is connected with left side brush, middle bidirectional rectifying inverter 620 three-phase electricity wire is connected with stator winding 250, right bidirectional rectifying inverter 630 three-phase electricity wire is connected with right side brush, is connected with power battery pack 640 after each bidirectional rectifying inverter DC side parallel.
The double mechanical port driving device used for electric vehicle that this utility model provides, has three kinds of power output modes.One is regular run mode, other two kinds as standby operation mode, when a failure occurs, enable standby operation mode.
In the normal mode of operation, left wound rotor 230 and right wound rotor 330 are fixed, rotated respectively by left cage rotor 220 and right cage rotor 320, power is passed to the left and right sides by the first drive mechanism 400 and the second drive mechanism 500 and drives axle, form the output of double mechanical port power.Its implementation is that by fixed gear ring, the locking clutch collar of the first and second drive mechanisms is shifted to the first shaft gear, fixed gear ring and the first shaft gear are rigidly connected by locking clutch collar, so that left and right the first axle is fixed and cannot be rotated relative to casing 100, so also just secure left and right two wound rotors 230,330.The rotor windings stirring the left and right sides selects the sliding sleeve on switch, it is made to slide to control winding contact piece place, making the electric current that left and right sides bidirectional rectifying inverter 610,630 sends access left and right two respectively through left and right sides collector ring and control winding, middle bidirectional rectifying inverter 620 is sent electric current and is accessed stator winding 250 either directly through wire.Wherein in stator winding 250, the input electric energy used that drives of input accounts for more than the 70% of the total electric energy passed into, and the housing cooling jacket that stator external peripheral surface contacts so can be utilized fully to dispel the heat.Owing to left and right the first axle is fixed, then the slip ring in collector ring and do not have relative sliding between its brush, therefore when service work device works, collector ring is inoperative, does not result in the abrasion of brush, and it is equivalent to wire and connects.Near wound rotor 230,330 outer circumference surface outer layer winding for control winding, this winding number of poles be q to pole, stator winding 250 number of poles be p to pole, both are unequal.The rotating speed of left cage rotor 220 is nl1This rotating speed and power frequency f in stator winding 250pWith power frequency f in left control winding 232q1Relational expression need to be met: nl1=60 (fP±fq1)/(p+q)；The rotating speed of same right cage rotor 320 is nl2, power frequency f in this rotating speed and stator winding 250pWith power frequency f in right control windingq2Relational expression need to be met: nl2=60 (fp±fq2)/(p+q).In above two formula, if when controlling the phase sequence of phase sequence power supply connect with stator winding of the connect power supply of winding and being identical, sign symbol in bracket takes positive sign, if when controlling the phase sequence of phase sequence power supply connect with stator winding of the connect power supply of winding and being contrary, the sign symbol in bracket takes negative sign.According to formula analysis it is recognized that while two cage rotors 220,320 share a set of stator winding 250, but owing to each cage rotor is corresponding to the control winding of oneself, it is possible to the left cage rotor 220 of independent control and the respective rotating speed of right cage rotor 230.According to Electrical Motor principle analysis, owing to wound rotor and the left and right sides cage rotor of this utility model device left and right sides become symmetrical relative to stator center radial section, therefore being left out when affecting of left and right sides winding current size, then the equivalent magnetizing inductance of winding is equal.First driving mechanism 200 inputs to the electromagnetic torque of left cage rotor 220 and is made up of two parts, a part is torque produced by stator winding 250 electric current and left cage rotor 220 function of current, and another part is torque produced by control winding 232 electric current of left wound rotor 230 and left cage rotor 220 function of current.Equally, second driving mechanism 300 inputs to the electromagnetic torque of right cage rotor 320 and is made up of two parts, a part is torque produced by stator winding 250 electric current and right cage rotor 320 function of current, another part be right wound rotor 330 control winding current and and right cage rotor 320 function of current produced by torque.Identical with rotating speed analysis, although two cage rotors share a set of stator winding 250, but owing to each cage rotor is to there being oneself control winding, it is possible to independent to control left cage rotor 230 and the respective torque of right cage rotor 330.Left and right the second axle clutch collar is connected with left and right the second shaft gear respectively, passes to left and right wheels with the power exported by left and right cage rotor by left and right actively reduction gearing.
Standby operation mode is that driving device remains to the set of device system of normal operation when some parts of service work device break down.Standby operation mode according to the difference of fault parts, can be divided into the first standby operation mode and the second standby operation mode.
First standby operation mode is that middle bidirectional rectifying inverter 620 breaks down, and left and right sides rectification adverser 610,630 is normal, then now stator winding 290 will be in off state, and in stator winding 290, no current passes through.The maneuverability pattern of the left and right sides drive mechanism 400,500 in device is identical with the maneuverability pattern of service work pattern, and namely locking clutch collar is shifted to the first shaft gear by fixed gear ring.Driving mechanism in device can take the mode of the torque winding power to left and right sides wound rotor 230,330, stir rotor windings and select the sliding sleeve on switch, it is made to slide to torque winding contact piece place, the electric current that left and right sides bidirectional rectifying inverter 610,630 sends is made to access left and right sides torque winding respectively through left and right sides collector ring, making left wound rotor 230 and right wound rotor 330 each produce magnetic flux, correspondence forms the magnetic circuit of Guan Bi by the inside and outside two-layer air gap of the left and right sides respectively.Left side magnetic flux induces electric current in left cage rotor 220, acts on left cage rotor 220 thus obtaining electromagnetic torque, and in like manner right side magnetic flux induces electric current in right cage rotor 320, acts on right cage rotor 320 thus obtaining electromagnetic torque.Therefore, when middle bidirectional rectifying inverter 620 breaks down, this driving device remains to normal operation.
Second standby operation mode is when occurring in left and right sides cage rotor 220,320 that the problems such as fatigue fracture occur in rotor broken bar or the second axle of the left and right sides, the locking clutch collar of the left and right sides disengages with the left and right sides the first shaft gear respectively and is connected, the left and right sides the first shaft gear and left and right sides deceleration driving gear are rigidly connected by the left and right sides the first axle clutch collar respectively, and the left and right sides the second axle clutch collar and the second shaft gear disengage and connect.Stir rotor windings and select the sliding sleeve on switch, it is made to slide to torque winding contact piece place, making the electric current that left and right sides bidirectional rectifying inverter 610,630 sends access in left and right sides torque winding respectively through left and right sides collector ring, middle bidirectional rectifying inverter 620 is sent electric current and is accessed stator winding 250 either directly through wire.
Now, the magnetic flux that the magnetic flux that torque winding in the left and right sides produces produces with stator winding respectively interacts, and produces electromagnetic torque on the wound rotor 230,330 of the left and right sides.Owing to left and right sides brush and corresponding collector ring can relative slidings, although rotating under the effect of left and right sides wound rotor electromagnetic torque, but the electric current passing into left and right sides torque winding is unaffected.Regulate frequency and the amplitude of electric current in left and right sides torque winding respectively, can independently control left wound rotor 220 and the respective rotating speed of right wound rotor 320 and torque.In the process, although left and right sides cage rotor 220,320 is also rotating under synthesis air gap the action of a magnetic field, but it belongs to idle running and consumes minimum power, is therefore negligible.
In being equipped with the actual driving process of electric automobile of double mechanical port driving device described in the utility model, it is possible to be controlled according to following methods:
1, when vehicle right and left two side drive wheel travels on same attachment road surface, in the normal situation of service work mode operation, available service work pattern is driven.When needing to regulate left and right sides driving wheel speed, according to the phase sequence of the phase sequence power supply connect with stator winding controlling the connect power supply of winding, identical or inverse relationship, is divided into two ways to process.When both phase sequences are contrary, stator winding current frequency fpRotating speed n with the higher side of cage rotor medium speed, the left and right sideslgRelational expression is: fp=nlg(p+q)/60.Such as, if the rotating speed of the relatively right cage rotor of left cage rotor wants height, then stator winding current frequency fpSize should be fp=nl1(p+q)/60, namely the rotating speed of left cage rotor regulates just with stator winding current frequency, and left control winding current is not involved in rotational speed regulation, and the rotating speed formula of left cage rotor is nl1=60fpThe rotating speed of the right cage rotor of/(p+q) to rely on stator winding current frequency and right side to control winding current and jointly regulate, and the rotating speed formula of right cage rotor is nl2=60 (fp-fq2)/(p+q).When both phase sequences are identical, stator winding current frequency fpRotating speed n with the relatively low side of cage rotor medium speed, the left and right sidesldRelational expression is still: fp=nld(p+q)/60.Such as, if the rotating speed of the relatively right cage rotor of left cage rotor is low, then stator winding current frequency fpSize should be fp=nl1(p+q)/60, namely the rotating speed of left cage rotor regulates just with stator winding current frequency, and left control winding current is not involved in rotational speed regulation, and the rotating speed formula of left cage rotor is nl1=60fp/ (p+q), the rotating speed of right cage rotor to rely on stator winding current frequency and right side to control winding current and jointly regulate, and the rotating speed formula of right cage rotor is nl2=60 (fp+fq2)/(p+q) use this control method, can effectively reduce the heat produced in the bidirectional rectifying inverter of the left and right sides, such that it is able to concentrate, stator and middle bidirectional rectifying inverter are dispelled the heat, reduce the volume of cooling device and lengthy and tedious degree, facilitate the heat management to this apparatus system.
2, when vehicle right and left two side drive wheel does not travel on same attachment road surface, in the normal situation of service work mode operation, available service work pattern is driven.When the single wheel being on high attachment road surface can make full use of road adherence according to driving demand, that is being in the device for mechanical port output driving force of high attachment side, road surface when being enough to drive automobile, control method when can travel on same attachment road surface according to left and right sides driving wheel drives to control both sides mechanical ports.But when being in some abrupt slope limiting conditions, when device for mechanical port output driving force owing to being in high attachment side, road surface can not drive automobile, then need to control the degree of engagement of left and right clutch, the driving torque being in the mechanical ports of side, low attachment road surface is made to pass to the mechanical ports of high attachment side, road surface, so can make full use of the adhesive force on high attachment road surface, improve the dynamic property of automobile significantly.Certainly, extremely low attachment coefficient road surface or wheel hanging it is in when single wheel, then need as conventional carrier drive axle, by left and right sides jack shaft locking, lockable mechanism 700 proposed in this utility model can be utilized in this device by left and right sides cage rotor 220,320 locking.
3, when middle bidirectional rectifying inverter breaks down, when left and right sides rectification adverser is normal, this kind of situation can use common cage rotor formula asynchronous motor control method.When being in some abrupt slope limiting conditions, when device for mechanical port output driving force owing to being in high attachment side, road surface can not drive automobile, can adopt and under this operating mode, control, with regular run mode, the method that lockable mechanism work is identical, thus improving vehicle dynamic quality.
4, when occurring in left and right sides cage rotor 220,320 that the problems such as fatigue fracture occur in rotor broken bar or the second axle, left and right sides cage rotor 220,320 no longer exports power so that it is be merely retained in unloaded freely rotatable state.Control the frequency of electric current in left and right sides torque winding, the independent speed demand controlling left and right sides wound rotor 230,330 can be met.A wire-wound asynchronous motor can be regarded as, it is possible to use the mode of doubly-fed adjustable speed is controlled the two respective rotating speeds of wound rotor 230,330, but due to the particularity of this apparatus structure, its concrete control method still has difference between every side wound rotor and stator.Owing to stator winding 250 is connected to middle bidirectional rectifying inverter 620, therefore this device mainly adopts frequency control, but for realizing independently controlling the two respective rotating speeds of wound rotor that single stator winding is corresponding, then still needs to adopt the mode of auxiliary doubly-fed adjustable speed.Concrete control method is when left and right sides driving wheel rotating speed is identical, stator winding 250 power frequency fpRotating speed n with left wound rotor 230r1Rotating speed n with right wound rotor 330r2Between relational expression be nr1=nr2=60fp/ p, the number of pole-pairs that wherein p is stator winding and torque winding has.Now, what pass in torque winding is unidirectional current, and two wound rotors are all operated in synchronization motoring condition.When left and right sides driving wheel rotating speed difference, stator winding 250 power frequency fpWound rotor rotating speed n with the higher side of rotating speedrgRelational expression is still nrg=60fp/ p, what the torque winding in the wound rotor of its medium speed higher side passed into is still unidirectional current, this wound rotor is made to be operated in synchronization motoring condition, what the torque winding in the wound rotor of relatively low side then passed into is the alternating current of certain frequency, control output voltage and the frequency size of bidirectional rectifying inverter corresponding to the wound rotor of relatively low side, relatively low side wound rotor is made to be operated in the subsynchronous speed motoring condition under doubly-fed adjustable speed controls, thus regulating the size of its rotating speed and torque.The advantage of this control method is, decreases rotor iron loss, it is possible to effectively regulate the power factor of motor-driven mechanism so that it is efficiency is higher, substantially reduce the number the consumption of electric energy, improves the continual mileage of electric automobile.
Although embodiment of the present utility model is disclosed as above, but listed utilization that it is not restricted in description and embodiment, it can be applied to various applicable field of the present utility model completely, for those skilled in the art, it is easily achieved other amendment, therefore, under the general concept limited without departing substantially from claim and equivalency range, this utility model is not limited to specific details and shown here as the legend with description.
Claims (10)
1. a double mechanical port driving device used for electric vehicle, it is characterised in that including:
In the first driving mechanism being coaxially arranged in juxtaposition and the second driving mechanism, described first driving mechanism and the second driving mechanism all include:
Stator, it is fixedly installed, and is wound with stator winding on described stator；And
Wound rotor, it is rotatably disposed in described stator interior, and rotatable movement is by the first axle output；
Cage rotor, it is arranged between described stator and described wound rotor, and rotatable movement is by the second axle output；
First drive mechanism and the second drive mechanism, it is connected with described first driving mechanism and the second driving mechanism respectively, is optionally exported by the power of described first axle or the second axle, and can optionally be fixed by described first axle.
2. double mechanical port driving device used for electric vehicle according to claim 1, it is characterized in that, also including lockable mechanism, it is arranged between described first driving mechanism and the second driving mechanism, it is possible to coaxially locked by the cage rotor of the cage rotor of the first driving mechanism and the second driving mechanism.
3. double mechanical port driving device used for electric vehicle according to claim 1 and 2, it is characterised in that the stator of described first driving mechanism and the stator of the second driving mechanism share same stator winding.
4. double mechanical port driving device used for electric vehicle according to claim 1 and 2, it is characterised in that described first drive mechanism and the second drive mechanism all include:
First shaft gear, itself and described first axle are fixedly and coaxially connected；
Second shaft gear, it is fixed with described second axle and is connected；
Deceleration driving gear, it is arranged between described first shaft gear and the second shaft gear, and described deceleration driving gear can optionally engage with described first shaft gear and the second shaft gear, passes to described deceleration driving gear with the power by the first axle or the second axle；
Reduction driven gear, it engages with described deceleration driving gear, and connects wheel, to impart power to wheel；
Fixed gear ring, it is fixedly installed, and optionally engages with described first shaft gear, to be fixed by the first axle.
5. double mechanical port driving device used for electric vehicle according to claim 1 and 2, it is characterised in that also include control circuit, comprising:
Left bidirectional rectifying inverter, is connected with left collector ring, provides electric current for the first driving mechanism；
Middle bidirectional rectifying inverter, it is connected with described stator winding, thinks that described stator winding is powered；
Right bidirectional rectifying inverter, is connected with right collector ring, provides electric current for the second driving mechanism；
Left rotor switchs around group selection, and it is connected with described left collector ring, is optionally turned on the control winding in described first driving mechanism or torque winding by described left collector ring；
Right rotor switchs around group selection, and it is connected with described right collector ring, is optionally turned on the control winding in described second driving mechanism or torque winding by described right collector ring.
6. double mechanical port driving device used for electric vehicle according to claim 5, it is characterised in that described left rotor all includes around group selection switch around group selection switch and right rotor:
Sliding sleeve, it is linked on described first axle, and can move along described first axle axis；Described sliding sleeve is connected with described collector ring；
Controlling winding contact piece, it is arranged on the side of described sliding sleeve, and is connected with described control winding by wire；
Torque winding contact piece, it is arranged on the opposite side of described sliding sleeve, and is connected with described torque winding by wire；
Wherein said sliding sleeve can horizontally slip, to be turned on control winding or torque winding by collector ring.
7. double mechanical port driving device used for electric vehicle according to claim 2, it is characterised in that described lockable mechanism includes:
Intermediate support plate, it is rotatably arranged between described first driving mechanism and the second driving mechanism,
Left clutch, it is fixed on the left side of described intermediate support plate, is optionally connected with the cage rotor of described first driving mechanism；
Right clutch, it is fixed on the right side of described intermediate support plate, is optionally connected with the cage rotor of described second driving mechanism.
8. double mechanical port driving device used for electric vehicle according to claim 1 and 2, it is characterised in that lockable mechanism includes:
Inner rotary table, it is fixed with the cage rotor of described first driving mechanism and is connected, and described inner rotary table has slideway groove radially；
Outer rotary table, it is circular, and is fixedly and coaxially connected with the cage rotor of described second driving mechanism；Described outer rotary table inner periphery is provided with through slot, in described inner rotary table is arranged at；
Sliding york, it includes sliding end and promote-side, and described sliding end is arranged in slideway groove, and is provided with sliding york spring between described sliding end and inner rotary table, so that described sliding york moves radially inwardly in described slideway groove；
Sliding york sleeve, it matches with the promote-side of described sliding york, described sliding york can be promoted to be moved radially outwards in described slideway groove, and make sliding end be inserted into foremost in through slot, to realize the locking of described inner rotary table and outer rotary table.
9. double mechanical port driving device used for electric vehicle according to claim 1, it is characterised in that described cage rotor includes squirrel-cage winding, and described squirrel-cage winding includes
First end short circuit ring and the second end short circuit ring, it is circular, is respectively arranged at the two ends that cage rotor is axial,
Region sliver, it is provided with even number, is parallel to cage rotor axis and is uniformly distributed circumferentially, and sliver two ends, described region are connected with described first end short circuit ring and the second end short circuit ring respectively, and cage rotor surface is divided into even number region；
Concentric type sliver, it is arranged in described region, and described concentric type sliver two ends are connected with first end short circuit ring or the second end short circuit ring, to form loop；
Wherein, in the concentric type sliver in adjacent two regions, the concentric type sliver two ends in a region are connected with first end short circuit ring, and the concentric type sliver two ends in another region are connected with the second end short circuit ring.
10. double mechanical port driving device used for electric vehicle according to claim 1 and 2, it is characterised in that described wound rotor is along being radially from outer to inner sequentially coaxially wound with control winding and torque winding；The number of poles of described control winding and the number of poles of described stator winding differ, and the number of poles of described torque winding is identical with the number of poles of described stator winding.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620066278.3U CN205377612U (en) | 2016-01-22 | 2016-01-22 | Duplex tool port drive arrangement for electric automobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620066278.3U CN205377612U (en) | 2016-01-22 | 2016-01-22 | Duplex tool port drive arrangement for electric automobile |
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| CN201620066278.3U Expired - Fee Related CN205377612U (en) | 2016-01-22 | 2016-01-22 | Duplex tool port drive arrangement for electric automobile |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105515312A (en) * | 2016-01-22 | 2016-04-20 | 吉林大学 | Dual mechanical port driving device for electric automobile |
| CN110999047A (en) * | 2017-05-31 | 2020-04-10 | 劳斯莱斯德国有限两合公司 | Redundant electric motor for driving a propulsion unit |
| CN114204764A (en) * | 2021-11-08 | 2022-03-18 | 华为数字能源技术有限公司 | Double-mechanical-port axial motor, distributed driving system and automobile |
| CN114261266A (en) * | 2021-12-17 | 2022-04-01 | 安徽皖南新维电机有限公司 | Walking motor suitable for installation of sliding loader |
| WO2023186862A1 (en) * | 2022-03-30 | 2023-10-05 | Zf Friedrichshafen Ag | Drive assembly |
-
2016
- 2016-01-22 CN CN201620066278.3U patent/CN205377612U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105515312A (en) * | 2016-01-22 | 2016-04-20 | 吉林大学 | Dual mechanical port driving device for electric automobile |
| CN110999047A (en) * | 2017-05-31 | 2020-04-10 | 劳斯莱斯德国有限两合公司 | Redundant electric motor for driving a propulsion unit |
| CN114204764A (en) * | 2021-11-08 | 2022-03-18 | 华为数字能源技术有限公司 | Double-mechanical-port axial motor, distributed driving system and automobile |
| CN114204764B (en) * | 2021-11-08 | 2023-11-10 | 华为数字能源技术有限公司 | Double mechanical port axial motor, distributed driving system and automobile |
| CN114261266A (en) * | 2021-12-17 | 2022-04-01 | 安徽皖南新维电机有限公司 | Walking motor suitable for installation of sliding loader |
| CN114261266B (en) * | 2021-12-17 | 2023-10-27 | 安徽皖南新维电机有限公司 | Walking motor suitable for installation of sliding type loader |
| WO2023186862A1 (en) * | 2022-03-30 | 2023-10-05 | Zf Friedrichshafen Ag | Drive assembly |
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