GB2123362A - A self-propelling hub unit - Google Patents

A self-propelling hub unit Download PDF

Info

Publication number
GB2123362A
GB2123362A GB08210502A GB8210502A GB2123362A GB 2123362 A GB2123362 A GB 2123362A GB 08210502 A GB08210502 A GB 08210502A GB 8210502 A GB8210502 A GB 8210502A GB 2123362 A GB2123362 A GB 2123362A
Authority
GB
United Kingdom
Prior art keywords
hub
unit
hub member
motor
electric motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB08210502A
Other versions
GB2123362B (en
Inventor
John Thomas Fysh
Christopher John Bamber
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
WHEELPOWER Ltd
Original Assignee
WHEELPOWER Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by WHEELPOWER Ltd filed Critical WHEELPOWER Ltd
Priority to GB08210502A priority Critical patent/GB2123362B/en
Publication of GB2123362A publication Critical patent/GB2123362A/en
Application granted granted Critical
Publication of GB2123362B publication Critical patent/GB2123362B/en
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B2202/00—Indexing codes relating to type or characteristics of transported articles
    • B62B2202/40—Sport articles
    • B62B2202/404—Golf articles, e.g. golfbags
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0033—Electric motors
    • B62B5/0036—Arrangements of motors
    • B62B5/004—Arrangements of motors in wheels

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

The self-propelling hub unit has a frame member (10) providing a casing for reduction gearing (12). An electric pancake type motor (16) is supported by the casing (10) and its drive shaft (14) is coupled by way of the reduction gearing (12) to a substantially U-shaped (in cross-section) hub member (2) which is also supported by the casing (10). A tyre (4) may be provided on the hub member (2). The hub unit may be used to provide motive power to a variety of vehicles and devices, e.g. a wheelchair, golf trolley, or hospital trolley. <IMAGE>

Description

SPECIFICATION A self propelling hub unit The present invention relates to a self-propelling hub unit and to a self-propelling wheel formed from such a hub unit.
According to the present invention there is provided a self-propelling hub unit comprising a frame member, an electric motor supported by said frame member, the motor having a drive shaft, a hub member supported by the frame member and coupled to the drive shaft for rotation relative to the frame member.
The hub unit may be used to provide motive power to a variety of vehicies and devices. As it incorporates an electric motor it is quiet and pollution free and is therefore particularly useful for providing motive power to hospital trolleys, wheelchairs, golf trolleys and the like.
Conventional wheels have an axle and the mounting of the wheel to a vehicle or other device has to be axial. The hub unit of the invention does not have a conventional axle and it can be used in any disposition. Accordingly, there are no constraints on the mounting required to connect the hub unit to a vehicle or device.
Preferably the electric motor is a DC motor so that it can be powered by a battery. If required, the battery can be supported by the frame member such that the hub unit is completely self-contained and self-propelling. In a preferred embodiment, the DC electric motor is a type having a flat armature such as a pancake type motor. As a pancake type motor is compact the hub unit can similarly be made compact.
The hub member may be directly connected to the drive shaft of the electric motor. However, it is preferred that the drive shaft be coupled to the hub member by gear means, for example, by reduction gearing. In a preferred embodiment, the gear casing of the gear means forms the frame member.
The hub member preferably has a substantially U-shaped cross-section such that at least a portion of the frame member is enclosed within the hub member. This provides a particularly compact construction.
The invention also extends to a self-propelling wheel comprising a hub unit as defined above, the hub member having a substantially cylindrical periphery, and a tyre carried on the periphery of the hub member.
An embodiment of the present invention will hereinafter be described, by way of example, with reference to the accompanfying drawing in which the single Figure shows a cross-section of a selfpropelling wheel.
The wheel illustrated has a hub member 2 having a substantially U-shaped cross-section. The substantially cylindrical periphery of the hub member 2 carries a tyre 4. At its centre the hub member 2 has an axially extending shaft 6. In the embodiment illustrated the shaft 6 is fixed to a substantially circular portion of the hub member but if required the shaft 6 may be integrally formed with the rest of the hub member.
The shaft 6 is rotationally supported in a bushing 8 defined in a casing 10. This casing houses a reduction gearing 12 which couples the shaft 6 to the drive shaft 14 of an electric motor 16. The electric motor 16 is fixed to and supported by the casing 10 which forms a supporting frame member for the complete unit.
The electric motor 16 is a DC motor of the pancake type. It will therefore be appreciated that the whole unit is compact. For example, in one embodiment, the complete wheel has a radius of the order of 12 cm and a total axial dimension of the order of 14.5 cm.
As the electric motor is a DC motor is can be powered by a battery (not shown). This battery may be remote from the unit and connected thereto by.a lead or it may be supported by the casing 10.
It will be appreciated that when power is supplied to the motor 16 the hub member 2 is rotated about its axis and relative to the casing 10. It will also be appreciated that the hub member will rotate whatevear the disposition of the unit.
The unit, with or without the tyre may be mounted by suitabie means to a vehicle or device to provide motive power. The mounting may be attached to any non-rotating part of the unit and need not extend axially of the hub member 2. Thus, the mounting may be fixed to the casing 10 and/or to the housing of the motor 16. As the unit imposes few constraints on the structure and disposition of the mounting, this can be arranged in accordance with the design of the vehicle or device to which motive power is to be supplied by the unit. Electrical control means (not shown) are provided on the device or vehicle to control the operation of the unit.
If required, a toothed or other drive belt may be carried on the periphery of the hub member in place of a tyre to provide drive to a vehicle or other device.
In one embodiment, the electric motor is reversible such that the hub member 2 can be driven in either direction of rotation, If required, the hub member 2 may be driven in one direction and allowed to free wheel in the other direction of rotation. Such a free wheeling facility can be provided, for example, by includinhg an overrunning clutch in the means coupling the shaft 6 of the hub member 2 to the drive shaft 14 of the motor 16.
Obviously, the unit may be used to supply motive power to many different vehicles or devices. For example, the unit may be used for driving hospital trolleys, golf trolleys, wheelchairs and the like.
1. A self-propelling hub unit comprising a frame member, an electric motor supported by said frame member, the motor having a drive shaft, a hub member supported by the frame member and coupled to the drive shaft for rotation relative to the frame member.
2. A hub unit as claimed in Claim 1, wherein the electric motor is a DC motor.
3. A hub unit as claimed in Claim 2, further comprising a battery supported by said frame mem
**WARNING** end of DESC field may overlap start of CLMS **.

Claims (10)

**WARNING** start of CLMS field may overlap end of DESC **. SPECIFICATION A self propelling hub unit The present invention relates to a self-propelling hub unit and to a self-propelling wheel formed from such a hub unit. According to the present invention there is provided a self-propelling hub unit comprising a frame member, an electric motor supported by said frame member, the motor having a drive shaft, a hub member supported by the frame member and coupled to the drive shaft for rotation relative to the frame member. The hub unit may be used to provide motive power to a variety of vehicies and devices. As it incorporates an electric motor it is quiet and pollution free and is therefore particularly useful for providing motive power to hospital trolleys, wheelchairs, golf trolleys and the like. Conventional wheels have an axle and the mounting of the wheel to a vehicle or other device has to be axial. The hub unit of the invention does not have a conventional axle and it can be used in any disposition. Accordingly, there are no constraints on the mounting required to connect the hub unit to a vehicle or device. Preferably the electric motor is a DC motor so that it can be powered by a battery. If required, the battery can be supported by the frame member such that the hub unit is completely self-contained and self-propelling. In a preferred embodiment, the DC electric motor is a type having a flat armature such as a pancake type motor. As a pancake type motor is compact the hub unit can similarly be made compact. The hub member may be directly connected to the drive shaft of the electric motor. However, it is preferred that the drive shaft be coupled to the hub member by gear means, for example, by reduction gearing. In a preferred embodiment, the gear casing of the gear means forms the frame member. The hub member preferably has a substantially U-shaped cross-section such that at least a portion of the frame member is enclosed within the hub member. This provides a particularly compact construction. The invention also extends to a self-propelling wheel comprising a hub unit as defined above, the hub member having a substantially cylindrical periphery, and a tyre carried on the periphery of the hub member. An embodiment of the present invention will hereinafter be described, by way of example, with reference to the accompanfying drawing in which the single Figure shows a cross-section of a selfpropelling wheel. The wheel illustrated has a hub member 2 having a substantially U-shaped cross-section. The substantially cylindrical periphery of the hub member 2 carries a tyre 4. At its centre the hub member 2 has an axially extending shaft 6. In the embodiment illustrated the shaft 6 is fixed to a substantially circular portion of the hub member but if required the shaft 6 may be integrally formed with the rest of the hub member. The shaft 6 is rotationally supported in a bushing 8 defined in a casing 10. This casing houses a reduction gearing 12 which couples the shaft 6 to the drive shaft 14 of an electric motor 16. The electric motor 16 is fixed to and supported by the casing 10 which forms a supporting frame member for the complete unit. The electric motor 16 is a DC motor of the pancake type. It will therefore be appreciated that the whole unit is compact. For example, in one embodiment, the complete wheel has a radius of the order of 12 cm and a total axial dimension of the order of 14.5 cm. As the electric motor is a DC motor is can be powered by a battery (not shown). This battery may be remote from the unit and connected thereto by.a lead or it may be supported by the casing 10. It will be appreciated that when power is supplied to the motor 16 the hub member 2 is rotated about its axis and relative to the casing 10. It will also be appreciated that the hub member will rotate whatevear the disposition of the unit. The unit, with or without the tyre may be mounted by suitabie means to a vehicle or device to provide motive power. The mounting may be attached to any non-rotating part of the unit and need not extend axially of the hub member 2. Thus, the mounting may be fixed to the casing 10 and/or to the housing of the motor 16. As the unit imposes few constraints on the structure and disposition of the mounting, this can be arranged in accordance with the design of the vehicle or device to which motive power is to be supplied by the unit. Electrical control means (not shown) are provided on the device or vehicle to control the operation of the unit. If required, a toothed or other drive belt may be carried on the periphery of the hub member in place of a tyre to provide drive to a vehicle or other device. In one embodiment, the electric motor is reversible such that the hub member 2 can be driven in either direction of rotation, If required, the hub member 2 may be driven in one direction and allowed to free wheel in the other direction of rotation. Such a free wheeling facility can be provided, for example, by includinhg an overrunning clutch in the means coupling the shaft 6 of the hub member 2 to the drive shaft 14 of the motor 16. Obviously, the unit may be used to supply motive power to many different vehicles or devices. For example, the unit may be used for driving hospital trolleys, golf trolleys, wheelchairs and the like. CLAIMS
1. A self-propelling hub unit comprising a frame member, an electric motor supported by said frame member, the motor having a drive shaft, a hub member supported by the frame member and coupled to the drive shaft for rotation relative to the frame member.
2. A hub unit as claimed in Claim 1, wherein the electric motor is a DC motor.
3. A hub unit as claimed in Claim 2, further comprising a battery supported by said frame mem ber and connected to supply the DC motor.
4. A hub unit as claimed in any preceding claim, wherein the electric motor has a flat armature.
5. A hub unit as claimed in any preceding claim wherein the drive shaft is coupled to the hub member by gear means, and said gear means are housed in a gear casing formed by said frame member.
6. A hub unit as claimed in any preceding claim, wherein the hub member is a substantially circular member fixed to an axially extending driven shaft which is rotationally mounted in said frame member and coupled to said drive shaft.
7. A hub unit as claimed in any preceding claim, wherein the drive shaft is coupled to the hub member by clutch means enabling the hub member to be driven in one direction of rotation and to free wheel in the other direction of rotation.
8. A hub unit as claimed in any preceding claim, wherein the hub member has a substantially Ushaped cross-section and wherein at least a portion of the frame member is enclosed within the hub member.
9. A self-propelling hub unit substantially as hereinbefore described with reference to and as illustrated in the accompanying drawing.
10. A self-propelling wheel comprising a hub unit as claimed in any preceding claim in which the hub member has a substantially cylindrical periphery, and a tyre carried on the periphery of the hub member.
GB08210502A 1982-04-08 1982-04-08 A self-propelling hub unit Expired GB2123362B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB08210502A GB2123362B (en) 1982-04-08 1982-04-08 A self-propelling hub unit

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB08210502A GB2123362B (en) 1982-04-08 1982-04-08 A self-propelling hub unit

Publications (2)

Publication Number Publication Date
GB2123362A true GB2123362A (en) 1984-02-01
GB2123362B GB2123362B (en) 1986-03-26

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Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2161436A (en) * 1984-07-04 1986-01-15 Dennis Vincent Wrigley Motorised golf trolley wheel
EP0243608A1 (en) * 1986-04-10 1987-11-04 Hochtief Aktiengesellschaft Vorm. Gebr. Helfmann Apparatus for making a substantially vertical slot in the soil
GB2201386A (en) * 1986-12-15 1988-09-01 Hydro Spartan Ltd Wheel drive arrangement
US4886285A (en) * 1987-03-23 1989-12-12 Mannesmann Aktiengesellschaft Transporter with wheels
GB2224984A (en) * 1988-10-01 1990-05-23 Francis Vause Wheel with self-contained drive assembly, eg. for carts or golf trolleys
WO1991003385A1 (en) * 1989-09-01 1991-03-21 Shkondin Vasily V Motor-wheel for a vehicle
US5183133A (en) * 1991-03-13 1993-02-02 Canadian Aging & Rehabilitation Product Development Corporation Motor-driven chair
US5236055A (en) * 1991-03-13 1993-08-17 Canadian Aging & Rehabilitation Product Development Corporation Wheel with coaxial drive system mounted in the wheelhub field of the invention
GB2269145A (en) * 1992-07-30 1994-02-02 Roy Higgins Wheelchair wheel with self-contained motor
GB2279923A (en) * 1993-06-23 1995-01-18 James Frederick Edwards A powered wheel for a wheelchair
FR2733187A1 (en) * 1995-04-10 1996-10-25 Honda Motor Co Ltd Drive unit for motorised golf buggy
EP0791496A2 (en) * 1996-01-23 1997-08-27 PEG Perego Pines S.p.A. Motorized wheel assembly and toy vehicle with such wheel assembly
WO1998019875A1 (en) * 1996-11-05 1998-05-14 Vernon Joel Grant A modular wheel assembly
GB2332724A (en) * 1997-12-24 1999-06-30 Shieh Shanq Ching Power transmitting device for a golf trolley
US6276475B1 (en) * 1998-08-18 2001-08-21 Yamaha Hatsudoki Kabushiki Kaisha Wheel hub electric motor and transmission drive unit
AT409842B (en) * 1996-01-08 2002-11-25 Siemens Ag SINGLE-WHEEL DRIVE FOR AN ELECTRICALLY DRIVED VEHICLE
US6752227B1 (en) * 1999-09-22 2004-06-22 Zf Friedrichshafen Ag Final drive for driving a vehicle wheel
CN107458213A (en) * 2017-08-25 2017-12-12 广东电网有限责任公司电力科学研究院 A kind of mobile robot wheel hub motor fixing device for installing
CN107848401A (en) * 2016-03-04 2018-03-27 Ntn株式会社 In-wheel motor drive unit

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB241633A (en) * 1924-07-26 1925-10-26 Frederick Ewart Popplewell Improvements in or relating to means or apparatus for transmitting motion to motor vehicles propelled by electric or other power
GB1058438A (en) * 1964-12-28 1967-02-08 Clark Equipment Co Vehicle
GB1135202A (en) * 1965-03-30 1968-12-04 Shaw & Sons Ltd Joshua Independently driven wheel for lift trucks and other vehicles
GB1414134A (en) * 1971-11-24 1975-11-19 Cragg H Wheel chairs
GB1481558A (en) * 1973-12-05 1977-08-03 Bygg Och Transportekonomii Ab Motorised wheel units

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB241633A (en) * 1924-07-26 1925-10-26 Frederick Ewart Popplewell Improvements in or relating to means or apparatus for transmitting motion to motor vehicles propelled by electric or other power
GB1058438A (en) * 1964-12-28 1967-02-08 Clark Equipment Co Vehicle
GB1135202A (en) * 1965-03-30 1968-12-04 Shaw & Sons Ltd Joshua Independently driven wheel for lift trucks and other vehicles
GB1414134A (en) * 1971-11-24 1975-11-19 Cragg H Wheel chairs
GB1481558A (en) * 1973-12-05 1977-08-03 Bygg Och Transportekonomii Ab Motorised wheel units

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2161436A (en) * 1984-07-04 1986-01-15 Dennis Vincent Wrigley Motorised golf trolley wheel
EP0243608A1 (en) * 1986-04-10 1987-11-04 Hochtief Aktiengesellschaft Vorm. Gebr. Helfmann Apparatus for making a substantially vertical slot in the soil
GB2201386A (en) * 1986-12-15 1988-09-01 Hydro Spartan Ltd Wheel drive arrangement
US4886285A (en) * 1987-03-23 1989-12-12 Mannesmann Aktiengesellschaft Transporter with wheels
GB2224984A (en) * 1988-10-01 1990-05-23 Francis Vause Wheel with self-contained drive assembly, eg. for carts or golf trolleys
WO1991003385A1 (en) * 1989-09-01 1991-03-21 Shkondin Vasily V Motor-wheel for a vehicle
AU624272B2 (en) * 1989-09-01 1992-06-04 Vasily Vasilievich Shkondin Motor-wheel for a vehicle
US5164623A (en) * 1989-09-01 1992-11-17 Shkondin Vasily V Independent-drive wheel for a wheel-mounted vehicle
US5183133A (en) * 1991-03-13 1993-02-02 Canadian Aging & Rehabilitation Product Development Corporation Motor-driven chair
US5236055A (en) * 1991-03-13 1993-08-17 Canadian Aging & Rehabilitation Product Development Corporation Wheel with coaxial drive system mounted in the wheelhub field of the invention
GB2269145A (en) * 1992-07-30 1994-02-02 Roy Higgins Wheelchair wheel with self-contained motor
GB2279923B (en) * 1993-06-23 1996-10-23 James Frederick Edwards Powered wheel
GB2279923A (en) * 1993-06-23 1995-01-18 James Frederick Edwards A powered wheel for a wheelchair
FR2733187A1 (en) * 1995-04-10 1996-10-25 Honda Motor Co Ltd Drive unit for motorised golf buggy
AT409842B (en) * 1996-01-08 2002-11-25 Siemens Ag SINGLE-WHEEL DRIVE FOR AN ELECTRICALLY DRIVED VEHICLE
EP0791496A2 (en) * 1996-01-23 1997-08-27 PEG Perego Pines S.p.A. Motorized wheel assembly and toy vehicle with such wheel assembly
EP0791496A3 (en) * 1996-01-23 1999-02-03 PEG Perego Pines S.p.A. Motorized wheel assembly and toy vehicle with such wheel assembly
WO1998019875A1 (en) * 1996-11-05 1998-05-14 Vernon Joel Grant A modular wheel assembly
GB2332723A (en) * 1997-12-24 1999-06-30 Shieh Shanq Ching Power transmitting device for a golf trolley
GB2332724A (en) * 1997-12-24 1999-06-30 Shieh Shanq Ching Power transmitting device for a golf trolley
US6276475B1 (en) * 1998-08-18 2001-08-21 Yamaha Hatsudoki Kabushiki Kaisha Wheel hub electric motor and transmission drive unit
US6752227B1 (en) * 1999-09-22 2004-06-22 Zf Friedrichshafen Ag Final drive for driving a vehicle wheel
CN107848401A (en) * 2016-03-04 2018-03-27 Ntn株式会社 In-wheel motor drive unit
CN107848401B (en) * 2016-03-04 2022-03-01 Ntn株式会社 In-wheel motor driving device
CN107458213A (en) * 2017-08-25 2017-12-12 广东电网有限责任公司电力科学研究院 A kind of mobile robot wheel hub motor fixing device for installing

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Publication number Publication date
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PCNP Patent ceased through non-payment of renewal fee

Effective date: 19990408