JP2017198322A - 駆動装置 - Google Patents
駆動装置 Download PDFInfo
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- JP2017198322A JP2017198322A JP2016091683A JP2016091683A JP2017198322A JP 2017198322 A JP2017198322 A JP 2017198322A JP 2016091683 A JP2016091683 A JP 2016091683A JP 2016091683 A JP2016091683 A JP 2016091683A JP 2017198322 A JP2017198322 A JP 2017198322A
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- 230000007246 mechanism Effects 0.000 claims abstract description 90
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 238000006243 chemical reaction Methods 0.000 claims description 9
- 230000002093 peripheral effect Effects 0.000 description 20
- 239000000696 magnetic material Substances 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010248 power generation Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 239000002783 friction material Substances 0.000 description 1
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- 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
- B60K17/046—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel with planetary gearing having orbital motion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/06—Differential gearings with gears having orbital motion
- F16H48/10—Differential gearings with gears having orbital motion with orbital spur gears
-
- 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
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- 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
- B60K17/02—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of clutch
-
- 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
- B60K17/14—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing the motor of fluid or electric gearing being disposed in or adjacent to traction wheel
- B60K17/145—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing the motor of fluid or electric gearing being disposed in or adjacent to traction wheel the electric gearing being disposed in or adjacent to traction 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
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D55/00—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes
- F16D55/02—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members
- F16D55/22—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads
- F16D55/224—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads with a common actuating member for the braking members
- F16D55/225—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads with a common actuating member for the braking members the braking members being brake pads
- F16D55/226—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads with a common actuating member for the braking members the braking members being brake pads in which the common actuating member is moved axially, e.g. floating caliper disc brakes
- F16D55/2262—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads with a common actuating member for the braking members the braking members being brake pads in which the common actuating member is moved axially, e.g. floating caliper disc brakes the axial movement being guided by open sliding surfaces, e.g. grooves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
- F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
- F16D65/18—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
- F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
- F16D65/18—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes
- F16D65/186—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes with full-face force-applying member, e.g. annular
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
-
- 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
- B60K2007/0061—Disposition of motor in, or adjacent to, traction wheel the motor axle being parallel to 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
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/42—Clutches or brakes
- B60Y2400/424—Friction clutches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/70—Gearings
- B60Y2400/73—Planetary gearings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2121/00—Type of actuator operation force
- F16D2121/18—Electric or magnetic
- F16D2121/20—Electric or magnetic using electromagnets
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Retarders (AREA)
- Braking Arrangements (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
- Hybrid Electric Vehicles (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Motor Power Transmission Devices (AREA)
Abstract
Description
Claims (9)
- 車両用の駆動力源と、前記駆動力源からトルクが伝達されるとともに左右の駆動輪のうちの一方の駆動輪に連結された第1ドライブシャフトと、前記駆動力源からトルクが伝達されるとともに前記左右の駆動輪のうちの他方の駆動輪に連結された第2ドライブシャフトとを備え、
前記第1ドライブシャフトと前記第2ドライブシャフトとの相互のトルクを異ならせることができるように構成された差動機能を備えた駆動装置において、
前記駆動力源は、第1モータと、第2モータとの少なくとも二つのモータを有し、
前記第1モータのトルクを増大させて前記第1ドライブシャフトにトルクを伝達する第1減速機と、
前記第2モータのトルクを増大させて前記第2ドライブシャフトにトルクを伝達する第2減速機と、
前記第1モータから前記第1ドライブシャフトにトルクを伝達する第1トルク伝達経路と、
前記第1トルク伝達経路における前記第1減速機よりも前記第1モータ側の第1回転部材と、
前記第1回転部材に制動トルクを作用させる第1制動機構と、
前記第2モータから前記第2ドライブシャフトにトルクを伝達する第2トルク伝達経路と、
前記第2トルク伝達経路における前記第2減速機よりも前記第2モータ側の第2回転部材と、
前記第2回転部材に制動トルクを作用させる第2制動機構と
を備えている
ことを特徴とする駆動装置。 - 請求項1に記載の駆動装置において、
前記第1ドライブシャフトは、前記一方の駆動輪に連結された第1端部と、前記第1端部とは反対側の第2端部とを有し、前記第1モータの回転軸線と、前記第2端部の回転軸線とが平行に配置され、
前記第2ドライブシャフトは、前記他方の駆動輪に連結された第3端部と、前記第3端部とは反対側の第4端部とを有し、前記第2モータの回転軸線と、前記第4端部の回転軸線とが平行に配置されている
ことを特徴とする駆動装置。 - 請求項1に記載の駆動装置において、
前記第1減速機は、前記第1モータが連結された第1入力要素と、前記第1ドライブシャフトに連結された第1出力要素と、前記第1入力要素から入力されたトルクを前記第1出力要素から出力するための反力を受け持つ第1反力要素との少なくとも三つの回転要素を有する第1遊星歯車機構により構成され、
前記第2減速機は、前記第2モータが連結された第2入力要素と、前記第2ドライブシャフトに連結された第2出力要素と、前記第2入力要素から入力されたトルクを前記第2出力要素から出力するための反力を受け持つ第2反力要素との少なくとも三つの回転要素を有する第2遊星歯車機構により構成され、
前記第1ドライブシャフトは、前記一方の駆動輪に連結された第5端部と、前記第5端部とは反対側の第6端部とを有し、前記第6端部が前記第1出力要素に連結され、前記第1モータの回転軸線と、前記第6端部の回転軸線とが同一軸線上に配置され、
前記第2ドライブシャフトは、前記他方の駆動輪に連結された第7端部と、前記第7端部とは反対側の第8端部とを有し、前記第8端部が前記第2出力要素に連結され、前記第2モータの回転軸線と、前記第8端部の回転軸線とが同一軸線上に配置されている
ことを特徴とする駆動装置。 - 請求項1ないし3のいずれか一項に記載の駆動装置において、
前記第1モータの両側に延出した第1出力軸を有し、
前記第1出力軸の一方に連結された第1出力ギヤを備え、
前記第1出力ギヤと前記第1減速機とが連結され、前記第1出力軸の他方に前記第1出力軸に制動トルクを作用させるように前記第1制動機構が配置され、
前記第2モータの両側に延出した第2出力軸を有し、
前記第2出力軸の一方に連結された第2出力ギヤを備え、
前記第2出力ギヤと前記第2減速機とが連結され、前記第2出力軸の他方に前記第2出力軸に制動トルクを作用させるように前記第2制動機構が配置されている
ことを特徴とする駆動装置。 - 請求項1ないし4のいずれか一項に記載の駆動装置において、
前記第1制動機構と前記第2制動機構とのうちの少なくともいずれか一方の制動機構による制動トルクを、所定の制動トルクに維持するように構成された保持機構を備えている
ことを特徴とする駆動装置。 - 請求項5に記載の駆動装置において、
前記保持機構は、前記一方の制動機構による制動トルクを所定の制動トルクにした状態で非通電とすることで前記一方の制動機構による制動トルクを維持する電磁アクチュエータを有する
ことを特徴とする駆動装置。 - 請求項5または6に記載の駆動装置において、
前記一方の制動機構は、ブレーキロータと固定部材とを備え、
前記一方の制動機構は、前記ブレーキロータと前記固定部材とを摩擦接触させることにより前記ブレーキロータに制動トルクを作用させるように構成され、
前記保持機構は、前記ブレーキロータと前記固定部材との摩擦力を保持するように構成されている
ことを特徴とする駆動装置。 - 請求項6に記載の駆動装置において、
前記第1回転部材と一体に回転する第1ブレーキロータを有し、
前記第1制動機構は、前記第1ブレーキロータと第1固定部材とを摩擦接触させることにより前記第1ブレーキロータに制動トルクを作用させるように構成され、
前記第2回転部材と一体に回転する第2ブレーキロータを有し、
前記第2制動機構は、前記第2ブレーキロータと第2固定部材とを摩擦接触させることにより前記第2ブレーキロータに制動トルクを作用させるように構成され、
前記電磁アクチュエータは、一方に回転することにより前記第1固定部材と前記第1ブレーキロータとが接触するように前記第1固定部材と前記第1ブレーキロータとのいずれか一方を移動させ、かつ前記第2固定部材と前記第2ブレーキロータとが接触するように前記第2固定部材と前記第2ブレーキロータとのいずれか一方を移動させる制動用モータである
ことを特徴とする駆動装置。 - 請求項1ないし8のいずれか一項に記載の駆動装置において、
前記第1制動機構は、通電される電力に応じた電磁力を発生させる第1アクチュエータを有し、前記第1アクチュエータにより生じた電磁力により制動トルクを制御するように構成され、
前記第2制動機構は、通電される電力に応じた電磁力を発生させる第2アクチュエータを有し、前記第2アクチュエータにより生じた電磁力により制動トルクを制御するように構成されている
ことを特徴とする駆動装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016091683A JP6475187B2 (ja) | 2016-04-28 | 2016-04-28 | 駆動装置 |
DE102017107313.2A DE102017107313A1 (de) | 2016-04-28 | 2017-04-05 | Antriebseinheit |
CN201710293211.2A CN107339398B (zh) | 2016-04-28 | 2017-04-28 | 驱动装置 |
US15/581,082 US10384535B2 (en) | 2016-04-28 | 2017-04-28 | Drive unit |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016091683A JP6475187B2 (ja) | 2016-04-28 | 2016-04-28 | 駆動装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017198322A true JP2017198322A (ja) | 2017-11-02 |
JP6475187B2 JP6475187B2 (ja) | 2019-02-27 |
Family
ID=60081503
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016091683A Active JP6475187B2 (ja) | 2016-04-28 | 2016-04-28 | 駆動装置 |
Country Status (4)
Country | Link |
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US (1) | US10384535B2 (ja) |
JP (1) | JP6475187B2 (ja) |
CN (1) | CN107339398B (ja) |
DE (1) | DE102017107313A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109895847A (zh) * | 2019-03-29 | 2019-06-18 | 中科微至智能制造科技江苏有限公司 | 全向移动平台 |
JP2020026878A (ja) * | 2018-08-17 | 2020-02-20 | 本田技研工業株式会社 | 車両のパーキング駆動機構 |
KR102111472B1 (ko) * | 2018-11-08 | 2020-05-15 | 김만식 | 전기 자동차용 감속기 |
US11047442B2 (en) | 2017-01-26 | 2021-06-29 | Toyota Jidosha Kabushiki Kaisha | Brake unit |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014145515A2 (en) * | 2013-03-15 | 2014-09-18 | Linamar Corporation | Hybrid axle assembly for a motor vehicle |
EP3139067B1 (de) * | 2015-09-04 | 2022-11-09 | Desch Antriebstechnik GmbH & Co. KG | Planetengetriebe |
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Also Published As
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DE102017107313A1 (de) | 2017-11-02 |
CN107339398B (zh) | 2019-12-20 |
US20170313181A1 (en) | 2017-11-02 |
US10384535B2 (en) | 2019-08-20 |
JP6475187B2 (ja) | 2019-02-27 |
CN107339398A (zh) | 2017-11-10 |
DE102017107313A8 (de) | 2018-03-08 |
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