CN207082972U - Wheel hub motor and wheel hub motor system - Google Patents
Wheel hub motor and wheel hub motor system Download PDFInfo
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- CN207082972U CN207082972U CN201721080311.9U CN201721080311U CN207082972U CN 207082972 U CN207082972 U CN 207082972U CN 201721080311 U CN201721080311 U CN 201721080311U CN 207082972 U CN207082972 U CN 207082972U
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Abstract
The utility model provides a kind of wheel hub motor and wheel hub motor system；Wherein, the wheel hub motor includes fixed seat, driving wheel and coding module；Driving wheel is connected by wheel shaft with fixed seat；Coding module is fixedly installed in fixed seat；Driving gear, driving gear and driving wheel synchronous axial system are provided with driving wheel；Driving gear engages connection with the travelling gear in coding module；The diameter of driving gear is more than the diameter of travelling gear；When driving wheel rotates, driving gear synchronous axial system；Driving gear driving travelling gear rotates, so that coding module exports coding signal.The utility model can improve the encoding precision of wheel hub motor, so as to improve the accuracy of wheel hub motor motion control.
Description
Technical field
Wheel hub motor technical field is the utility model is related to, more particularly, to a kind of wheel hub motor and wheel hub motor system.
Background technology
Wheel hub motor technology is referred to as wheel inner electric machine technology, be characterized in by power set, transmission device and
Brake apparatus is all integrated in wheel hub, is able to the mechanical part of the relevant devices such as electric vehicle is greatly simplified, is usually used in
In the fields such as electric bicycle, self-balancing wheelbarrow.
With the rapid development of robot technology, wheel hub motor answering in wheeled robot by the advantage in its performance
With increasing increasingly.However, in existing wheel hub motor, encoding precision is relatively low, causes the precision of motion control relatively low, it is difficult to meet
The scene demand higher to intelligent control required precision such as robot.
For above-mentioned existing wheel hub motor encoding precision it is relatively low the problem of, not yet propose effective solution.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of wheel hub motor and wheel hub motor system, to improve wheel
The encoding precision of hub motor, so as to improve the accuracy of wheel hub motor motion control.
In a first aspect, the utility model embodiment provides a kind of wheel hub motor, including fixed seat, driving wheel and coding mould
Block；Driving wheel is connected by wheel shaft with fixed seat；Coding module is fixedly installed in fixed seat；Driving tooth is provided with driving wheel
Wheel, driving gear and driving wheel synchronous axial system；Driving gear engages connection with the travelling gear in coding module；Driving gear
Diameter is more than the diameter of travelling gear；When driving wheel rotates, driving gear synchronous axial system；Driving gear driving driving cog rotation
It is dynamic, so that coding module exports coding signal.
With reference in a first aspect, the utility model embodiment provides the first possible embodiment of first aspect, its
In, above-mentioned coding module includes travelling gear, pedestal, magnetic pole and magnetic coding chip；Travelling gear is connected by bearing with pedestal；
Travelling gear is connected by power transmission shaft with magnetic pole；Magnetic coding chip is arranged on pedestal；Driving of the travelling gear in driving gear
During lower rotation, magnetic pole synchronous axial system is driven by power transmission shaft, the change of magnetic pole is converted to encoded signal, will compiled by magnetic coding chip
Code signal exports.
With reference to the first possible embodiment of first aspect, the utility model embodiment provides the of first aspect
Two kinds of possible embodiments, wherein, above-mentioned travelling gear is fixedly connected with power transmission shaft.
With reference to the first possible embodiment of first aspect, the utility model embodiment provides the of first aspect
Three kinds of possible embodiments, wherein, above-mentioned magnetic coding chip is coaxially disposed with magnetic pole；Magnetic pole encloses under the drive of power transmission shaft
Around axis rotation.
With reference to the first possible embodiment of first aspect, the utility model embodiment provides the of first aspect
Four kinds of possible embodiments, wherein, the quantity of above-mentioned bearing is two；Two coaxial bearings are arranged at travelling gear and pedestal
Between.
With reference to the first possible embodiment of first aspect, the utility model embodiment provides the of first aspect
Five kinds of possible embodiments, wherein, said base includes base body and pedestal backboard；Base body and pedestal backboard pass through
Bolt connection；Magnetic coding chip is arranged on pedestal backboard.
With reference to the first possible embodiment of first aspect, the utility model embodiment provides the of first aspect
Six kinds of possible embodiments, wherein, above-mentioned magnetic pole is shaped as circle；In magnetic pole, N poles and S poles are with a diameter of boundary, side by side
Arrangement.
With reference in a first aspect, the utility model embodiment provides the 7th kind of possible embodiment of first aspect, its
In, above-mentioned fixed seat includes the mechanical structure of robot or intelligent vehicle.
With reference in a first aspect, the utility model embodiment provides the 8th kind of possible embodiment of first aspect, its
In, above-mentioned driving wheel includes wheel hub and the power set, transmission device and the brake apparatus that are arranged in wheel hub.
Second aspect, the utility model embodiment provide a kind of wheel hub motor system, and the system includes above-mentioned wheel hub electricity
Machine, in addition to middle control module；Middle control module electrically connects with the driving wheel in wheel hub motor and coding module respectively；Middle control module is used
Rotated in control driving wheel；Middle control module is additionally operable to receive the encoded signal of coding module output.
The utility model embodiment brings following beneficial effect：
A kind of wheel hub motor and wheel hub motor system that the utility model embodiment provides, driving gear on driving wheel with
Travelling gear engagement connection in coding module, and the diameter of driving gear is more than the diameter of travelling gear；When driving wheel rotates
When, driving gear driving travelling gear rotates, so that coding module exports coding signal；In which, relative to coding module
The mode being directly connected with driving wheel, when driving wheel rotates a circle, coding module can export more encoded signals, improve
The encoding precision of wheel hub motor, so as to improving the accuracy of wheel hub motor motion control.
Other feature and advantage of the present utility model will illustrate in the following description, also, partly from specification
In become apparent, or understood by implementing the utility model.The purpose of this utility model and other advantages are illustrating
Specifically noted structure is realized and obtained in book, claims and accompanying drawing.
To enable above-mentioned purpose of the present utility model, feature and advantage to become apparent, preferred embodiment cited below particularly, and
Accompanying drawing appended by cooperation, is described in detail below.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of structural representation for wheel hub motor that the utility model embodiment provides；
Fig. 2 is the structural representation of coding module in a kind of wheel hub motor that the utility model embodiment provides；
Fig. 3 is a kind of cross-sectional view for wheel hub motor that the utility model embodiment provides；
Fig. 4 is the structural representation of magnetic pole in a kind of wheel hub motor that the utility model embodiment provides；
Fig. 5 is a kind of structured flowchart for wheel hub motor system that the utility model embodiment provides.
Icon：10- fixed seats；11- driving wheels；12- coding modules；13- wheel shafts；14- driving gears；15- travelling gears；
21- magnetic poles；22- magnetic coding chips；23- bearings；24- power transmission shafts；25- base bodies；26- pedestal backboards；50- wheel hub motors；
Module is controlled in 51-.
Embodiment
To make the purpose, technical scheme and advantage of the utility model embodiment clearer, below in conjunction with accompanying drawing to this
The technical scheme of utility model is clearly and completely described, it is clear that described embodiment is that the utility model part is real
Apply example, rather than whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making
The every other embodiment obtained under the premise of creative work, belong to the scope of the utility model protection.
In view of existing wheel hub motor encoding precision it is relatively low the problem of, the utility model embodiment provides a kind of wheel hub
Motor and wheel hub motor system；The technology can apply in intelligent control, the associated scenario of intelligent drives；It can especially apply
In the higher motion control scene of the precise requirements such as robot；The technology can use related software or hardware to realize,
It is described below by embodiment.
Embodiment one：
A kind of structural representation of wheel hub motor shown in Figure 1；The wheel hub motor includes fixed seat 10, driving wheel 11
With coding module 12；
Driving wheel 11 is connected by wheel shaft 13 with fixed seat 10；Coding module 12 is fixedly installed in fixed seat 10；Driving
Driving gear 14, driving gear 14 and the synchronous axial system of driving wheel 11 are provided with wheel 11；In driving gear 14 and coding module 12
Travelling gear 15 engagement connection；The diameter of driving gear 14 is more than the diameter of travelling gear 15；
When driving wheel 11 rotates, the synchronous axial system of driving gear 14；Driving gear 14 drives travelling gear 15 to rotate, so that
The exports coding signal of coding module 12.
For example, when travelling gear rotation is turned around, coding module can export M encoded signal；Due to above-mentioned driving tooth
The diameter of wheel is more than the diameter of travelling gear, it is assumed that the gearratio of driving gear and travelling gear is n, then driving gear rotation one
During circle, coding module can export M encoded signal of n X.
Above-mentioned coding module can be realized by diversified forms, for example, Hall sensor, including lienar for hall sensing
Device, Hall switch sensor etc., multiple coding modules or Hall sensor can be set to meet code requirement；For another example, magnetic
Pole and magnetic rotational position sensor, magnetic rotational position sensor export corresponding coding letter by detecting the change of magnetic pole
Number.Above-mentioned coding module can also be the optical encoder or photoelectric encoder of Multiple Type.
A kind of wheel hub motor that the utility model embodiment provides, the biography in driving gear and coding module on driving wheel
Moving gear engagement connection, and the diameter of driving gear is more than the diameter of travelling gear；When driving wheel rotates, driving gear driving
Travelling gear rotates, so that coding module exports coding signal；In which, directly it is connected relative to coding module with driving wheel
Mode, when driving wheel rotate one circle when, coding module can export more encoded signals, improve the coding of wheel hub motor
Precision, so as to improve the accuracy of wheel hub motor motion control.
In a kind of wheel hub motor shown in Figure 2, the structural representation of coding module；The coding module includes driving cog
Wheel 15, pedestal, magnetic pole 21 and magnetic coding chip 22；Travelling gear 15 is connected by bearing 23 with pedestal；Travelling gear 15 passes through
Power transmission shaft 24 is connected with magnetic pole 21；Magnetic coding chip 22 is arranged on pedestal；
When being rotated by, the synchronous axial system of magnetic pole 21 is driven by power transmission shaft 24 in driving gear 14 for travelling gear 15,
The change of magnetic pole 21 is converted to encoded signal by magnetic coding chip 22, and encoded signal is exported.
When actually realizing, above-mentioned magnetic coding chip can use model AM4096 magnetic coders to realize；The AM4096
The rotation of S/N poles magnet can be sensed, there is provided absolute location information of the precision better than 0.1 degree exports；The AM4096, which is provided, has 16
Individual magnetic pole (8 pole pairs) UVW (UVW be motor three-phase identify) output, increment type, absolute type, linearly (potentiometer),
Tacho and sinusoidal output；Its resolution ratio has programmable zero-bit up to 12 (4096 steps/turn).AM4096 is 3.3V (or 5V)
Low-power device, battery have park mode when working.The highest operating rate of the AM4096 up to 60 000 revs/min, be suitable for-
40 DEG C to+125 DEG C of temperature.
It follows that when magnetic pole rotates a circle, above-mentioned magnetic coding chip is (equivalent to above-mentioned magnetic rps
Device) 4096 exports codings can be exported；When coding module is directly connected with driving wheel, to the motion control accuracy of driving wheel
About 0.088 degree；Relative to Hall sensor, magnetic coding chip can greatly improve the control accuracy of wheel hub motor.
Further, when coding module passes through the driving gear and travelling gear that gearratio is n, the motion to driving wheel
Control accuracy is about 0.088/n degree；That is, by way of above-mentioned transmission, control accuracy further increases n times.
Further, above-mentioned travelling gear is fixedly connected with power transmission shaft, using ensure the gearratio of travelling gear and magnetic pole as
1。
Above-mentioned gearratio is the ratio of two revolving member angular speed in mechanism, also referred to as fast ratio.For example, component a and component b
Gearratio is i=ω a/ ω b=na/nb, and ω a and ω b are respectively component a and b angular speed (radian per second) in formula；Na and nb
Respectively component a and b rotating speed (rev/min).When the angular speed in formula is instantaneous value, then the gearratio tried to achieve is instantaneous transmission
Than.When the angular speed in formula is average value, then the gearratio tried to achieve is average ratios.In theory for most of involutes
The correct gear drive of flank profil, instantaneous transmission ratio are constant；For Chain conveyer and frictional wheel drive, instantaneous transmission ratio is change
's.For engaged transmission, gearratio can be represented with a and b the tooth number Z a and Zb taken turns, i=Zb/Za；For frictional drive, gearratio
It can be represented with a and b the diameter Da and Db taken turns, i=Db/Da.
The quantity of above-mentioned bearing is two；Two coaxial bearings are arranged between travelling gear and pedestal；By setting axle
Hold, frictional force and component deterioration between travelling gear and pedestal can be reduced, effectively lower the encoding error of magnetic coder, carry
High encoding precision.
Above-mentioned bearing is to be used to determine rotary shaft and other parts relative motion position, play supporting or guide effect zero
Part；Its major function is the mechanical rotary body of support, to reduce mechanical load coefficient of friction of the equipment in transmission process；By fortune
The difference of dynamic element frictional property, bearing can be divided into rolling bearing and the class of sliding bearing two.
A kind of cross-sectional view of wheel hub motor shown in Figure 3；As shown in Figure 3, magnetic coding chip 22 and magnetic
Pole 21 is coaxially disposed；Magnetic pole 21 is under the drive of power transmission shaft, around axis rotation.
In order that magnetic coding chip accurately senses the change of magnetic pole, this above-mentioned coding chip should with the distance of magnetic pole vertically
Default distance should be less than.
Further, for the ease of installing and setting, as shown in Fig. 2 said base includes base body 25 and pedestal is carried on the back
Plate 26；Wherein, base body 25 and pedestal backboard 26 are bolted；Above-mentioned magnetic coding chip 22 is arranged at pedestal backboard
On.
In a kind of wheel hub motor shown in Figure 4, the structural representation of magnetic pole；The magnetic pole is shaped as circle；Magnetic pole
In, N poles and S poles are with a diameter of boundary, arranged in parallel.
Further, above-mentioned fixed seat includes the mechanical structure of robot or intelligent vehicle.For example, the machine of wheeled robot
Tool structure, or chassis of intelligent carriage etc..
In order to realize the stable drive between driving gear and travelling gear, above-mentioned driving wheel need to be connected to coding module
In same fixed seat, wherein, driving wheel can be connected by wheel shaft with fixed seat；The side that coding module can be bolted
Formula is connected with fixed seat.
Above-mentioned driving wheel can also turn into wheel hub motor body；The driving wheel includes wheel hub and is arranged in wheel hub
Power set, transmission device and brake apparatus.
Wheel hub motor technology is referred to as wheel inner electric machine technology, be characterized in by power set, transmission device and
Brake apparatus is all integrated in wheel hub, is able to the mechanical part of the relevant devices such as electric vehicle is greatly simplified.
In-wheel motor driving system is largely divided into two kinds of structural shapes according to the rotor type of motor：Inner-rotor-type turns with outer
Minor.Wherein, external-rotor-type uses low speed external rotor electric machine, and the maximum speed of motor is in 1000-1500r/min, no dress that slows down
Put, the rotating speed of wheel is identical with motor；Inner-rotor-type uses high speed inner rotor motor, is equipped with the decelerator of fixed drive ratio, is
Higher power density is obtained, the rotating speed of motor may be up to 10000r/min.
When actually realizing, wheel hub motor has the following advantages that：
(1) great number of driving part is omitted, makes vehicle structure simpler
For example, for conventional truck, clutch, speed changer, power transmission shaft, differential mechanism or even transfer gear are all must can not
Few, and not only weight is not light, makes the structure of vehicle increasingly complex for these parts, while there is also need periodic maintenance and failure
The problem of rate.But wheel hub motor just solves this problem well.In addition to structure is more simple, using wheel hub motor
The vehicle of driving can obtain more preferable space availability ratio, while transmission efficiency will be also higher by much.
(2) type of drive of Various Complex can be achieved
Because wheel hub motor possesses the characteristic that single wheel independently drives, therefore either forerunner, rear-guard or 4 wheel driven shape
Formula, it can more easily be realized, AWD implements very easy on the vehicle of In-wheel motor driving.Simultaneously
Wheel hub motor can even invert the differential steering for realizing similar caterpillar by the different rotating speeds of left and right wheelses, subtract significantly
The radius of turn of small vehicle, pivot stud can be almost realized under special circumstances, it is very valuable for special vehicle.
(3) it is easy to use a variety of new energy driving skills arts
New energy vehicle much all uses electric drive, either pure electronic or fuel cell electric vehicle, or is to increase journey
Electric car, main drive can be used as by the use of wheel hub motor；Even for hybrid electric vehicle, wheel hub electricity can also be used
Power-assisted when machine is as starting or anxious acceleration.Meanwhile many technologies of new energy car, such as Brake energy recovery (regenerate
Braking) easily it can also be achieved in wheel-hub motor driven vehicle type very much.
Embodiment two：
Corresponding to the wheel hub motor provided in above-described embodiment one, a kind of knot of wheel hub motor system shown in Figure 5
Structure block diagram；The system includes above-mentioned wheel hub motor 50, in addition to middle control module 51；
Above-mentioned middle control module 50 electrically connects with the driving wheel 11 in wheel hub motor and coding module 12 respectively；Above-mentioned middle control mould
Block 50 is used to control driving wheel 11 to rotate；Middle control module 50 is additionally operable to receive the encoded signal that coding module 12 exports.
A kind of wheel hub motor system that the utility model embodiment provides, in the driving gear and coding module on driving wheel
Travelling gear engagement connection, and the diameter of driving gear be more than travelling gear diameter；When driving wheel rotates, driving gear
Travelling gear is driven to rotate, so that coding module exports coding signal；In which, relative to coding module directly and driving wheel
The mode of connection, when driving wheel rotates a circle, coding module can export more encoded signals, improve wheel hub motor
Encoding precision, so as to improve the accuracy of wheel hub motor motion control.
It is apparent to those skilled in the art that for convenience and simplicity of description, the wheel hub of foregoing description
The specific work process of electric system, the corresponding process in foregoing wheel hub motor embodiment is may be referred to, will not be repeated here.
In addition, in the description of the utility model embodiment, unless otherwise clearly defined and limited, term " installation ",
" connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or integratedly be connected
Connect；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, can
To be the connection of two element internals.For the ordinary skill in the art, above-mentioned term can be understood with concrete condition
Concrete meaning in the utility model.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, the technical solution of the utility model substantially or
Person says that the part of the part to be contributed to prior art or the technical scheme can be embodied in the form of software product,
The computer software product is stored in a storage medium, including some instructions are causing a computer equipment (can be with
Personal computer, server, or network equipment etc.) perform each embodiment methods described of the utility model whole or portion
Step by step.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), with
Machine access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with Jie of store program codes
Matter.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
Finally it should be noted that：Embodiment described above, only specific embodiment of the present utility model, to illustrate this
The technical scheme of utility model, rather than its limitations, the scope of protection of the utility model is not limited thereto, although with reference to foregoing
The utility model is described in detail embodiment, it will be understood by those within the art that：It is any to be familiar with this skill
For the technical staff in art field in the technical scope that the utility model discloses, it still can be to the skill described in previous embodiment
Art scheme is modified or can readily occurred in change, or carries out equivalent substitution to which part technical characteristic；And these modifications,
Change is replaced, and the essence of appropriate technical solution is departed from the spirit and model of the utility model embodiment technical scheme
Enclose, should all cover within the scope of protection of the utility model.Therefore, the scope of protection of the utility model described should be wanted with right
The protection domain asked is defined.
Claims (10)
1. a kind of wheel hub motor, it is characterised in that including fixed seat, driving wheel and coding module；
The driving wheel is connected by wheel shaft with the fixed seat；The coding module is fixedly installed in the fixed seat；Institute
State and driving gear is provided with driving wheel, the driving gear and the driving wheel synchronous axial system；The driving gear with it is described
Travelling gear engagement connection in coding module；The diameter of the driving gear is more than the diameter of the travelling gear；
When the driving wheel rotates, the driving gear synchronous axial system；The driving gear drives the travelling gear to rotate,
So that the coding module exports coding signal.
2. wheel hub motor according to claim 1, it is characterised in that the coding module includes the travelling gear, base
Seat, magnetic pole and magnetic coding chip；
The travelling gear is connected by bearing with the pedestal；The travelling gear is connected by power transmission shaft with the magnetic pole；
The magnetic coding chip is arranged on the pedestal；
The travelling gear when being rotated by, drives the magnetic pole synchronously to turn in the driving gear by the power transmission shaft
Dynamic, the change of the magnetic pole is converted to encoded signal by the magnetic coding chip, and the encoded signal is exported.
3. wheel hub motor according to claim 2, it is characterised in that the travelling gear is fixed with the power transmission shaft to be connected
Connect.
4. wheel hub motor according to claim 2, it is characterised in that the magnetic coding chip is coaxially set with the magnetic pole
Put；
The magnetic pole is under the drive of the power transmission shaft, around axis rotation.
5. wheel hub motor according to claim 2, it is characterised in that the quantity of the bearing is two；
Two coaxial bearings are arranged between the travelling gear and the pedestal.
6. wheel hub motor according to claim 2, it is characterised in that the pedestal includes base body and pedestal backboard；
The base body and the pedestal backboard are bolted；
The magnetic coding chip is arranged on the pedestal backboard.
7. wheel hub motor according to claim 2, it is characterised in that the magnetic pole is shaped as circle；
In the magnetic pole, N poles and S poles are with a diameter of boundary, arranged in parallel.
8. wheel hub motor according to claim 1, it is characterised in that the fixed seat includes robot or intelligent vehicle
Mechanical structure.
9. wheel hub motor according to claim 1, it is characterised in that the driving wheel includes wheel hub and is arranged at institute
State power set, transmission device and the brake apparatus in wheel hub.
10. a kind of wheel hub motor system, it is characterised in that the system includes the wheel described in any one in claim 1-9
Hub motor, in addition to middle control module；
The middle control module electrically connects with the driving wheel in the wheel hub motor and coding module respectively；
The middle control module is used to control the driving wheel to rotate；The middle control module is additionally operable to receive the coding module output
Encoded signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721080311.9U CN207082972U (en) | 2017-08-25 | 2017-08-25 | Wheel hub motor and wheel hub motor system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721080311.9U CN207082972U (en) | 2017-08-25 | 2017-08-25 | Wheel hub motor and wheel hub motor system |
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| Publication Number | Publication Date |
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| CN207082972U true CN207082972U (en) | 2018-03-09 |
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ID=61421024
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107317437A (en) * | 2017-08-25 | 2017-11-03 | 北京进化者机器人科技有限公司 | Wheel hub motor and wheel hub motor system |
| CN109768669A (en) * | 2019-02-19 | 2019-05-17 | 凯多智能科技(上海)有限公司 | A kind of deviation-rectifying system non-contact type magnetic position encoder |
| CN111923999A (en) * | 2020-08-17 | 2020-11-13 | 上海量动智能科技有限公司 | Four-wheel-drive electric vehicle capable of automatically steering in situ |
-
2017
- 2017-08-25 CN CN201721080311.9U patent/CN207082972U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107317437A (en) * | 2017-08-25 | 2017-11-03 | 北京进化者机器人科技有限公司 | Wheel hub motor and wheel hub motor system |
| CN109768669A (en) * | 2019-02-19 | 2019-05-17 | 凯多智能科技(上海)有限公司 | A kind of deviation-rectifying system non-contact type magnetic position encoder |
| CN111923999A (en) * | 2020-08-17 | 2020-11-13 | 上海量动智能科技有限公司 | Four-wheel-drive electric vehicle capable of automatically steering in situ |
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Address after: Building 65, No. 17, Jiujiang Road, Tongji New Economic Zone, Jimo District, Qingdao City, Shandong Province, 266200 Patentee after: Qingdao Evolver xiaopang Robot Technology Co.,Ltd. Address before: Room 119-25, 1st Floor, Block B, Building 1, No. 9, Dazhongsi East Road, Haidian District, Beijing 100192 Patentee before: BEIJING EVOLVER ROBOTICS Co.,Ltd. |
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