WO2015100630A1 - 具有行星电机的轮毂驱动装置及采用该轮毂驱动装置的车轮动力系统 - Google Patents

具有行星电机的轮毂驱动装置及采用该轮毂驱动装置的车轮动力系统 Download PDF

Info

Publication number
WO2015100630A1
WO2015100630A1 PCT/CN2013/091150 CN2013091150W WO2015100630A1 WO 2015100630 A1 WO2015100630 A1 WO 2015100630A1 CN 2013091150 W CN2013091150 W CN 2013091150W WO 2015100630 A1 WO2015100630 A1 WO 2015100630A1
Authority
WO
WIPO (PCT)
Prior art keywords
planetary
ring gear
motor
rotor
hub
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.)
Ceased
Application number
PCT/CN2013/091150
Other languages
English (en)
French (fr)
Inventor
徐国卿
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.)
Shenzhen Institute of Advanced Technology of CAS
Chinese University of Hong Kong CUHK
Original Assignee
Shenzhen Institute of Advanced Technology of CAS
Chinese University of Hong Kong CUHK
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 Shenzhen Institute of Advanced Technology of CAS, Chinese University of Hong Kong CUHK filed Critical Shenzhen Institute of Advanced Technology of CAS
Priority to PCT/CN2013/091150 priority Critical patent/WO2015100630A1/zh
Publication of WO2015100630A1 publication Critical patent/WO2015100630A1/zh
Anticipated expiration legal-status Critical
Ceased 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
    • 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
    • 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
    • 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
    • B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing of change-speed gearing
    • B60K17/08—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing of change-speed gearing of mechanical type
    • 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
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
    • 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

Definitions

  • the present invention relates to a hub drive device, and more particularly to a hub drive device having a planetary motor and a wheel power system using the hub drive device.
  • the independent driving of the hub is an old and advanced driving method, which has the following significant advantages: First, the driving force and braking force of the wheel can be independently adjusted and coordinated according to the requirements of the whole vehicle, and the vehicle has excellent dynamic characteristics; Second, the overall layout of the vehicle is extremely simplified and flexible, and the interior space is maximized.
  • the main disadvantages are increased non-suspended mass, reduced vehicle grounding safety and smoothness at low speeds, but improved vehicle ride comfort at high speeds. Studies have shown that these adverse effects can be overcome as long as the increased non-suspended mass is small and the existing suspension is adjusted accordingly. In recent years, along with the further development of motors and control technology, the hub drive has received attention.
  • the former is mostly realized by a high-speed, permanent magnet, air-cooled or water-cooled motor with a speed of up to 12,000 ⁇ 15000 rpm.
  • the gear ratio of the gear unit is about 10 ⁇ 12.
  • the latter is usually implemented with a ring motor with a pole pair of 20 to 24, concentrated winding, permanent magnet, air-cooled or water-cooled, with a maximum speed of 1500 ⁇ 2000 rpm.
  • high-speed motor drives with reducers have a higher power density and are easier to integrate with the suspension, thus giving priority to attention.
  • U.S. Patent Application Nos. US 2007/0078035 A1 and US 2007/0209853 A1 disclose two types of hub drives comprising a wheel motor having a larger diameter and a shorter axial length or a smaller diameter and a longer length, a planet embedded in the motor. Reducer, brake, hub unit and wheel.
  • Another type of hub drive is disclosed in U.S. Patent Application Serial No. 2008/0070736 A1, which includes an in-wheel motor having a larger diameter and a shorter axial length, the planetary reducer being embedded in the in-wheel motor, the brake, the hub unit and the wheel.
  • Another type of hub drive is disclosed in U.S. Patent No.
  • the above disclosed technical solution has the following problems: low power density, difficulty in integration with the suspension, because the larger in-wheel motor with the reducer occupies the space where the suspension swing arm and the hub unit are connected; the safety is low. If the motor in the wheel fails, the wheel will lose controllable driving force, which may bring safety hazards.
  • a hub drive device having a planetary motor comprising:
  • a planetary motor for providing a first power for driving the hub to rotate, the planetary motor comprising a ring gear stator and a plurality of planetary rotors disposed radially inward of the ring gear stator;
  • a planetary mechanism for matching the rotational speed and torque of the planetary motor and the hub, the planetary mechanism including a planet carrier, a ring gear and a plurality of planetary gears; the plurality of planetary gears are disposed in the ring gear radial direction Inner side, and annularly distributed; the plurality of planet gears mesh with the ring gear to make the plurality of planet gears roll along an inner circumference of the ring gear; the plurality of planet gears respectively a plurality of planetary rotors are disposed in one-to-one correspondence, and the plurality of planetary gears are respectively coaxially coupled to the plurality of planetary rotors such that each of the planetary gears rotates coaxially with a corresponding one of the planetary rotors; a plurality of planetary gears are rotatably coupled to the planet carrier through a rotating shaft, respectively, such that the planet carrier rotates as the plurality of planetary gears roll relative to the ring gear;
  • the carrier when the planetary motor supplies power to the wheel, the carrier is a power output end, and the carrier is used to drive the hub to rotate, and the planetary rotor drives the planetary gear to rotate The planetary gear meshes with the ring gear to roll along the ring gear, thereby driving the carrier to rotate.
  • the above-described hub driving device with a planetary motor has at least the following advantages:
  • the planetary motor is obviously different from the conventional motor working with radial force.
  • the characteristic is that the rotor of the planetary motor is a planetary wheel, the magnetic circuit is short, the space is energy-saving, and the magnetic force of the rotor is mainly For radial force, the output is large, and it has a greater advantage in power density than the general motor. Therefore, the above-described hub drive device having a planetary motor has a high power density.
  • the above-described hub drive with planetary motor can use two powers to drive the hub, one of which can be provided by a planetary motor, the other can be provided by a power unit, and the planetary motor has a plurality of planetary rotors, which are powered by multiple sets of coils. Work, greatly improving work reliability and fail-safe. Therefore, the above-described hub drive device having a planetary motor has high reliability and fail-safe.
  • the ring gear stator is coupled to the ring gear, and the ring gear stator is along a circumferential direction Arranged into a plurality of pole regions, the coils in each of the pole regions are arranged at a full distance.
  • the ring gear stator is composed of a stator core and a coil, and the inner ring of the stator core is provided with a plurality of spaced apart convex teeth, and each adjacent two of the protruding teeth are formed. a cogging, the coil is wound around the protruding teeth and embedded in the gullet, and each of the coils corresponds to one of the protruding teeth to form a phase, the each of the pole regions The number of coils is the same as the number of the teeth.
  • each phase winding of the ring gear stator is formed by series or parallel connection of respective coils of each of the pole regions, and each two adjacent windings are simultaneously energized and flow through the same amount of current. .
  • the phase windings are electrically connected to the power electronic device, and the power electronic devices supply power to the phase windings in sequence.
  • the two-phase coil When the two-phase coil is energized, a magnetic pulling force is generated on the planetary rotor. And the magnetic pulling force always causes the planetary rotor to move toward a position where the total magnetic resistance of the magnetic circuit is the smallest.
  • the planetary rotor is a non-magnetically permeable magnetic cylinder, and the plurality of planetary rotors are arranged along an inner circumference of the ring gear stator, wherein the number and the number of the planetary rotors The number of pole regions of the ring gear stator and the number of the planetary gears are the same.
  • the magnetic steel is embedded in the planetary rotor.
  • the ring gear stator and the planetary rotor are detachably fixedly coupled to the ring gear and the planetary gear, respectively, or the ring gear stator and the planetary rotor are respectively The ring gear and the planetary gear are integrally formed.
  • a position sensor is further included, the position sensor being disposed on the planet carrier for sensing a position of the planetary rotor.
  • the present invention also provides a wheel power system using the above-described hub drive device.
  • a wheel power system includes:
  • the hub is fixedly connected to the carrier
  • a power unit for providing a second power to drive rotation of the hub
  • a steering knuckle for supporting the planetary motor, the power unit, the planetary mechanism, and the hub, and for connecting to a suspension device and a steering device.
  • a hub bearing is further included, the hub bearing being fixed to the steering knuckle and sleeved on a rotating shaft of the hub for supporting the hub.
  • the planetary mechanism further includes a sun gear, the sun gear is located at an intermediate position of the plurality of planetary gears, and meshes with the plurality of planetary gears;
  • the power device is a motor, The motor is mounted in the a middle of the plurality of planetary rotors, and the rotor of the motor is coaxially coupled to the sun gear to rotate the sun gear along with the rotor of the motor;
  • the power device when the power device supplies power to the wheel, the power device drives the sun gear to rotate, and the sun gear meshes with the planetary gear to drive the planetary gear to rotate, the planetary gear and The ring gears mesh to roll along the ring gear to drive the planet carrier to rotate.
  • the rotor of the motor is detachably fixedly coupled to the sun gear, or the rotor of the motor is integrally formed with the sun gear.
  • the power unit is an engine that drives the hub to rotate through a drive shaft.
  • the ring gear and the ring gear stator are fixedly coupled within the steering knuckle.
  • Figure 1 is a cross-sectional view showing a wheel power system having a planetary motor according to a first embodiment of the present invention
  • Figure 2 is a partial schematic view of the inner shaft shown in Figure 1;
  • Figure 3 is a partial schematic view of the outer shaft shown in Figure 1;
  • Figure 4 is a schematic view showing the rotation state of the planetary motor and the planetary mechanism shown in Figure 1;
  • Figure 5 is a schematic structural view of the planetary motor shown in Figure 1;
  • Figure 6 is a schematic view showing the magnetic flux generated when the coils of the planetary gear of the planetary motor shown in Fig. 1 are in different positions and the two-phase windings of one of the ring gear stators are energized (the coils Bl and CD are energized;
  • Figure 7 is a diagram showing the relationship of the winding magnetic connection/position/current of the ring stator of the planetary rotor at different positions when the two-phase winding of the ring gear stator of the planetary motor shown in Figure 1 is energized;
  • FIG. 8 is a schematic view showing the connection between the winding of the ring gear stator of the planetary motor shown in FIG. 1 and the power electronic device;
  • FIG. 9 is a phase coil of one phase (region) of the winding of the ring gear stator of the planetary motor shown in FIG. Schematic diagram of the energization sequence;
  • FIG. 10 is a schematic view showing that the windings of the ring gear stator of the planetary motor shown in FIG. 1 are sequentially energized, and the planetary rotor is subjected to a rolling motion;
  • Figure 11 is a cross-sectional view showing a wheel power system of a second embodiment of the present invention. ⁇ detailed description ⁇
  • a wheel power system of an embodiment of the present invention includes a hub drive having a planetary motor, a hub, a wheel, a power unit, and a steering knuckle.
  • the hub drive includes a planetary motor and a planetary mechanism.
  • the planetary motor is used to provide a first power to drive the hub to rotate.
  • the planetary motor includes a ring gear stator and a plurality of planetary rotors disposed radially inward of the ring gear stator.
  • the ring gear stators are arranged in a plurality of pole regions along the circumferential direction, and the coils in each pole region are arranged at a whole distance.
  • the ring gear stator can be fixedly connected within the steering knuckle.
  • the ring gear stator is composed of a stator core and a coil
  • the inner ring of the stator core is provided with a plurality of spaced apart convex teeth, and a tooth groove is formed between each adjacent two convex teeth, and the coil is wound around the convex teeth.
  • each coil corresponds to one convex tooth to form a phase, and the number of coils in each pole region is the same as the number of the convex teeth.
  • phase windings of the ring gear stator are formed by series or parallel connection of respective coils of the respective pole regions, and each two adjacent windings are simultaneously energized, and a current of the same magnitude flows.
  • each phase winding is electrically connected to the power electronic device, and the power electronic device supplies power to the phase windings in sequence.
  • the two-phase coil is energized, a magnetic pulling force is generated on the planetary rotor, and the magnetic pulling force always causes the planetary rotor to face The positional motion with the smallest total magnetic reluctance.
  • the planetary rotor is a non-magnetic directional magnetic cylinder, and a plurality of planetary rotors are arranged along an inner circumference of the ring gear stator, wherein the number of planetary rotors and the number of pole regions of the ring gear stator and the number of planetary gears are both the same.
  • a magnetic steel is embedded in the planetary rotor to increase the torque density of the planetary rotor.
  • the planetary mechanism is used to match the speed and torque of the planetary motor and the hub.
  • Planetary mechanisms include planet carriers, ring gears, and multiple planetary gears.
  • a plurality of planetary gears are disposed radially inward of the ring gear and are annularly distributed.
  • a plurality of planet gears mesh with the ring gear such that the plurality of planet gears are rollable along the inner circumference of the ring gear.
  • the ring gear stator is coupled to the ring gear. The ring gear and the ring gear stator are fixedly connected in the knuckle.
  • a plurality of planetary gears are respectively disposed in one-to-one correspondence with the plurality of planetary rotors, and the plurality of planetary gears are respectively rotated with the plurality of planetary gears
  • the sub-coaxial connections are such that each of the planet gears rotates coaxially with the corresponding planetary rotor.
  • a plurality of planet gears are rotatably coupled to the planet carrier via a rotating shaft, respectively, such that the planet carrier rotates as the plurality of planet gears roll relative to the ring gear.
  • the planet carrier is the power output end, and the planet carrier is used to drive the hub to rotate, the planetary rotor drives the planetary gear to rotate, the planetary gear meshes with the ring gear and rolls along the ring gear, thereby driving The planet carrier rotates.
  • the ring gear stator and the planetary rotor are detachably fixedly coupled to the ring gear and the planetary gear, respectively, or the ring gear stator and the planetary rotor are integrally formed with the ring gear and the planetary gear.
  • the hub drive further includes a position sensor disposed on the planet carrier for sensing the position of the planetary rotor.
  • the hub is fixedly connected to the planet carrier.
  • the wheel is fixedly coupled to the hub and rotates with the hub.
  • the power unit is used to provide a second power to drive the hub to rotate.
  • the steering knuckle is used to support the planetary motor, the power unit, the planetary mechanism and the hub, and is used to connect with the suspension device and the steering device.
  • the hub drive further includes a hub bearing fixed to the knuckle and sleeved on the shaft of the hub for supporting the hub.
  • the power unit may be a motor, an engine, or the like.
  • the planetary mechanism further includes a sun gear, the sun gear is located at an intermediate position of the plurality of planet gears, and meshes with the plurality of planet gears;
  • the middle of the planetary rotor, and the rotor of the motor is coaxially connected with the sun gear, causing the sun gear to rotate with the rotor of the motor.
  • the power unit supplies power to the wheel
  • the power unit drives the sun gear to rotate, and the sun gear meshes with the planetary gear to drive the planetary gear to rotate.
  • the planetary gear meshes with the ring gear to roll along the ring gear, thereby driving the planet carrier to rotate.
  • the rotor of the motor is detachably fixedly connected to the sun wheel, or the rotor of the motor is integrally formed with the sun gear.
  • the power unit is an engine, the engine can directly drive the hub to rotate through the drive shaft.
  • hub drive device can be applied to an electric power wheel power system or to a hybrid wheel power system.
  • a wheel power system 100 includes a planetary motor 110 (the planetary motor 100 is a first motor), a second motor 120 , a planetary mechanism 130 , a hub unit 140 , a knuckle 150 , and Wheel 160.
  • the hub unit 140 includes a hub 141 and a hub bearing 143 that is sleeved on a rotating shaft of the hub 141.
  • the planetary motor 110 is for providing a first power for driving the wheel 160, and includes a ring gear stator 111 and a plurality of planetary rotors 113 disposed radially inward of the ring gear stator 111.
  • the second motor 120 is configured to provide a second power of the wheel 160, and includes a second stator 121 and a second rotor 123.
  • the rotational speed and torque of the planetary mechanism 130 includes a sun gear 131, a carrier 133, a ring gear 135, and a plurality of planet gears 137.
  • the hub 141 is for supporting and connecting the carrier 133 and the wheel 160.
  • the hub bearing 143 is for supporting the rotation of the hub 141.
  • the steering knuckle 150 is for supporting the planetary motor 110, the second motor 120, the planetary mechanism 130, and the hub bearing 143, and is coupled to a suspension device (not shown) and a steering device
  • the second stator 121 of the second motor 120 is fixed in the knuckle 150, and the second rotor 123 is coupled to the sun gear 131 of the planetary mechanism 130.
  • the sun gear 131 of the planetary mechanism 130 meshes with a plurality of planetary gears 137 that are rotatably supported on the carrier 133, and the ring gear 135 is fixed in the knuckle 150.
  • the plurality of planetary rotors 113 of the planetary motor 110 are respectively fixed to the plurality of planetary gears 137 of the planetary mechanism 130.
  • the ring gear stator 111 of the planetary motor 110 is fixed in the knuckle 150, and the carrier 133 of the planetary mechanism 130 is coupled to the hub 141. Connected, the hub 141 is supported on the hub bearing 143.
  • FIG. 4 is a schematic view showing the rotation of the planetary motor 110 and the planetary mechanism 130.
  • the planetary mechanism 130 adopts the input of the sun gear 131, the ring gear 135 is fixed, and the speed reduction structure of the output of the carrier 133 can achieve a transmission ratio of 1+K (K is Characteristic parameters of the planetary row).
  • K is Characteristic parameters of the planetary row.
  • the rotational speed of the sun gear 131 is nt
  • the rotational speed nj of the carrier 133 is nt/(l+K)
  • the rotational speed nx of the planetary gear 137 is (3K-1) nil ( ⁇ ⁇ 2-1 ). Since the planetary gear 137 and the planetary rotor 113 are fixed, the rotational speed nr of the planetary rotor 113 is equal to the rotational speed ⁇ of the planetary gear 137, which is also
  • Fig. 5 is a schematic view showing the structure of the ring gear stator 111 and the planetary rotor 113 of the planetary motor 110.
  • the ring gear stator 111 of the planetary motor 110 is coupled to the ring gear 135 of the planetary mechanism 130, which is composed of a stator core 1111 and a coil 1113.
  • the inner ring of the stator core 1111 is provided with a plurality of spaced apart protruding teeth l l l la, and a tooth slot l l l lb is formed between each adjacent two protruding teeth 1111a.
  • the coil 1113 is wound around the convex teeth 111a and embedded in the slots 1111b, and each coil 1113 corresponds to a convex tooth 111a to constitute a phase, and the number of the coils 1113 in each pole region and the convex teeth 111a The same amount.
  • a plurality of planetary rotors 113 are distributed inside the ring gear stator 111 and connected to the planetary gears 137 of the planetary mechanism 130.
  • the planetary rotor 113 in Fig. 5 has no coils, and the magnetic material is embedded in the rotor to increase the torque density.
  • N2 for example, 6
  • N1 for example, 24
  • the convex teeth 111 of the ring gear stator 111 La is evenly distributed into N2 regions, defined as N2 polar regions.
  • N1 is an integral multiple of N2
  • each of the pole regions of the ring gear stator 111 corresponds to M convex teeth 111a (coil 1113).
  • the coils 1113 under each pole region of the ring gear stator 111 are respectively Ai. , Bi, Ci, Di denote (i is 1, 2, 3, 4), defined as the number of phases of the winding of the ring gear stator 111, and M is Nl/N2.
  • Ring gear The phase windings of the stator 111 are formed in series (or in parallel) by respective coils 1113 in the respective pole regions.
  • the positive pole of the A-phase winding corresponding to the first stator pole region is Al+, the negative pole is Al-, and the B-phase winding corresponds to the first
  • the positive pole of the coil B1 of one stator pole region is B1+, the negative pole is Bl-, and so on.
  • the magnetic flux generated by the A1 phase coil in the first pole region of the ring gear stator 111 of the planetary motor 110 passes through the convex tooth A1T, and the direction is positive (from the stator to the rotor), and the magnetic flux generated by the B1 phase coil is from the convex tooth BIT. Pass, the direction is negative (from the rotor to the stator), and so on.
  • FIG. 6 is a schematic diagram showing the magnetic flux generated when the two-phase winding under one pole region of the ring gear stator 111 is in contact with the coil 1113 (the coils B1 and CD are energized) in the case where the planetary rotor 113 of the planetary motor 110 is at different positions.
  • the ring gear stator 111 of the planetary motor 110 The windings are powered by two-phase windings, that is, when the windings are energized, the two adjacent windings are always energized simultaneously, and the same amount of current flows.
  • Each phase winding (coil 1113) has special power for current and current control.
  • one phase is connected with positive current and the other is connected with negative current.
  • the A1 coil is positive current B1
  • the coil is negatively current, which can be expressed as A1 ( + ) B1 (-).
  • the magnetic flux generated by the A1 phase coil in the first pole region of the ring gear stator 111 of the planetary motor 110 passes through the convex tooth A1T, and the direction is positive (from the stator to the rotor), and the B1 phase coil
  • the generated magnetic flux passes through the convex tooth BIT, the direction is negative (from the rotor to the stator), and the magnetic flux path is: convex tooth A1T - air gap - rotor - air gap - convex tooth BIT - stator yoke (The magnetic circuit connecting the convex tooth A1T and the convex tooth BIT.
  • the magnetic resistance of the entire magnetic circuit is as follows:
  • the magnetic resistance of the yoke between the two adjacent teeth of the ring gear stator 111 is R1;
  • the magnetic resistance of the two convex teeth of the ring gear stator 111 is Rtl, Rt2;
  • the air gap magnetic paths corresponding to the two convex tooth portions of the ring gear stator 111 are Rgl and Rg2, respectively;
  • the magnetic resistance of the magnetic flux of the planetary rotor 113 through the magnetic flux is Rr;
  • the total magnetic reluctance of the magnetic circuit energized by two adjacent coils of the ring gear stator 111 is:
  • Rgl, Rg2, Rr are related to the position of the planetary rotor 113, and the relative position of the planetary rotor 113 from the innermost point of the ring gear stator 111 to each of the determined positions of the ring gear stator 111 (such as the center line of the common groove of the Al and Bl phase coils)
  • the angle ( ⁇ ) has a large influence on the magnetic resistance of the above magnetic circuit.
  • the number of turns of each phase coil of each of the pole regions of the ring gear stator 111 of the planetary motor 110 is Wp
  • the current of two adjacent coils 1113 is ip
  • the total magnetic potential of the magnetic circuit is 2Wp*ip, which is simplified.
  • leakage flux the total flux linkage of two adjacent stator coils 1113 is approximately:
  • the total inductance is approximately:
  • the total flux linkage and total inductance are related to the rotor position.
  • a magnetic pulling force is generated on the planetary rotor 113, which always causes the planetary rotor 113 to move toward a position where the total magnetic resistance of the magnetic circuit is the smallest. Therefore, there is a position where the star rotor 113 is in an equilibrium state when the two-phase coil 1113 is energized, and if the energized coil 1113 is changed before the position, the star rotor 113 can be kept moving. Since the planetary rotor 113 is fixed to the carrier 133, the movement of the planetary rotor 113 moves in a rolling motion around the center of the planetary gear 137.
  • the magnetic pull force received by the planetary rotor 113 is:
  • FIG. 8 is a schematic view showing the connection between the ring gear stator winding and the power electronic device;
  • FIG. 9 is a schematic diagram showing the energization sequence of the phase coils 1113 of one pole region of the ring gear stator winding;
  • FIG. 10 is a step of energizing the ring gear stator windings, and the planetary rotor is stressed.
  • A1 ( + ) B1 (- )—— B1 (-) C1 ( + ) —— C1 ( + ) D1 (-)—— D1 (-) A ( + )—— A1 ( + ) B1 (-) ; can also be A1 ( + B1 (-) —— B1 ( + ) C1 (-)—— C1 (+) D1 (-)—— D1 ( + ) A (-)—— A1 ( + ) B1 (-) « A1 ( + ) indicates that the A-phase coil is energized in the forward direction, A1 (-) indicates that the A-phase coil is reversed, and the A1 (+) B1 (-) A-phase coil is energized.
  • Each phase winding (coil 1113) is energized and current controlled by a dedicated power electronics unit.
  • a special position sensor is mounted on the carrier 133 of the apparatus for sensing the specific position of the planetary rotor 113.
  • the above-described hub 141 driving device has at least the following advantages:
  • the planetary motor 110 is significantly different from the conventional motor operating with radial force, characterized in that the rotor of the planetary motor 110 is a planetary wheel, the magnetic circuit is short, the space is saved, and the rotor is moved.
  • the magnetic force is mainly radial force, and the output is large, which has greater advantages in power density than general motors. Therefore, the above-described hub 141 driving device has a higher power density.
  • the above-described hub 141 driving device may employ two powers to drive the hub 141, one of which may be provided by the planetary motor 110, the other may be provided by the power unit, and the planetary motor 110 has a plurality of planetary rotors 113, and a plurality of sets of coils Separate power supply work, greatly improving work reliability and fail-safe. Therefore, the above-described hub 141 driving device has high reliability and fail-safe.
  • FIG 11 is a cross-sectional view of a wheel power system 100 having a drive shaft in accordance with a second implementation of the present invention.
  • the wheel power system 200 of the second embodiment is a hybrid drive system, which is substantially the same as the wheel power system 100 of the first embodiment, and the difference is that the power device of the wheel power system 200 of the second embodiment is the engine 220.
  • the engine 220 uses the drive shaft 270 to directly drive the hub rotation.
  • the planetary mechanism 230 omits the sun gear.
  • the wheel power system 200 of the second embodiment includes a planetary motor 210, a planetary mechanism 230, a hub unit 240, a steering knuckle 250, and an engine 220.
  • the planetary motor 210 is for providing a first power for driving the wheel 260, and includes a ring gear stator 211 and a plurality of planetary rotors 213 disposed radially inward of the ring gear stator 211.
  • the planetary mechanism 230 is adapted to match the rotational speed and torque of the planetary motor 210 and the wheel 260, and includes a carrier 233, a ring gear 235, and a plurality of planetary gears 237.
  • the hub unit 240 is for supporting, connecting the planet carrier 233 and the wheel 260 to rotate.
  • the hub unit 240 includes a hub and a hub bearing that is sleeved on the shaft of the hub.
  • the steering knuckle 250 is for supporting the planetary motor 210, the planetary mechanism 230, and the hub unit 240, and is coupled to a suspension device (not shown) and a steering device (not shown).
  • a plurality of planetary gears 237 are rotatably supported on the carrier 233, the ring gear 235 is fixed in the knuckle 250, a plurality of planetary rotors 213 are respectively fixed to the plurality of planetary gears 237, and the ring gear stator 211 is fixed to the steering knuckle Within 250, the planet carrier 233 is coupled to the hub unit 240, and the power of the engine 220 transmitted through the drive shaft 270 is used to drive the wheels 260 and the planet carrier 233.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

一种具有行星电机（110）的轮毂驱动装置及采用该轮毂驱动装置的车轮动力系统（100），其中，该轮毂驱动装置包括行星电机（110），其包括齿圈定子（111）及设于齿圈定子（111）的径向内侧的多个行星转子（113）；行星机构（130），其用于匹配行星电机（110）与轮毂（141）的转速和转矩，行星机构（130）包括行星架（133）、齿圈（135）及多个行星齿轮（137）；多个行星齿轮（137）设于齿圈（135）径向内侧；多个行星齿轮（137）均与齿圈（135）相啮合，使多个行星齿轮（137）沿齿圈（135）的内周缘可滚动；多个行星齿轮（137）分别与多个行星转子（113）一一对应设置，并且多个行星齿轮（137）分别与多个行星转子（113）共轴连接；多个行星齿轮（137）分别通过转轴与行星架（133）可转动连接，使行星架（133）随着多个行星齿轮（137）相对于齿圈（135）滚动而转动。该轮毂驱动装置具有较高的功率密度、可靠性及故障安全性。

Description

具有行星电机的轮毂驱动装置及釆用该轮毂驱动装置的车轮动力系统
【技术领域】
本发明涉一种轮毂驱动装置， 尤其涉及一种具有行星电机的轮毂驱动装置及采用该轮毂 驱动装置的车轮动力系统。
【背景技术】
轮毂独立驱动是一种古老而先进的驱动方式， 具有以下显著的优点： 其一， 车轮的驱动 力和制动力可以独立调节并根据整车的需求协调控制， 车辆具有优异的动力学特性； 其二， 车辆总布置极为简化和灵活， 车内空间最大化。 其缺点主要是增大了非悬挂质量， 降低了低 速时的车辆接地安全性和平顺性， 但改善了高速时的车辆平顺性。 研究表明， 只要增加的非 悬挂质量较小， 并对现有悬架进行相应的调校， 即可克服这些不利的影响。 近年来， 伴随着 电机和控制技术的进一步发展， 轮毂驱动装置又得到了重视。
现有的轮毂驱动装置主要有两类， 一种是带减速器的高速电机驱动装置， 一种是不带减 速器的低速电机驱动装置。 前者多采用转速高达 12000〜15000rpm的高速、 永磁、 风冷或水 冷电机来实现， 搭配的减速器传动比为 10〜12左右。 后者通常采用磁极对数高达 20〜24、 集中绕组、 永磁、 风冷或水冷的环形电机来实现， 其最高转速为 1500〜2000rpm。 就现有的 电机技术水平而言， 带减速器的高速电机驱动装置的功率密度更高， 也更易于和悬架集成， 因此得到了优先的关注。
美国专利申请 US2007/0078035 A1和 US2007/0209853 A1公开了两种轮毂驱动装置， 其 包括直径较大而轴向长度较短或直径较小而长度较长的轮内电机、 半嵌入电机内的行星减速 器、 制动器、 轮毂单元和车轮。 美国专利申请 US2008/0070736 A1公开了另外一种轮毂驱动 装置， 其包括直径较大而轴向长度较短的轮内电机， 行星减速器内嵌在轮内电机里、制动器、 轮毂单元和车轮。 美国专利 US8002060 B2公开了另外一种轮毂驱动装置， 其包括在车轮内 偏置布置的轮内电机、内齿轮减速器、制动器、轮毂单元和车轮。美国专利申请 US2008/308330 A1公开了另一种轮毂驱动装置， 其包括在车轮内偏置布置的轮内电机、一级外齿轮传动和一 级行星减速器、 制动器、 轮毂单元和车轮。 美国专利申请 US2009/0236158 A1公开了另外一 种轮毂驱动装置， 其包括转向节、 布置在转向节后部的轮内电机、 减速器和用于连接减速器 输出端与车轮的传动轴。 上述公开的技术方案存在着以下问题： 功率密度低， 难与悬架进行集成， 因为体积较大 的带减速器的轮内电机占据了悬架摆臂与轮毂单元连接的空间； 故障安全性低， 如果轮内电 机出现故障， 则该轮将失去可控的驱动力， 由此可能带来安全性隐患。
因此， 还存在着提供一种具有高功率密度和高故障安全性的轮毂驱动装置的需求。
【发明内容】
鉴于上述状况， 有必要提供一种具有功率密度较高和故障安全性较高的具有行星电机的 轮毂驱动装置。
一种具有行星电机的轮毂驱动装置， 其包括：
行星电机， 用于提供驱动轮毂转动的第一动力， 所述行星电机包括齿圈定子及设于所述 齿圈定子的径向内侧的多个行星转子； 及
行星机构， 用于匹配所述行星电机与所述轮毂的转速和转矩， 所述行星机构包括行星架、 齿圈及多个行星齿轮； 所述多个行星齿轮设于所述齿圈径向内侧， 并且呈环形分布； 所述多 个行星齿轮均与所述齿圈相啮合， 使所述多个行星齿轮沿所述齿圈的内周缘可滚动； 所述多 个行星齿轮分别与所述多个行星转子一一对应设置， 并且所述多个行星齿轮分别与所述多个 行星转子共轴连接， 以使每个所述行星齿轮与对应的所述行星转子共轴同步转动； 所述多个 行星齿轮分别通过转轴与所述行星架可转动连接， 使所述行星架随着所述多个行星齿轮相对 于所述齿圈滚动而转动；
其中， 当所述行星电机给所述车轮提供动力时， 所述行星架为动力的输出端， 并且所述 行星架用于带动所述轮毂转动， 所述行星转子驱动所述行星齿轮转动， 所述行星齿轮与所述 齿圈相啮合而沿所述齿圈滚动， 从而带动所述行星架转动。
相较于传统的轮毂驱动装置， 上述具有行星电机的轮毂驱动装置至少具有以下优点：
( 1 ) 由行星电机的原理可知， 行星电机与常规的以径向力工作的电机有明显的区别， 其 特征是行星电机的转子为行星轮， 磁路短， 节能空间， 转子运动的磁力主要为径向力， 出力 大， 在功率密度上比一般电机有更大的优势。 因此， 上述具有行星电机的轮毂驱动装置具有 较高的功率密度。
(2)上述具有行星电机的轮毂驱动装置可采用两个动力来驱动轮毂， 其中一个动力可由 行星电机提供， 另外一个可由动力装置提供， 并且， 行星电机具有多个行星转子， 由多套线 圈供电工作， 大大提高了工作可靠性和故障安全性。 因此， 上述具有行星电机的轮毂驱动装 置可靠性和故障安全性较高。
在其中一个实施例中， 所述齿圈定子与所述齿圈连接， 并且所述齿圈定子沿着圆周方向 布置成多个极区域， 每个所述极区域内的线圈整距布置。
在其中一个实施例中， 所述齿圈定子由定子铁芯及线圈组成， 所述定子铁芯的内圈设有 多个间隔设置的凸齿， 每相邻两个所述凸齿之间形成齿槽， 所述线圈缠绕在所述凸齿上， 并 且嵌入所述齿槽内， 并且每个所述线圈对应一个所述凸齿， 以构成一相， 每个所述极区域内 的所述线圈的数量与所述凸齿的数量相同。
在其中一个实施例中， 所述齿圈定子的各相绕组由各个所述极区域的各相对应的线圈串 联或并联构成， 并且每两相相邻绕组同时通电， 并流过相同大小的电流。
在其中一个实施例中， 所述各相绕组与电力电子装置电连接， 并且由所述电力电子装置 给各相绕组按次序供电， 当两相线圈通电时， 所述行星转子上会产生磁拉力， 并且所述磁拉 力总是使得所述行星转子向着总磁路磁阻最小的位置运动。
在其中一个实施例中， 所述行星转子为无磁趋向性的导磁圆柱体， 并且所述多个行星转 子沿所述齿圈定子的内周缘布置， 其中， 所述行星转子的数量与所述齿圈定子的极区域数量 及所述行星齿轮的数量均相同。
在其中一个实施例中， 所述行星转子内嵌入有磁钢。
在其中一个实施例中， 所述齿圈定子及所述行星转子分别与所述齿圈及所述行星齿轮可 拆卸地固定连接， 或者， 所述齿圈定子及所述行星转子分别与所述齿圈及所述行星齿轮一体 成型。
在其中一个实施例中， 还包括位置传感器， 所述位置传感器设于所述行星架上， 用于感 测所述行星转子的位置。
同时， 本发明还提供一种采用上述轮毂驱动装置的车轮动力系统。
一种车轮动力系统， 包括：
上述的轮毂驱动装置；
所述轮毂， 与所述行星架固定连接；
车轮， 与所述轮毂固定连接， 并且随着所述轮毂一起转动；
动力装置， 用于提供驱动所述轮毂转动的第二动力； 及
转向节， 用于支撑所述行星电机、 所述动力装置、 所述行星机构及所述轮毂， 并用于与 悬架装置和转向装置相连接。
在其中一个实施例中， 还包括轮毂轴承， 所述轮毂轴承固定在所述转向节上， 并且套设 在所述轮毂的转轴上， 用于支撑所述轮毂。
在其中一个实施例中， 所述行星机构还包括太阳轮， 所述太阳轮位于所述多个行星齿轮 的中间位置， 并且与所述多个行星齿轮相啮合； 所述动力装置为电机， 所述电机安装在所述 多个行星转子的中间， 并且所述电机的转子与所述太阳轮共轴连接， 使所述太阳轮随着所述 电机的转子一起转动；
其中， 当所述动力装置给所述车轮提供动力时， 所述动力装置驱动所述太阳轮转动， 所 述太阳轮与所述行星齿轮相啮合而带动所述行星齿轮转动， 所述行星齿轮与所述齿圈相啮合 而沿所述齿圈滚动， 从而带动所述行星架转动。
在其中一个实施例中， 所述电机的转子与所述太阳轮可拆卸地固定连接， 或者， 所述电 机的转子与所述太阳轮一体成型。
在其中一个实施例中， 所述动力装置为发动机， 所述发动机通过传动轴驱动所述轮毂转 动。
在其中一个实施例中， 所述齿圈及所述齿圈定子均固定连接在所述转向节内。 【附图说明】
图 1为本发明的实施例一的具有行星电机的车轮动力系统的剖视图；
图 2为图 1所示的内侧轴局部示意图；
图 3为图 1所示的外侧轴局部示意图；
图 4为图 1所示的行星电机和行星机构的转动状态示意图；
图 5为图 1所示的行星电机的结构示意图；
图 6为图 1所示的行星电机的行星转子在不同位置情况下， 齿圈定子的一个极区域下的 两相绕组对应线圈 （线圈 Bl、 CD 通电时产生的磁通示意图；
图 7为图 1所示的行星电机的齿圈定子两相绕组通电时， 行星转子在不同位置情况下齿 圈定子的绕组磁连 /位置 /电流关系图；
图 8为图 1所示的行星电机的齿圈定子的绕组与电力电子装置的连接示意图； 图 9为图 1所示的行星电机的齿圈定子的绕组的一个极 （区域） 下各相线圈的通电次序 示意图；
图 10为图 1所示的行星电机的齿圈定子的绕组依次通电，行星转子受力做滚动运动的示 意图；
图 11是本发明的实施例二的车轮动力系统的剖视图。 【具体实施方式】
为了便于理解本发明， 下面将参照相关附图对本发明进行更全面的描述。 附图中给出了 本发明的较佳的实施例。 但是， 本发明可以以许多不同的形式来实现， 并不限于本文所描述 的实施例。 相反地， 提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。 需要说明的是， 当元件被称为 "固定于"另一个元件， 它可以直接在另一个元件上或者 也可以存在居中的元件。 当一个元件被认为是 "连接"另一个元件， 它可以是直接连接到另 一个元件或者可能同时存在居中元件。 本文所使用的术语 "垂直的"、 "水平的"、 "左"、 "右" 以及类似的表述只是为了说明的目的。
除非另有定义， 本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人 员通常理解的含义相同。 本文中在本发明的说明书中所使用的术语只是为了描述具体的实施 例的目的， 不是旨在于限制本发明。 本文所使用的术语 "及 /或"包括一个或多个相关的所 列项目的任意的和所有的组合。
本发明的实施方式的车轮动力系统， 其包括具有行星电机的轮毂驱动装置、 轮毂、 车轮、 动力装置及转向节。 轮毂驱动装置包括行星电机及行星机构。
行星电机用于提供驱动轮毂转动的第一动力。 行星电机包括齿圈定子及设于齿圈定子的 径向内侧的多个行星转子。 具体的， 齿圈定子沿着圆周方向布置成多个极区域， 每个极区域 内的线圈整距布置。 齿圈定子可以固定连接在转向节内。
进一步地， 齿圈定子由定子铁芯及线圈组成， 定子铁芯的内圈设有多个间隔设置的凸齿， 每相邻两个凸齿之间形成齿槽， 线圈缠绕在凸齿上， 并且嵌入齿槽内， 并且每个线圈对应一 个凸齿， 以构成一相， 每个极区域内的线圈的数量与凸齿的数量相同。
进一步地， 齿圈定子的各相绕组由各个极区域的各相对应的线圈串联或并联构成， 并且 每两相相邻绕组同时通电， 并流过相同大小的电流。
进一步地， 各相绕组与电力电子装置电连接， 并且由电力电子装置给各相绕组按次序供 电， 当两相线圈通电时， 行星转子上会产生磁拉力， 并且磁拉力总是使得行星转子向着总磁 路磁阻最小的位置运动。
具体的， 行星转子为无磁趋向性的导磁圆柱体， 并且多个行星转子沿齿圈定子的内周缘 布置， 其中， 行星转子的数量与齿圈定子的极区域数量及行星齿轮的数量均相同。
进一步地， 行星转子内嵌入有磁钢， 以增加行星转子的转矩密度。
行星机构用于匹配行星电机与轮毂的转速和转矩。 行星机构包括行星架、 齿圈及多个行 星齿轮。
多个行星齿轮设于齿圈径向内侧， 并且呈环形分布。 多个行星齿轮均与齿圈相啮合， 使 多个行星齿轮沿齿圈的内周缘可滚动。 具体的， 齿圈定子与齿圈连接。 齿圈及齿圈定子均固 定连接在转向节内。
多个行星齿轮分别与多个行星转子一一对应设置， 并且多个行星齿轮分别与多个行星转 子共轴连接， 以使每个行星齿轮与对应的行星转子共轴同步转动。
多个行星齿轮分别通过转轴与行星架可转动连接， 使行星架随着多个行星齿轮相对于齿 圈滚动而转动。
其中， 当行星电机给车轮提供动力时， 行星架为动力的输出端， 并且行星架用于带动轮 毂转动， 行星转子驱动行星齿轮转动， 行星齿轮与齿圈相啮合而沿齿圈滚动， 从而带动行星 架转动。
需要说明的是， 齿圈定子及行星转子分别与齿圈及行星齿轮可拆卸地固定连接， 或者， 齿圈定子及行星转子分别与齿圈及行星齿轮一体成型。
进一步地， 轮毂驱动装置还包括位置传感器， 位置传感器设于行星架上， 用于感测行星 转子的位置。
轮毂与行星架固定连接。 车轮与轮毂固定连接， 并且随着轮毂一起转动。 动力装置用于 提供驱动轮毂转动的第二动力。 转向节， 用于支撑行星电机、 动力装置、 行星机构及轮毂， 并用于与悬架装置和转向装置相连接。 优选地， 轮毂驱动装置还包括轮毂轴承， 轮毂轴承固 定在转向节上， 并且套设在轮毂的转轴上， 用于支撑轮毂。
动力装置可以为电机、 发动机等， 例如， 当动力装置为电机时， 行星机构还包括太阳轮， 太阳轮位于多个行星齿轮的中间位置， 并且与多个行星齿轮相啮合； 动力装置安装在多个行 星转子的中间， 并且电机的转子与太阳轮共轴连接， 使太阳轮随着电机的转子一起转动。 当 动力装置给车轮提供动力时， 动力装置驱动太阳轮转动， 太阳轮与行星齿轮相啮合而带动行 星齿轮转动， 行星齿轮与齿圈相啮合而沿齿圈滚动， 从而带动行星架转动。 电机的转子与太 阳轮可拆卸地固定连接， 或者， 电机的转子与太阳轮一体成型。 当动力装置为发动机， 发动 机可通过传动轴直接驱动轮毂转动。
需要说明是， 上述轮毂驱动装置可以应用于电动动力的车轮动力系统中， 也可以应用于 混合动力的车轮动力系统中。
下面结合图示的实施例来说明上述车轮动力系统。
图 1、 图 2及图 3分别是本发明一具体实施例的剖视示意图、 内侧轴的局部示意图和外 侧轴的局部示意图。 请参阅图 1至图 3， 本发明的实施例一的车轮动力系统 100包括行星电 机 110 (行星电机 100为第一电机）、 第二电机 120、 行星机构 130、 轮毂单元 140、 转向节 150及车轮 160。 轮毂单元 140包括轮毂 141及套设在轮毂 141的转轴上的轮毂轴承 143。
行星电机 110用于提供驱动车轮 160的第一动力， 包括齿圈定子 111及布置在齿圈定子 111的径向内侧的多个行星转子 113。 第二电机 120， 用于提供车轮 160的第二动力， 其包括 第二定子 121和第二转子 123。行星机构 130， 用于匹配行星电机 110及第二电机 120与车轮 160的转速和转矩，行星机构 130包括太阳轮 131、行星架 133、齿圈 135和多个行星齿轮 137。 轮毂 141， 用于支撑和连接行星架 133和车轮 160。 轮毂轴承 143， 用于支撑轮毂 141旋转。 转向节 150， 用于支撑行星电机 110、 第二电机 120、 行星机构 130和轮毂轴承 143， 并与悬 架装置 （未示出） 和转向装置 （未示出） 相连接。
第二电机 120的第二定子 121固接在转向节 150内， 第二转子 123与行星机构 130的太 阳轮 131相连接。行星机构 130的太阳轮 131与多个行星齿轮 137相啮合，多个行星齿轮 137 可旋转地支撑在行星架 133上， 齿圈 135固接在转向节 150内。 行星电机 110的多个行星转 子 113分别与行星机构 130的多个行星齿轮 137固接， 行星电机 110的齿圈定子 111固接在 转向节 150内，行星机构 130的行星架 133与轮毂 141相连接，轮毂 141支撑在轮毂轴承 143 上。
图 4是行星电机 110和行星机构 130的转动示意图。 请参阅图 4在图示的实施例中， 行 星机构 130采用的是太阳轮 131输入， 齿圈 135固定， 行星架 133输出的减速增矩结构， 可 以实现的传动比为 1+K ( K是行星排的特征参数）。 如果太阳轮 131 的转速为 nt， 则行星架 133的转速 nj为 nt/(l+K)， 行星齿轮 137的转速 nx为 （3K-1 ) nil ( ΚΛ2-1 )。 由于行星齿轮 137和行星转子 113固接， 因此， 行星转子 113的转速 nr等于行星齿轮 137的转速 ηχ， 也为
Figure imgf000009_0001
图 5是行星电机 110的齿圈定子 111和行星转子 113的结构示意图。请参阅图 5， 在图示 的实施例中， 行星电机 110的齿圈定子 111与行星机构 130的齿圈 135连接， 齿圈定子 111 由定子铁芯 1111和线圈 1113组成。 定子铁芯 1111的内圈设有多个间隔设置的凸齿 l l l la, 每相邻两个凸齿 1111a之间形成齿槽 l l l lb。 线圈 1113缠绕在凸齿 l l l la上， 并且嵌入齿槽 1111b内， 并且每个线圈 1113对应一个凸齿 l l l la, 以构成一相， 每个极区域内的线圈 1113 的数量与凸齿 l l l la的数量相同。 多个行星转子 113分布在齿圈定子 111的内侧， 并且与行 星机构 130的行星齿轮 137连接。
图 5中的行星转子 113上没有线圈， 采用无趋向导磁材料， 可以在转子内嵌入磁钢以增 加转矩密度。 假设行星转子 113的个数为 N2个 （如为 6)， 齿圈定子 111的凸齿 l l l la的数 量 （齿槽 1111b的数量） 为 N1个 （如 24)， 齿圈定子 111的凸齿 l l l la被平均分配成 N2个 区域， 定义为 N2个极区域。 N1为 N2的整数倍， 设齿圈定子 111每个极区域下对应 M个凸 齿 l l l la (线圈 1113 )， 假设 M为 4， 齿圈定子 111的每个极区域下的线圈 1113分别以 Ai、 Bi、 Ci、 Di表示 （i为 1， 2, 3， 4)， 定义为齿圈定子 111的绕组的相数， M为 Nl/N2。 齿圈 定子 111的各相绕组由各个极区域下各相对应线圈 1113串联 （或并联） 构成。
A相绕组对应第一个定子极区域的线圈 A1的正极为 Al+， 负极为 Al-， B相绕组对应第 一个定子极区域的线圈 Bl的正极为 Bl+， 负极为 Bl-， 依次类推。 行星电机 110的齿圈定子 111第一个极区域内的 A1相线圈产生的磁通从凸齿 A1T通过， 方向为正 （从定子向转子方 向）， B1相线圈产生的磁通从凸齿 BIT通过， 方向为负 （从转子向定子方向）， 依次类推。
图 6为行星电机 110的行星转子 113在不同位置情况下， 齿圈定子 111的一个极区域下 的两相绕组对应线圈 1113 (线圈 Bl、 CD 通电时产生的磁通示意图。 图 7为齿圈定子 111 的两相绕组通电时，转子在不同位置情况下定子绕组磁连 /位置 /电流关系图。请参阅图 6和图 7， 在图示的实施例中， 行星电机 110的齿圈定子 111的绕组采用两相绕组两两通电方式， 即 在绕组通电时，始终是两相相邻的绕组同时通电，流过相同大小的电流。每相绕组（线圈 1113 ) 通电与电流控制有专门的电力电子装置实现。 当相邻两相绕组通电时， 一相通正电流， 另一 相通负电流。 如果 A1线圈通正电流 B1线圈通负电流， 可表示为 A1 ( + ) B1 (-)， 此时， 行 星电机 110的齿圈定子 111的第一个极区域内的 A1相线圈产生的磁通从凸齿 A1T通过， 方 向为正 （从定子向转子方向）， B1相线圈产生的磁通从凸齿 BIT通过， 方向为负 （从转子向 定子方向），磁通路径为：凸齿 A1T——气隙——转子——气隙——凸齿 BIT——定子轭部 (连 接凸齿 A1T和凸齿 BIT的磁路。
整个磁路的磁阻如下：
齿圈定子 111的两个相邻近凸齿之间的轭部磁阻为 R1;
齿圈定子 111的两个凸齿部磁路磁阻分别为 Rtl、 Rt2;
齿圈定子 111的两个凸齿部对应的气隙磁路分别为 Rgl、 Rg2;
行星转子 113通过磁通的磁路磁阻为 Rr;
齿圈定子 111的两相邻线圈通电的磁路总磁阻为：
Rfi=Rl+ Rt 1 +Rt2+ Rg 1 +Rg2+Rr ( Do
Rgl、 Rg2、 Rr与行星转子 113位置有关， 行星转子 113离齿圈定子 111的内侧最近点与 齿圈定子 111 的每个确定位置 （如 Al、 Bl相线圈共用槽的中心线） 的相对位置角度 （ Θ ) 对上述磁路的磁阻有很大的影响。
设定行星电机 110的齿圈定子 111每个极区域的每相线圈的匝数为 Wp， 两个相邻线圈 1113通电电流为 ip， 则上述磁路的总磁势为 2Wp*ip， 为简化分析， 忽略不经过上述磁路闭 合的磁通 （称为漏磁通）， 两个相邻定子线圈 1113的总磁链近似为：
k=4*ip (Wp) Λ2/ Rfi (2)
总电感近似为：
Lab=4 (Wp) Λ2/ Rfi (3 )
显然， 总磁链和总电感与转子位置有关。 当两相线圈 1113通电时，行星转子 113上会产生磁拉力，该磁拉力总是使得行星转子 113 向着总磁路磁阻最小的位置运动。 因此， 存在着一个位置， 在该两相线圈 1113通电时， 星转 子 113处于平衡状态， 如果在该位置前， 改变通电的线圈 1113， 可以使星转子 113保持继续 运动。 由于行星转子 113固定在行星架 133上， 行星转子 113的运动围绕行星齿轮 137中心 呈滚动运动。
在两相邻线圈 1113通电的情况下， 行星转子 113受到的磁拉力为：
dWc(0,ik) _ d f¾
Θ d0 Jo (4) 其中 与星转子 113的位置 Θ和两相电流 ik有关。
由上分析可知， 采用电流控制， 行星电机 110具有很好的恒功率特性。
图 8为齿圈定子绕组与电力电子装置的连接示意图； 图 9为齿圈定子绕组的一个极区域 的各相线圈 1113的通电次序示意图； 图 10是齿圈定子绕组依次通电， 行星转子受力做滚动 运动的示意图。 请参阅图 8至图 10， 在图示的实施例中， 在通电一个周期内， 行星转子 113 转过一个齿圈定子 111的一个极区域， 如所示， 分别为 A1 ( + ) B1 (-)—— B1 (-) C1 ( + ) —— C1 ( + ) D1 (-)—— D1 (-) A ( + )—— A1 ( + ) B1 (-) ……，也可以是 A1 ( + ) B1 (-) —— B1 ( + ) C1 (-)—— C1 (+) D1 (-)—— D1 ( + ) A (-)—— A1 ( + ) B1 (-) ……。 其 中 A1 ( + ) 表示 A相线圈正向通电， A1 (-) 表示 A相线圈反向通， A1 ( + ) B1 (-) A相线 圈正向通电 B相线圈反向通电。
每相绕组（线圈 1113 )通电与电流控制有专门的电力电子装置实现。为了将行星电机 110 的通电时刻与行星转子 113位置配合， 在本装置的行星架 133上装配专门的位置传感器， 用 于感测行星转子 113的具体位置。
相较于传统的轮毂 141驱动装置， 上述轮毂 141驱动装置至少具有以下优点：
( 1 ) 由行星电机 110的原理可知， 行星电机 110与常规的以径向力工作的电机有明显的 区别， 其特征是行星电机 110的转子为行星轮， 磁路短， 节能空间， 转子运动的磁力主要为 径向力， 出力大， 在功率密度上比一般电机有更大的优势。 因此， 上述轮毂 141驱动装置具 有较高的功率密度。
(2) 上述轮毂 141驱动装置可采用两个动力来驱动轮毂 141， 其中一个动力可由行星电 机 110提供， 另外一个可由动力装置提供， 并且， 行星电机 110具有多个行星转子 113， 由多 套线圈分别供电工作， 大大提高了工作可靠性和故障安全性。 因此， 上述轮毂 141驱动装置 可靠性和故障安全性较高。
图 11是本发明的实施二的具有传动轴的车轮动力系统 100的剖视图。请参阅图 11，本发 明的实施例二的车轮动力系统 200为混合动力驱动系统， 其与实施例一的车轮动力系统 100 基本相同， 其不同之处在于： 实施例二的车轮动力系统 200的动力装置为发动机 220， 发动 机 220采用传动轴 270直接驱动轮毂转动， 此时， 行星机构 230省略了太阳轮。
换句话说， 实施例二的车轮动力系统 200包括行星电机 210、 行星机构 230、 轮毂单元 240、 转向节 250及发动机 220。 行星电机 210， 用于提供驱动车轮 260的第一动力， 其包括 齿圈定子 211和布置在齿圈定子 211的径向内侧的多个行星转子 213。行星机构 230， 用于匹 配行星电机 210与车轮 260的转速和转矩，其包括行星架 233、齿圈 235和多个行星齿轮 237。 轮毂单元 240， 用于支撑、 连接行星架 233及车轮 260旋转。 轮毂单元 240包括轮毂及套设 在轮毂的转轴上的轮毂轴承。转向节 250， 用于支撑行星电机 210、行星机构 230及轮毂单元 240， 并与悬架装置 （未示出） 和转向装置 （未示出） 相连接。
多个行星齿轮 237可旋转地支撑在行星架 233上， 齿圈 235固接在转向节 250内， 多个 行星转子 213分别与多个行星齿轮 237固接，齿圈定子 211固接在转向节 250内，行星架 233 与轮毂单元 240相连接， 通过传动轴 270传递来的发动机 220的动力用于驱动车轮 260及行 星架 233。
以上所述实施例仅表达了本发明的几种实施方式， 其描述较为具体和详细， 但并不能因 此而理解为对本发明专利范围的限制。 应当指出的是， 对于本领域的普通技术人员来说， 在 不脱离本发明构思的前提下， 还可以做出若干变形和改进， 这些都属于本发明的保护范围。 因此， 本发明专利的保护范围应以所附权利要求为准。

Claims

权利要求书
1、 一种具有行星电机的轮毂驱动装置， 其特征在于， 包括：
行星电机， 用于提供驱动轮毂转动的第一动力， 所述行星电机包括齿圈定子及设于所述 齿圈定子的径向内侧的多个行星转子； 及
行星机构， 用于匹配所述行星电机与所述轮毂的转速和转矩， 所述行星机构包括行星架、 齿圈及多个行星齿轮； 所述多个行星齿轮设于所述齿圈径向内侧， 并且呈环形分布； 所述多 个行星齿轮均与所述齿圈相啮合， 使所述多个行星齿轮沿所述齿圈的内周缘可滚动； 所述多 个行星齿轮分别与所述多个行星转子一一对应设置， 并且所述多个行星齿轮分别与所述多个 行星转子共轴连接， 以使每个所述行星齿轮与对应的所述行星转子共轴同步转动； 所述多个 行星齿轮分别通过转轴与所述行星架可转动连接， 使所述行星架随着所述多个行星齿轮相对 于所述齿圈滚动而转动；
其中， 当所述行星电机给所述车轮提供动力时， 所述行星架为动力的输出端， 并且所述 行星架用于带动所述轮毂转动， 所述行星转子驱动所述行星齿轮转动， 所述行星齿轮与所述 齿圈相啮合而沿所述齿圈滚动， 从而带动所述行星架转动。
2、 如权利要求 1所述的轮毂驱动装置， 其特征在于， 所述齿圈定子与所述齿圈连接， 并 且所述齿圈定子沿着圆周方向布置成多个极区域， 每个所述极区域内的线圈整距布置。
3、 如权利要求 2所述的轮毂驱动装置， 其特征在于， 所述齿圈定子由定子铁芯及线圈组 成， 所述定子铁芯的内圈设有多个间隔设置的凸齿， 每相邻两个所述凸齿之间形成齿槽， 所 述线圈缠绕在所述凸齿上， 并且嵌入所述齿槽内， 并且每个所述线圈对应一个所述凸齿， 以 构成一相， 每个所述极区域内的所述线圈的数量与所述凸齿的数量相同。
4、 如权利要求 3所述的轮毂驱动装置， 其特征在于， 所述齿圈定子的各相绕组由各个所 述极区域的各相对应的线圈串联或并联构成， 并且每两相相邻绕组同时通电， 并且流过相同 大小的电流。
5、 如权利要求 4所述的轮毂驱动装置， 其特征在于， 所述各相绕组与电力电子装置电连 接， 并且由所述电力电子装置给各相绕组按次序供电， 当两相线圈通电时， 所述行星转子上 会产生磁拉力， 并且所述磁拉力总是使得所述行星转子向着总磁路磁阻最小的位置运动。
6、 如权利要求 2所述的轮毂驱动装置， 其特征在于， 所述行星转子为无磁趋向性的导磁 圆柱体， 并且所述多个行星转子沿所述齿圈定子的内周缘布置， 其中， 所述行星转子的数量 与所述齿圈定子的极区域数量及所述行星齿轮的数量均相同。
7、 如权利要求 6所述的轮毂驱动装置， 其特征在于， 所述行星转子内嵌入有磁钢。
8、 如权利要求 1所述的轮毂驱动装置， 其特征在于， 所述齿圈定子及所述行星转子分别 与所述齿圈及所述行星齿轮可拆卸地固定连接， 或者， 所述齿圈定子及所述行星转子分别与 所述齿圈及所述行星齿轮一体成型。
9、 如权利要求 1所述的轮毂驱动装置， 其特征在于， 还包括位置传感器， 所述位置传感 器设于所述行星架上， 用于感测所述行星转子的位置。
10、 一种车轮动力系统， 其特征在于包括：
如权利要求 1〜9任一项所述的轮毂驱动装置；
所述轮毂， 与所述行星架固定连接；
车轮， 与所述轮毂固定连接， 并且随着所述轮毂一起转动；
动力装置， 用于提供驱动所述轮毂转动的第二动力； 及
转向节， 用于支撑所述行星电机、 所述动力装置、 所述行星机构及所述轮毂， 并用于与 悬架装置和转向装置相连接。
11、 如权利要求 10所述的车轮动力系统， 其特征在于， 还包括轮毂轴承， 所述轮毂轴承 固定在所述转向节上， 并且套设在所述轮毂的转轴上， 用于支撑所述轮毂。
12、 如权利要求 10所述的车轮动力系统， 其特征在于， 所述行星机构还包括太阳轮， 所 述太阳轮位于所述多个行星齿轮的中间位置， 并且与所述多个行星齿轮相啮合； 所述动力装 置为电机， 所述电机安装在所述多个行星转子的中间， 并且所述电机的转子与所述太阳轮共 轴连接， 使所述太阳轮随着所述电机的转子一起转动；
其中， 当所述动力装置给所述车轮提供动力时， 所述动力装置驱动所述太阳轮转动， 所 述太阳轮与所述行星齿轮相啮合而带动所述行星齿轮转动， 所述行星齿轮与所述齿圈相啮合 而沿所述齿圈滚动， 从而带动所述行星架转动。
13、 如权利要求 12所述的车轮动力系统， 其特征在于， 所述电机的转子与所述太阳轮可 拆卸地固定连接， 或者， 所述电机的转子与所述太阳轮一体成型。
14、 如权利要求 10所述的车轮动力系统， 其特征在于， 所述动力装置为发动机， 所述发 动机通过传动轴驱动所述轮毂转动。
15、 如权利要求 10所述的车轮动力系统， 其特征在于， 所述齿圈及所述齿圈定子均固定 连接在所述转向节内。
PCT/CN2013/091150 2013-12-31 2013-12-31 具有行星电机的轮毂驱动装置及采用该轮毂驱动装置的车轮动力系统 Ceased WO2015100630A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2013/091150 WO2015100630A1 (zh) 2013-12-31 2013-12-31 具有行星电机的轮毂驱动装置及采用该轮毂驱动装置的车轮动力系统

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2013/091150 WO2015100630A1 (zh) 2013-12-31 2013-12-31 具有行星电机的轮毂驱动装置及采用该轮毂驱动装置的车轮动力系统

Publications (1)

Publication Number Publication Date
WO2015100630A1 true WO2015100630A1 (zh) 2015-07-09

Family

ID=53492977

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2013/091150 Ceased WO2015100630A1 (zh) 2013-12-31 2013-12-31 具有行星电机的轮毂驱动装置及采用该轮毂驱动装置的车轮动力系统

Country Status (1)

Country Link
WO (1) WO2015100630A1 (zh)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110126609A (zh) * 2019-06-04 2019-08-16 吉林大学 一种基于双电磁制动器的外转子轮毂电机两挡变速系统及电动汽车
CN110445276A (zh) * 2019-09-20 2019-11-12 深圳小象电动科技有限公司 一种分布式成型绕组盘式电机
EP3731387A4 (en) * 2017-12-18 2021-01-20 Sony Corporation Actuator
CN113531064A (zh) * 2020-04-13 2021-10-22 安徽金易智能机器有限公司 一种小型农机用双速轮毂电机及其工作方法
CN114977554A (zh) * 2022-06-09 2022-08-30 湖州太平微特电机有限公司 一种外转子电机及制造方法
US11746858B1 (en) * 2022-03-11 2023-09-05 Deere & Company Multi-power source planetary system for a machine
CN118990600A (zh) * 2024-09-09 2024-11-22 北京理工大学 一种基于3k行星机构的电驱动关节

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030015360A1 (en) * 2001-07-20 2003-01-23 Villeneuve Arnaud Michel Electric wheel motor assembly
CN102139738A (zh) * 2010-01-29 2011-08-03 日本电产科宝株式会社 电动轮毂单元
US20120161497A1 (en) * 2011-12-30 2012-06-28 Jing He Wheel hub flywheel-motor kinetic hybrid system and method
WO2013047094A1 (ja) * 2011-09-27 2013-04-04 Ntn株式会社 インホイールモータ駆動装置
CN103029563A (zh) * 2011-09-29 2013-04-10 日产自动车株式会社 电动机驱动单元
CN103442918A (zh) * 2011-03-09 2013-12-11 沃尔沃拉斯特瓦格纳公司 轮毂马达设备
CN203752887U (zh) * 2013-12-31 2014-08-06 中国科学院深圳先进技术研究院 具有行星电机的轮毂驱动装置及采用该轮毂驱动装置的车轮动力系统

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030015360A1 (en) * 2001-07-20 2003-01-23 Villeneuve Arnaud Michel Electric wheel motor assembly
CN102139738A (zh) * 2010-01-29 2011-08-03 日本电产科宝株式会社 电动轮毂单元
CN103442918A (zh) * 2011-03-09 2013-12-11 沃尔沃拉斯特瓦格纳公司 轮毂马达设备
WO2013047094A1 (ja) * 2011-09-27 2013-04-04 Ntn株式会社 インホイールモータ駆動装置
CN103029563A (zh) * 2011-09-29 2013-04-10 日产自动车株式会社 电动机驱动单元
US20120161497A1 (en) * 2011-12-30 2012-06-28 Jing He Wheel hub flywheel-motor kinetic hybrid system and method
CN203752887U (zh) * 2013-12-31 2014-08-06 中国科学院深圳先进技术研究院 具有行星电机的轮毂驱动装置及采用该轮毂驱动装置的车轮动力系统

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3731387A4 (en) * 2017-12-18 2021-01-20 Sony Corporation Actuator
US11509208B2 (en) 2017-12-18 2022-11-22 Sony Corporation Actuator with increased torque-to-weight ratio
CN110126609A (zh) * 2019-06-04 2019-08-16 吉林大学 一种基于双电磁制动器的外转子轮毂电机两挡变速系统及电动汽车
CN110445276A (zh) * 2019-09-20 2019-11-12 深圳小象电动科技有限公司 一种分布式成型绕组盘式电机
CN113531064A (zh) * 2020-04-13 2021-10-22 安徽金易智能机器有限公司 一种小型农机用双速轮毂电机及其工作方法
US11746858B1 (en) * 2022-03-11 2023-09-05 Deere & Company Multi-power source planetary system for a machine
US20230287965A1 (en) * 2022-03-11 2023-09-14 Deere & Company Multi-power source planetary system for a machine
CN114977554A (zh) * 2022-06-09 2022-08-30 湖州太平微特电机有限公司 一种外转子电机及制造方法
CN114977554B (zh) * 2022-06-09 2023-06-23 湖州太平微特电机有限公司 一种外转子电机及制造方法
CN118990600A (zh) * 2024-09-09 2024-11-22 北京理工大学 一种基于3k行星机构的电驱动关节

Similar Documents

Publication Publication Date Title
CN203752887U (zh) 具有行星电机的轮毂驱动装置及采用该轮毂驱动装置的车轮动力系统
CN104742725B (zh) 具有行星电机的轮毂驱动装置及采用该轮毂驱动装置的车轮动力系统
WO2015100630A1 (zh) 具有行星电机的轮毂驱动装置及采用该轮毂驱动装置的车轮动力系统
CN101657954B (zh) 嵌套式可变场电机
CN101174782B (zh) 双转子电磁机
US7462968B2 (en) Electric wheel
US7626298B2 (en) Electric motor and method of driving the same
JP5523770B2 (ja) 電動車両
JP6065726B2 (ja) 駆動力配分装置
WO2012096310A1 (ja) モータ駆動力伝達装置
CN100380787C (zh) 用于旋转电机的磁路结构
US9077227B2 (en) Electric motor assembly with electric phasing of rotor segments to reduce back electromotive force
JP6589215B1 (ja) コアレスモータ
CN105846567A (zh) 外转子型可变励磁式电动机
JP2014177265A (ja) 駆動装置
CN110040209A (zh) 电动单车动力中置传动总成
WO2012161136A1 (ja) 電動機付き車両の駆動装置
CN107733155A (zh) 一种内置减速器的轮毂电机
CN111032406A (zh) 电动车辆驱动装置
CN109314438A (zh) 无铁心电动机
CN102891575B (zh) 无刷永磁电机
JP2013129311A (ja) モータ駆動力伝達装置
JP5335012B2 (ja) 回転電機
JP6006137B2 (ja) 駆動装置
WO2013056458A1 (zh) 电动机

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13900621

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 13900621

Country of ref document: EP

Kind code of ref document: A1