CN205615576U - Electric truck chassis assembly with drive of four -wheel wheel edge motor and four -wheel independently turn to - Google Patents

Electric truck chassis assembly with drive of four -wheel wheel edge motor and four -wheel independently turn to Download PDF

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Publication number
CN205615576U
CN205615576U CN201620484553.3U CN201620484553U CN205615576U CN 205615576 U CN205615576 U CN 205615576U CN 201620484553 U CN201620484553 U CN 201620484553U CN 205615576 U CN205615576 U CN 205615576U
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Prior art keywords
wheel
turn
motor
trailing arm
column
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CN201620484553.3U
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Chinese (zh)
Inventor
聂亮
厉蒋
李刚
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Hangzhou Botan New Energy Technology Co.,Ltd.
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Hangzhou Smooth Scientific And Technological Engineering Co Ltd Of Uncle
Liaoning University of Technology
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Abstract

The utility model discloses an electric truck chassis assembly with drive of four -wheel wheel edge motor and four -wheel independently turn to, include: the frame, turn to the motor, it is fixed on the frame, and turn to the trailing arm, can revolute to the output shaft of motor rotatoryly, the bogie can be together rotatory along with turning to the trailing arm, driving motor turns to the stand, and the rotatable connection of wheel hub turns to the stand, the spring vibroshock assembly, and its setting turns to the trailing arm and turns to between the stand for support and the damping turning to the trailing arm, guiding mechanism for the motion provides the direction to the spring vibroshock assembly, the utility model discloses a wheel edge motor drive auto steering and with wheel edge motor design becoming sprung mass improves automobile go ride comfort and dynamic property.

Description

There is four-wheel wheel motor drive and the electric automobile chassis assembly of four-wheel independent steering
Technical field
This utility model relates to electric automobile field, particularly relates to a kind of four-wheel wheel motor and drives four-wheel independent steering electric automobile chassis modular construction assembly.
Background technology
Along with deepening continuously and the continuous progress of power-driven system of electric automobile design concept, engineers wishes that the thinking constraint of traditional combustion engine Car design is progressively broken away from electric automobile design, therefore a kind of electric automobile chassis version independently driving four wheels with four motors, i.e. four-wheel independent electric drive chassis are occurred in that.From the point of view of domestic and international present Research, four motorized wheels electric automobile mainly uses In-wheel motor driving.Owing to wheel hub motor is arranged on inside wheel, add automobile nonspring carried mass, the ride comfort and the maneuverability that make vehicle are deteriorated, additionally typically compare wheel motor with torque little for wheel hub motor power, vehicle dynamic quality drives not as wheel motor, and uses wheel motor to drive, if can not appropriate design, also can increase nonspring carried mass, be difficulty with four motorized wheels from structure carries out four-wheel independent steering simultaneously simultaneously.
Utility model content
A purpose of the present utility model is to use wheel motor drive motor turning and wheel motor is designed to sprung mass, improves vehicle running smoothness and dynamic property.
Another purpose of the present utility model is to carry out integrated by driving, suspension and steering, designs chassis modular assembly, makes all parts annexation on chassis and position more reasonable, turns to and drive more smooth and easy.
The technical scheme that this utility model provides is:
Four-wheel wheel motor drives four-wheel independent steering electric automobile chassis assembly, including:
Vehicle frame;
Steer motor, it is fixed on described vehicle frame;And
Turning to trailing arm, it is positioned at below described vehicle frame, described in turn to trailing arm connect described steer motor output shaft;Can rotate around the output shaft of described steer motor;
Bogie, it is fixed and turns to trailing arm described in connection, it is possible to rotate together with along with turning to trailing arm;
Driving motor, it is fixed on described bogie, provides rotary power for wheel;
Turn to column, described in the rotatable connection of wheel hub, turn to column, described in turn to column to have through hole, the output shaft of described driving motor through described through hole connect wheel hub;
Spring cushion assembly, its arrange described in turn to trailing arm and described turn between column, for supporting and vibration damping;
Guiding mechanism, it is parallel to described spring cushion assembly and arranges, be arranged on described in turn to trailing arm and described turn between column, guide for the motion of spring cushion assembly is provided.
Preferably, described vehicle frame also includes:
Main body frame;And
Upper mounting plate, it is fixedly installed on described main body frame, and described steer motor is fixedly mounted on described upper mounting plate;
Lower installation board, it is fixedly installed on described main body frame, and described upper mounting plate and lower installation board form the housing of a closing with through hole;
Steering spindle, its one end connects the output shaft of described steer motor through described housing;The other end turns on trailing arm described in being fixed on;
Two self-aligning bearings, it is set in described steering spindle, and between the sidewall of steering spindle and described through hole, is used for the angular displacement adapting between described steer motor output shaft and described steering spindle;
Thrust ball bearing, it is arranged between said two self-aligning bearing, is used for bearing axial load.
Preferably, it is characterised in that described bogie is two parallel triangular framings, one end of described triangular framing be fixed on described in turn on trailing arm, what the position of described triangular framing was minimum fixes described driving motor.
Preferably, described guiding mechanism includes guide rail, its top be fixed on described in turn to bottom trailing arm, bottom described guide rail by linear bearing be connected to described in turn on column, described guide rail can turn to column to slide relative to described.
Preferably, described spring damper assembly lower end by ball pivot be fixed on described in turn on column, upper end by shock absorber shackle be fixed on described in turn on trailing arm.
Preferably, also include arrestment mechanism, comprising:
Brake disc, it is fixedly installed on wheel hub, and can be with vehicle wheel rotation;
Brake caliper, its be fixed on described in turn on column, described brake caliper can clamp brake disc, play slow down or stop effect.
Beneficial effect described in the utility model
1. the four-wheel wheel motor that this utility model provides drives four-wheel independent steering electric automobile chassis assembly to devise independent driving/independent steering modular construction, realize electric automobile chassis modularity to install, in terms of assembling, efficiency is substantially increased relative to internal-combustion engines vehicle and general electric automobile, wheel motor drives and improves vehicle dynamic quality relative to wheel hub motor, by bogie, wheel motor is designed to sprung mass, it is ensured that the ride comfort of electric automobile and control stability.
2. this utility model uses wheel motor to drive four-wheel independent steering, it is possible to realize multiple turning to pattern, to adapt to the traveling of various special road section, is particularly suited for narrow road section, or warehouse etc..
Accompanying drawing explanation
Fig. 1 is the schematic diagram that four-wheel wheel motor described in the utility model drives four-wheel independent steering electric automobile chassis assembly.
Fig. 2 is the front view that four-wheel wheel motor described in the utility model drives four-wheel independent steering electric automobile chassis assembly.
Fig. 3 is the axonometric drawing that four-wheel wheel motor described in the utility model drives four-wheel independent steering electric automobile chassis assembly.
Fig. 4 is the structural representation turning to installation system described in the utility model.
Fig. 5 is guiding mechanism structural representation described in the utility model.
Fig. 6 is front-wheel steer pattern diagram described in the utility model.
Fig. 7 is rear-axle steering pattern diagram described in the utility model.
Fig. 8 is four-wheel steering pattern diagram described in the utility model.
Fig. 9 is diagonal pattern diagram described in the utility model.
Figure 10 is described in the utility model to walk crosswise pattern diagram.
Figure 11 is pivot stud pattern diagram described in the utility model.
Detailed description of the invention
Below in conjunction with the accompanying drawings 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 Figure 1-3, the four-wheel wheel motor that this utility model provides drives four-wheel independent steering electric automobile chassis assembly, including: steer motor 110, bogie 200, turn to column 210, guiding mechanism 300, spring damper assembly 400 and vehicle frame 800.
Wherein, tire 130 and wheel rim 140 are installed together, and wheel rim 140 and wheel hub 150 are bolted together by four;
Steer motor 110 is bolted on vehicle frame by ring flange, and motor output shaft connects bogie 200 by ring flange;
Turning to trailing arm 610, it is positioned at below vehicle frame 800, turns to trailing arm drive shaft to connect the output shaft of steer motor 110, when steer motor 110 rotates, it is possible to drive and turn to trailing arm 610 to rotate.
Bogie 200, its fixing connection turns to trailing arm 610, is arranged on bottom of frame, inside wheel, it is possible to bears axially and radially load, and prevents from turning to mechanism blockage in vehicle frame micro-deformation;
As it is shown in figure 5, turn to column 210, it is arranged on wheel hub 150 by two bearing interference;The i.e. rotatable connection of wheel hub 150 turns to column 210, turns to column 210 include centrally-disposed through hole and be arranged on the linear bearing of internal both sides;
Spring damper assembly 400, it is arranged on and turns between column 210 and bogie 200, for turning to trailing arm to support and vibration damping to described;
Guiding mechanism 300, it is parallel to spring cushion assembly and arranges, be arranged on described in turn to trailing arm and described turn between column, guide for the motion of spring cushion assembly is provided, its one end is rigidly fixed in bottom bogie 200, and the other end is fixed on and turns on column 210;
Driving motor 500, it is motor, is arranged on bottom bogie 200, inside wheel hub 150, connects power transmission shaft 520 by decelerator, drives motor 500 front end to be bolted on bogie 200, and rear portion is fixed on bogie rear portion by U-shaped screw rod 530;The output shaft driving motor 500 is placed through turning to the through hole of column center to connect wheel hub, provides rotary power for wheel.
Internal spherical cage 510, it is coordinated with the output shaft driving motor 500 by spline;Wherein, power transmission shaft 520 suspends and is arranged between described internal spherical cage 510 and wheel hub 150.
As shown in Figure 4, main body frame;And turn to installation system to include:
Upper mounting plate 620, it is fixedly installed on main body frame, and steer motor 110 is fixedly mounted on On installing plate 620;
Lower installation board 630, it is fixedly installed on main body frame, and upper mounting plate 620 and lower installation board 630 form the housing of a closing with through hole;
Steering spindle 100, its one end connects the output shaft of steer motor 110 through housing;The other end is fixed on and turns on trailing arm 610;
Two self-aligning bearings 640, it is set in steering spindle 100, and between steering spindle 100 and the sidewall of through hole, is used for the angular displacement adapting between steer motor 110 output shaft and steering spindle 100;
Thrust ball bearing 660, it is arranged between two self-aligning bearings, is used for bearing axial load.
Wherein, steer motor 110 is connected with vehicle frame upper mounting plate 620 by motor mounting plate 112, vehicle frame upper mounting plate 620 is together with Frame Welding, steer motor 110 output shaft is connected with steering spindle 100 by flat key 113, steering spindle passes through self-aligning bearing 640, bearing pad 670, and thrust ball bearing 660 is connected with bearing holder (housing, cover) 650, bearing holder (housing, cover) 650 is connected with vehicle frame lower installation board 630 by bolt, vehicle frame lower installation board 630 and Frame Welding.
Bogie 200 is two parallel triangular framings, and one end of triangular framing is fixed on and turns on trailing arm 610, the fixed drive motor 500 that the position of triangular framing is minimum.
As shown in Figure 5, linear bearing 211 is set in turning to column 210, for preventing guiding mechanism 300 stuck, guiding mechanism 300, fix nut 320 including guide rail 310 by guide rail to be connected with bogie 200, guide rail 310 can slide relative to turning to column 210, and spring damper assembly 400 upper end is fixed on bogie by installing hanger 410, and lower end is connected with turning to column 210 by fixing hanger 420.
In another embodiment, also including arrestment mechanism, including brake disc 710, it is fixedly installed on wheel hub 150, and can be with vehicle wheel rotation;
Brake caliper 720, it is fixed on and turns on column 210, brake disc 710 top, and brake caliper 720 can clamp brake disc, plays the effect slowed down or stop.
In another embodiment, also include turning to mode control module, it connects steer motor 110, for controlling steer motor 110 rotational angle, it is possible to control electric automobile and realize front-wheel steer pattern, rear-axle steering pattern, four-wheel steering pattern, diagonal pattern, pivot stud pattern and the one walking crosswise in pattern.
Implement to drive as a example by the work process of four-wheel independent steering electric automobile chassis assembly by four-wheel wheel motor, be further described,
nullFirst,When automobile needs to turn to,Angular displacement sensor gathers steering wheel angle information,After via controller processes,Steer motor 110 is made to turn over certain angle,By turning to installation system to transmit moment of torsion,Driving steering spindle 100 to drive turns to trailing arm 610 and bogie 200 to rotate,Guiding mechanism 300 is fixed on below bogie 200,It is arranged on and turns on column 210,Therefore bogie 200 and turn to column 210 to rotate with bogie 200,Column 210 is turned to be arranged on wheel hub 150 by bearing interference,Wheel swings with wheel hub 150 and turns to,Steer motor 110 is for being independently arranged,Each wheel top is both provided with a steer motor,Therefore can be by controlling the steering angle of each wheel,Achieve the independent steering of four-wheel,Realize multiple turning to pattern,Including: front-wheel steer pattern、Rear-axle steering pattern、Four-wheel steering pattern、Diagonal pattern、Pivot stud pattern、Walk crosswise pattern and reversing mode.
As shown in Figure 6, front-wheel steer pattern: when automobile needs to turn, two front-wheels turn over different angle, θ respectively under steer motor drives1、θ2Two trailing wheel axis are in alignment with vehicle body frame, wish that the intersection point of front-wheel two axle extended line can fall on the extended line of hind axle all the time in theory, the most whole vehicle body just can rotate around vehicle body turning center, to meet Ackermam theorem, make four wheels can form pure rolling with ground, to reduce the abrasion of tire.
As it is shown in fig. 7, rear-axle steering pattern: when automobile needs to turn, two trailing wheels turn over different angle, θ respectively under steer motor drives3、θ4Two front-wheel axis are in alignment with vehicle body frame, wish that the intersection point of trailing wheel two axle extended line can fall all the time on the extended line of two front-wheel wheel shafts in theory, the most whole vehicle body just can rotate around vehicle body turning center, to meet Ackermam theorem, make four wheels can form pure rolling with ground, to reduce the abrasion of tire.
As shown in Figure 8, four-wheel steering pattern: when automobile needs to turn, four wheels of electric automobile turn over different angle, θ respectively under steer motor drives1、θ2、θ3、θ4, wish that four wheel hub can intersect at a point along the extended line of turn side in theory, the most whole vehicle body just can rotate around vehicle body turning center, to meet Ackermam theorem, makes four wheels can form pure rolling with ground, to reduce the abrasion of tire.
As it is shown in figure 9, in another embodiment, also including diagonal pattern, four wheels of electric automobile turn over identical angle, θ respectively under steer motor drives1234, automobile travels along rotating direction, it is achieved diagonal.
As shown in Figure 10, in another embodiment, also including walking crosswise pattern, four wheels of electric automobile turn over identical angle, i.e. θ respectively under steer motor drives1234=90 °, automobile travels cross running along rotating direction.
As shown in figure 11, in another embodiment, also including pivot stud pattern, when automobile needs to turn, four wheels of electric automobile turn over certain angle respectively under steer motor drives, and wish in theory to adjust θ14=45 °, θ23=-45 °, four wheel hub can intersect at a point along the extended line of turn side, and this point is vehicle body turning center, i.e. vehicle body barycenter, it is achieved original place rotates.
Although embodiment of the present utility model is disclosed as above, but it is not restricted in description and embodiment listed utilization, 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 (6)

1. there is four-wheel wheel motor drive and the electric automobile chassis assembly of four-wheel independent steering, it is characterised in that including:
Vehicle frame;
Steer motor, it is fixed on described vehicle frame;And
Turning to trailing arm, it is positioned at below described vehicle frame, described in turn to trailing arm connect described steer motor output shaft;Can rotate around the output shaft of described steer motor;
Bogie, it is fixed and turns to trailing arm described in connection, it is possible to rotate together with along with turning to trailing arm;
Driving motor, it is fixed on described bogie, provides rotary power for wheel;
Turn to column, described in the rotatable connection of wheel hub, turn to column, described in turn to column to have through hole, the output shaft of described driving motor through described through hole connect wheel hub;
Spring cushion assembly, its arrange described in turn to trailing arm and described turn between column, for supporting and vibration damping;
Guiding mechanism, it is parallel to described spring cushion assembly and arranges, be arranged on described in turn to trailing arm and described turn between column, guide for the motion of spring cushion assembly is provided.
The most according to claim 1, there is four-wheel wheel motor drive and the electric automobile chassis assembly of four-wheel independent steering, it is characterised in that described vehicle frame also includes:
Main body frame;And
Upper mounting plate, it is fixedly installed on described main body frame, and described steer motor is fixedly mounted on described upper mounting plate;
Lower installation board, it is fixedly installed on described main body frame, and described upper mounting plate and lower installation board form the housing of a closing with through hole;
Steering spindle, its one end connects the output shaft of described steer motor through described housing;The other end turns on trailing arm described in being fixed on;
Two self-aligning bearings, it is set in described steering spindle, and between the sidewall of steering spindle and described through hole, is used for the angular displacement adapting between described steer motor output shaft and described steering spindle;
Thrust ball bearing, it is arranged between said two self-aligning bearing, is used for bearing axial load.
The most according to claim 1 have the driving of four-wheel wheel motor and the electric automobile chassis assembly of four-wheel independent steering, it is characterized in that, described bogie is two parallel triangular framings, one end of described triangular framing turns on trailing arm described in being fixed on, and what the position of described triangular framing was minimum fixes described driving motor.
The most according to claim 3, there is four-wheel wheel motor drive and the electric automobile chassis assembly of four-wheel independent steering, it is characterized in that, described guiding mechanism includes guide rail, its top turns to bottom trailing arm described in being fixed on, bottom described guide rail by linear bearing be connected to described in turn on column, described guide rail can turn to column to slide relative to described.
The most according to claim 1 or claim 2 have the driving of four-wheel wheel motor and the electric automobile chassis assembly of four-wheel independent steering, it is characterized in that, described spring damper assembly lower end by ball pivot be fixed on described in turn on column, upper end by shock absorber shackle be fixed on described in turn on trailing arm.
6. there is according to any one of claim 1-4 four-wheel wheel motor drive and the electric automobile chassis assembly of four-wheel independent steering, it is characterised in that also include arrestment mechanism, comprising:
Brake disc, it is fixedly installed on wheel hub, and can be with vehicle wheel rotation;
Brake caliper, its be fixed on described in turn on column, described brake caliper can clamp brake disc, play slow down or stop effect.
CN201620484553.3U 2016-05-24 2016-05-24 Electric truck chassis assembly with drive of four -wheel wheel edge motor and four -wheel independently turn to Active CN205615576U (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105799503A (en) * 2016-05-24 2016-07-27 杭州伯坦科技工程有限公司 Electric car chassis assembly capable of achieving four-wheel wheel-side-motor drive and four-wheel independent turning and control method
CN106926686A (en) * 2017-04-20 2017-07-07 科大智能电气技术有限公司 The robot body chassis that a kind of four-wheel eight drives
CN107097847A (en) * 2017-04-25 2017-08-29 王滨 Electronic same rut car
CN107719099A (en) * 2017-09-05 2018-02-23 杭州伯坦科技工程有限公司 Four wheels of electric automobile independently drives independent steering actuating mechanism and performs method
CN109229235A (en) * 2018-11-09 2019-01-18 北京理工大学 A kind of driving steering unit, modular vehicle and modularization transportation system
CN109747735A (en) * 2019-02-28 2019-05-14 赋之科技(深圳)有限公司 A kind of mobile device
CN110816254A (en) * 2018-08-10 2020-02-21 岳克森 Wheel independent driving assembly with motor positioned above wheel
CN112874629A (en) * 2019-11-29 2021-06-01 比亚迪股份有限公司 Steering device, vehicle with same and vehicle steering method
CN112895884A (en) * 2021-03-03 2021-06-04 山东科技大学 New forms of energy 6X 6 special chassis car drive structure
CN115432059A (en) * 2022-10-12 2022-12-06 烟台艾睿光电科技有限公司 Wheeled robot and chassis assembly thereof

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105799503B (en) * 2016-05-24 2018-03-20 杭州伯坦科技工程有限公司 Electric automobile chassis assembly with the driving of four-wheel wheel motor and four-wheel independent steering
CN105799503A (en) * 2016-05-24 2016-07-27 杭州伯坦科技工程有限公司 Electric car chassis assembly capable of achieving four-wheel wheel-side-motor drive and four-wheel independent turning and control method
CN106926686B (en) * 2017-04-20 2023-04-28 科大智能电气技术有限公司 Four-wheel eight-wheel-drive robot chassis mechanism
CN106926686A (en) * 2017-04-20 2017-07-07 科大智能电气技术有限公司 The robot body chassis that a kind of four-wheel eight drives
CN107097847A (en) * 2017-04-25 2017-08-29 王滨 Electronic same rut car
CN107719099A (en) * 2017-09-05 2018-02-23 杭州伯坦科技工程有限公司 Four wheels of electric automobile independently drives independent steering actuating mechanism and performs method
CN110816254A (en) * 2018-08-10 2020-02-21 岳克森 Wheel independent driving assembly with motor positioned above wheel
CN109229235A (en) * 2018-11-09 2019-01-18 北京理工大学 A kind of driving steering unit, modular vehicle and modularization transportation system
CN109229235B (en) * 2018-11-09 2024-01-23 北京理工大学 Drive steering unit, modularized vehicle and modularized transportation system
CN109747735A (en) * 2019-02-28 2019-05-14 赋之科技(深圳)有限公司 A kind of mobile device
CN112874629A (en) * 2019-11-29 2021-06-01 比亚迪股份有限公司 Steering device, vehicle with same and vehicle steering method
CN112895884A (en) * 2021-03-03 2021-06-04 山东科技大学 New forms of energy 6X 6 special chassis car drive structure
CN115432059A (en) * 2022-10-12 2022-12-06 烟台艾睿光电科技有限公司 Wheeled robot and chassis assembly thereof

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Effective date of registration: 20210104

Address after: 310000 room 207, 2 / F, building 11, No.1 Jiaogong Road, Xihu District, Hangzhou City, Zhejiang Province

Patentee after: Hangzhou Botan New Energy Technology Co.,Ltd.

Address before: 310000 9 xidoumen Road, Hangzhou, Zhejiang Province

Patentee before: HANGZHOU BOTAN TECHNOLOGY ENGINEERING Co.,Ltd.

Patentee before: LIAONING University OF TECHNOLOGY