CN207082974U - Wheel hub motor and wheel hub motor system - Google Patents
Wheel hub motor and wheel hub motor system Download PDFInfo
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- CN207082974U CN207082974U CN201721080312.3U CN201721080312U CN207082974U CN 207082974 U CN207082974 U CN 207082974U CN 201721080312 U CN201721080312 U CN 201721080312U CN 207082974 U CN207082974 U CN 207082974U
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Abstract
The utility model provides a kind of wheel hub motor and wheel hub motor system, wherein, wheel hub motor, including wheel shaft, wheel hub motor body and magnetic coder；Magnetic coder includes magnetic pole and magnetic coding chip；Magnetic pole is fixedly connected with wheel hub motor body；Magnetic coding chip is fixedly connected with wheel shaft；Wheel hub motor body rotates around wheel shaft；When wheel hub motor body rotates, magnetic pole synchronous axial system；The change of magnetic pole is converted to encoded signal by magnetic coding chip, and encoded signal is exported.The utility model improves 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, three Hall switch of generally use realize commutation and coding；This side
The encoding precision of formula is determined by wheel hub motor rotor permanent magnet poles logarithm, so generally encoding precision is relatively low, it is difficult to meet machine
The scene demand higher to intelligent control required precision such as device people, intelligent appliance.
For the above-mentioned existing outer encoder encoding precision on wheel hub motor 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 wheel shaft, wheel hub motor body and magnetic
Encoder；Magnetic coder includes magnetic pole and magnetic coding chip；Magnetic pole is fixedly connected with wheel hub motor body；Magnetic coding chip and wheel
Axle is fixedly connected；Wheel hub motor body rotates around wheel shaft；When wheel hub motor body rotates, magnetic pole synchronous axial system；Magnetic encodes
The change of magnetic pole is converted to encoded signal by chip, and encoded signal is exported.
With reference in a first aspect, the utility model embodiment provides the first possible embodiment of first aspect, its
In, above-mentioned magnetic coder also includes shell and fixed seat；Shell is fixedly connected with wheel hub motor body；Magnetic pole is arranged in shell
In the side wall in portion；Fixed seat is fixedly connected with wheel shaft；Magnetic coding chip is arranged in fixed seat.
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 fixed seat includes fixed seat body and fixed seat backboard；Fixed seat body and fixation
Seat backboard is bolted；Magnetic coding chip is arranged on fixed seat backboard.
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 shell is fixedly connected with wheel hub motor body by rivet；Shell and wheel hub motor
Chamber is formed between body；Magnetic pole, magnetic coding chip and fixed seat are arranged in chamber.
With reference in a first aspect, the utility model embodiment provides the 4th kind of possible embodiment of first aspect, its
In, above-mentioned magnetic coding chip is coaxially disposed with magnetic pole；Magnetic pole rotates under the drive of wheel hub motor body around wheel shaft.
With reference in a first aspect, the utility model embodiment provides the 5th kind of possible embodiment of first aspect, its
In, above-mentioned when wheel hub motor body drives magnetic pole to rotate a circle, magnetic coding chip exports 4096 encoded signals, or 4000
Individual encoded signal.
With reference in a first aspect, the utility model embodiment provides the 6th kind of possible embodiment of first aspect, its
In, above-mentioned magnetic pole is shaped as circle；In magnetic pole, N poles and S poles are with a diameter of boundary, arranged in parallel.
With reference in a first aspect, the utility model embodiment provides the 7th kind of possible embodiment of first aspect, its
In, above-mentioned wheel hub motor body 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 wheel hub motor body in wheel hub motor and magnetic coding chip respectively；In
Control module is used to control wheel hub motor body to rotate；Middle control module is additionally operable to receive the encoded signal of magnetic coding chip output.
With reference to second aspect, the utility model embodiment provides the first possible embodiment of second aspect, its
In, said system also includes the mechanical structure of robot or intelligent vehicle；The wheel axis connection of mechanical structure and wheel hub motor.
The utility model embodiment brings following beneficial effect：
A kind of wheel hub motor and wheel hub motor system, magnetic pole that the utility model embodiment provides are consolidated with wheel hub motor body
Fixed connection；Magnetic coding chip is fixedly connected with wheel shaft；When wheel hub motor body rotates, magnetic pole synchronous axial system；Magnetic coding chip
The change of magnetic pole is converted into encoded signal, encoded signal is exported；In which, magnetic coder is integrally disposed in wheel hub electricity
Simple in construction on machine body, avoiding will be located at outside encoder caused complicated on wheel hub motor, and use internal commutate
The problems such as encoding precision caused by Hall coding is relatively low, the encoding precision of wheel hub motor is improved, so as to improve wheel hub motor
The accuracy of 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 a kind of cross-sectional view for wheel hub motor that the utility model embodiment provides；
Fig. 3 is the structural representation of magnetic pole in a kind of wheel hub motor that the utility model embodiment provides；
Fig. 4 is a kind of structured flowchart for wheel hub motor system that the utility model embodiment provides.
Icon：1- wheel shafts；2- wheel hub motor bodies；3- fixed seat bodies；4- magnetic coding chips；5- magnetic poles；6- shells；7-
Fixed seat backboard；40- wheel hub motors；Module is controlled in 41-.
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 the existing outer encoder encoding precision on wheel hub motor it is relatively low the problem of, the utility model is implemented
Example provides a kind of wheel hub motor and wheel hub motor system；The technology can apply to intelligent control, the dependent field of intelligent drives
Jing Zhong；It is particularly applicable in the higher motion control scene of the precise requirements such as robot；The technology can use correlation
Software or hardware realize, be described below by embodiment.
Embodiment one：
A kind of structural representation of wheel hub motor shown in Figure 1；The wheel hub motor includes wheel shaft 1, wheel hub motor sheet
Body 2 and magnetic coder；The magnetic coder includes magnetic pole 5 and magnetic coding chip 4；
Magnetic pole 5 is fixedly connected with wheel hub motor body 2；Magnetic coding chip 4 is fixedly connected with wheel shaft 1；Wheel hub motor body 2
Rotated around wheel shaft 1；
When wheel hub motor body 2 rotates, the synchronous axial system of magnetic pole 5；The change of magnetic pole 5 is converted to volume by magnetic coding chip 4
Code signal, encoded signal is exported.
When actually realizing, the magnetic pole in above-mentioned magnetic coder can be fixedly connected with the side wall of wheel hub motor body；On
Stating the magnetic coding chip in magnetic coder can be fixedly connected with wheel the tip of the axis.
Above-mentioned magnetic coding chip can use model AM4096 magnetic coders to realize；The AM4096 can sense S/N poles magnetic
The rotation of iron, there is provided absolute location information of the precision better than 0.1 degree exports；The AM4096, which is provided, has 16 magnetic pole (8 magnetic poles
It is right) UVW (UVW is that the three-phase of motor identifies) output, increment type, absolute type, linear (potentiometer), tacho and sine it is defeated
Go out；Its resolution ratio has programmable zero-bit up to 12 (4096 steps/turn).AM4096 is 3.3V (or 5V) low-power device, battery
There is park mode during work.The highest operating rate of the AM4096 is suitable for -40 DEG C to+125 DEG C of temperature up to 60000 revs/min
Degree.
It follows that when magnetic pole rotates a circle, above-mentioned magnetic coding chip is (equivalent to above-mentioned magnetic rps
Device) 4096 encoded signals, or 4000 encoded signals can be exported；Exemplified by exporting 4096 encoded signals, when magnetic is compiled
When code module is directly connected with driving wheel, the motion control accuracy to driving wheel is about 0.088 degree；Relative to Hall sensor,
Magnetic coding chip can greatly improve the control accuracy of wheel hub motor.It is appreciated that the magnetic coding chip of different model, can be with defeated
Go out the encoded signal of varying number, the present embodiment is not construed as limiting to this.
A kind of wheel hub motor that the utility model embodiment provides, magnetic pole are fixedly connected with wheel hub motor body；Magnetic encodes
Chip is fixedly connected with wheel shaft；When wheel hub motor body rotates, magnetic pole synchronous axial system；Magnetic coding chip turns the change of magnetic pole
Encoded signal is changed to, encoded signal is exported；In which, magnetic coder is integrally disposed on wheel hub motor body, structure
Simply, avoiding will be located at outside encoder caused complicated on wheel hub motor, and use internal commutation Hall coding to cause
Encoding precision it is relatively low the problems such as, the encoding precision of wheel hub motor is improved, so as to improve the essence of wheel hub motor motion control
Exactness.
Further, above-mentioned magnetic coder also includes shell 6 and fixed seat；The shell 6 is fixed with wheel hub motor body 2 to be connected
Connect；Magnetic pole 5 is arranged in the side wall inside shell 6；The fixed seat is fixedly connected with wheel shaft 1；Magnetic coding chip 4 is arranged on fixation
On seat.
For the ease of installing and setting, above-mentioned fixed seat includes fixed seat body 3 and fixed seat backboard 7；Fixed seat body 3
It is bolted with fixed seat backboard 7；Above-mentioned magnetic coding chip 4 is arranged on fixed seat backboard 7.
Further, above-mentioned shell 6 is fixedly connected with wheel hub motor body 3 by rivet；Shell 6 and wheel hub motor body
Chamber is formed between 3；Above-mentioned magnetic pole 5, magnetic coding chip 4 and fixed seat are arranged in chamber.
In aforesaid way, magnetic pole and magnetic coding chip are arranged in the chamber that shell is formed with wheel hub motor body, are improved
The sealing of magnetic coder, avoid outside encoder on wheel hub motor because the factors such as dust pollution, component wear are made
Into encoding precision reduce the problem of, the encoding precision of wheel hub motor is improved, so as to improve wheel hub motor motion control
Accuracy.
Meanwhile above-mentioned set-up mode is simple in construction, noise is low, cost is low, improves the combination property of wheel hub motor.
A kind of cross-sectional view of wheel hub motor shown in Figure 2；As shown in Figure 2, magnetic coding chip 4 and magnetic pole
5 are coaxially disposed；Magnetic pole 5 rotates under the drive of wheel hub motor body 2 around wheel shaft 1.
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.
From the foregoing, because the magnetic pole in above-mentioned magnetic coder is fixedly connected with the side wall of wheel hub motor body, therefore,
Magnetic pole and wheel hub motor body synchronous axial system, i.e. gearratio are 1；Therefore, the change of magnetic pole can directly react wheel hub motor sheet
The motion state of body.
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.
In a kind of wheel hub motor shown in Figure 3, 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 wheel hub motor body includes wheel hub and the power set, the transmission device that are arranged in wheel hub
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 4
Structure block diagram；The system includes above-mentioned wheel hub motor 40, in addition to middle control module 41；
Above-mentioned middle control module 41 electrically connects with the wheel hub motor body 2 in wheel hub motor and magnetic coding chip 4 respectively；It is above-mentioned
Middle control module 41 is used to control wheel hub motor body 2 to rotate；Middle control module 41 is additionally operable to receive the coding of the output of magnetic coding chip 4
Signal.
Further, above-mentioned wheel hub motor system also includes the mechanical structure of robot or intelligent vehicle；The mechanical structure
With the wheel axis connection of wheel hub motor.
For example, the mechanical structure of wheeled robot, or chassis of intelligent carriage etc..
A kind of wheel hub motor system that the utility model embodiment provides, magnetic pole are fixedly connected with wheel hub motor body；Magnetic
Coding chip is fixedly connected with wheel shaft；When wheel hub motor body rotates, magnetic pole synchronous axial system；Magnetic coding chip is by the change of magnetic pole
Change is converted to encoded signal, and encoded signal is exported；In which, magnetic coder is integrally disposed on wheel hub motor body,
Simple in construction, avoiding will be located at outside encoder caused complicated on wheel hub motor, and use internal commutation Hall coding
The problems such as caused encoding precision is relatively low, the encoding precision of wheel hub motor is improved, so as to improve wheel hub motor motion control
Accuracy.
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.
The wheel hub motor and wheel hub motor system that the utility model embodiment provides, realize wheel hub motor and encoder
Modularization, integration；Avoid additional encoder it is complicated, sealing is difficult, noise is big, cost is high the shortcomings of；It is high-precision
The use of degree magnetic rotational position sensor (i.e. above-mentioned magnetic coding chip) can make wheel hub motor realize that accurately determining angle transports
It is dynamic.
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 wheel shaft, wheel hub motor body and magnetic coder；The magnetic coder bag
Include magnetic pole and magnetic coding chip；
The magnetic pole is fixedly connected with the wheel hub motor body；The magnetic coding chip is fixedly connected with the wheel shaft；It is described
Wheel hub motor body rotates around the wheel shaft；
When the wheel hub motor body rotates, the magnetic pole synchronous axial system；The magnetic coding chip is by the change of the magnetic pole
Encoded signal is converted to, the encoded signal is exported.
2. wheel hub motor according to claim 1, it is characterised in that the magnetic coder also includes shell and fixed seat；
The shell is fixedly connected with the wheel hub motor body；The magnetic pole is arranged in the side wall of the enclosure；
The fixed seat is fixedly connected with the wheel shaft；The magnetic coding chip is arranged in the fixed seat.
3. wheel hub motor according to claim 2, it is characterised in that the fixed seat includes fixed seat body and fixed seat
Backboard；
The fixed seat body and the fixed seat backboard are bolted；
The magnetic coding chip is arranged on the fixed seat backboard.
4. wheel hub motor according to claim 2, it is characterised in that the shell passes through riveting with the wheel hub motor body
Nail is fixedly connected；
Chamber is formed between the shell and the wheel hub motor body；
The magnetic pole, the magnetic coding chip and the fixed seat are arranged in the chamber.
5. wheel hub motor according to claim 1, it is characterised in that the magnetic coding chip is coaxially set with the magnetic pole
Put；
The magnetic pole rotates under the drive of the wheel hub motor body around the wheel shaft.
6. wheel hub motor according to claim 1, it is characterised in that when the wheel hub motor body drives the magnetic pole to turn
During a dynamic circle, the magnetic coding chip exports 4096 encoded signals, or 4000 encoded signals.
7. wheel hub motor according to claim 1, 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 wheel hub motor body includes wheel hub, Yi Jishe
Power set, transmission device and the brake apparatus being placed in the wheel hub.
9. a kind of wheel hub motor system, it is characterised in that the system includes the wheel hub described in any one in claim 1-8
Motor, in addition to middle control module；
The middle control module electrically connects with the wheel hub motor body in the wheel hub motor and magnetic coding chip respectively；
The middle control module is used to control the wheel hub motor body to rotate；The middle control module is additionally operable to receive the magnetic coding
The encoded signal of chip output.
10. system according to claim 9, it is characterised in that the system also includes the machine of robot or intelligent vehicle
Tool structure；
The mechanical structure and the wheel axis connection of the wheel hub motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721080312.3U CN207082974U (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 |
|---|---|---|---|
| CN201721080312.3U CN207082974U (en) | 2017-08-25 | 2017-08-25 | Wheel hub motor and wheel hub motor system |
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| CN207082974U true CN207082974U (en) | 2018-03-09 |
Family
ID=61420766
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| CN201721080312.3U Active CN207082974U (en) | 2017-08-25 | 2017-08-25 | Wheel hub motor and wheel hub motor system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109742905A (en) * | 2018-12-20 | 2019-05-10 | 深圳市优必选科技有限公司 | A kind of electric machine assembly and steering engine |
| CN111114292A (en) * | 2018-10-31 | 2020-05-08 | 深圳市优必选科技有限公司 | Chassis structure of mute machine |
| CN115765245A (en) * | 2022-11-29 | 2023-03-07 | 江苏新伟动力科技有限公司 | U-pole hub motor |
| WO2023080616A1 (en) * | 2021-11-04 | 2023-05-11 | 엘지전자 주식회사 | In-wheel motor |
-
2017
- 2017-08-25 CN CN201721080312.3U patent/CN207082974U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111114292A (en) * | 2018-10-31 | 2020-05-08 | 深圳市优必选科技有限公司 | Chassis structure of mute machine |
| CN109742905A (en) * | 2018-12-20 | 2019-05-10 | 深圳市优必选科技有限公司 | A kind of electric machine assembly and steering engine |
| WO2023080616A1 (en) * | 2021-11-04 | 2023-05-11 | 엘지전자 주식회사 | In-wheel motor |
| CN115765245A (en) * | 2022-11-29 | 2023-03-07 | 江苏新伟动力科技有限公司 | U-pole hub motor |
| CN115765245B (en) * | 2022-11-29 | 2024-01-30 | 江苏新伟动力科技有限公司 | U-pole hub motor |
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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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