WO2015100630A1

WO2015100630A1 - Hub driving device having planetary motor and wheel power system using same

Info

Publication number: WO2015100630A1
Application number: PCT/CN2013/091150
Authority: WO
Inventors: 徐国卿
Original assignee: 中国科学院深圳先进技术研究院; 香港中文大学
Priority date: 2013-12-31
Filing date: 2013-12-31
Publication date: 2015-07-09

Abstract

Disclosed is a hub driving device having a planetary motor (110) and a wheel power system (100) using the hub driving device, wherein the hub driving device comprises a planetary motor (110) which comprises a stator for a toothed ring (111) and a plurality of planetary rotors (113) provided on the radially inner side of the stator for a toothed ring (111); a planetary mechanism (130) used for matching the rotation speeds and torques of the planetary motor (110) and a hub (141), wherein the planetary mechanism (130) comprises a planetary carrier (133), a toothed ring (135) and a plurality of planetary gears (137); the plurality of planetary gears (137) are provided on the radially inner side of the toothed ring (135); the plurality of planetary gears (137) are engaged with the toothed ring (135) so that the plurality of planetary gears (137) can roll along the inner circumference of the toothed ring (135); the plurality of planetary gears (137) are respectively assigned to the plurality of planetary rotors (113) in a one-to-one manner, and the plurality of planetary gears (137) are respectively connected to the plurality of planetary rotors (113) coaxially; and the plurality of planetary gears (137) are respectively rotatably connected to the planetary carrier (133) via rotation shafts so that the planetary carrier (133) can rotate along with the rolling of the plurality of planetary gears (137) relative to the toothed ring (135). The hub driving device has a high power density, reliability and fault safety.

Description

Hub drive with planetary motor and wheel power system using the same

[Technical Field]

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.

【Background technique】

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.

There are two main types of existing hub drive devices, one is a high speed motor drive with a reducer, and the other is a low speed motor drive without a reducer. 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. With regard to the state of the art of the motor, 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. 8,020,060 B2, which includes an in-wheel motor, an internal gear reducer, a brake, a hub unit and a wheel that are offset within the wheel. Another type of hub drive assembly is disclosed in U.S. Patent Application Serial No. US 2008/308,330, which is incorporated herein by incorporated herein by reference in its entirety in the in the in the in in in in in in Another type of hub drive is disclosed in US Patent Application No. US 2009/0236158 A1, which includes a knuckle, an in-wheel motor disposed at the rear of the knuckle, a reducer, and a drive shaft for connecting the output of the reducer to the wheel. 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.

Therefore, there is still a need to provide a hub drive having high power density and high fail-safe.

[Summary of the Invention]

In view of the above, it is necessary to provide a hub drive having a planetary generator with a higher power density and higher fail-safe.

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;

Wherein, 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.

Compared with the conventional hub driving device, the above-described hub driving device with a planetary motor has at least the following advantages:

(1) According to the principle of planetary motor, 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.

(2) 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.

In one embodiment, 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.

In one embodiment, 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.

In one embodiment, 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. .

In one embodiment, the phase windings are electrically connected to the power electronic device, and the power electronic devices supply power to the phase windings in sequence. 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.

In one embodiment, 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.

In one of the embodiments, the magnetic steel is embedded in the planetary rotor.

In one embodiment, 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.

In one of the embodiments, a position sensor is further included, the position sensor being disposed on the planet carrier for sensing a position of the planetary rotor.

At the same time, the present invention also provides a wheel power system using the above-described hub drive device.

A wheel power system includes:

The above-mentioned hub drive device;

The hub is fixedly connected to the carrier;

a wheel, fixedly coupled to the hub, and rotating with the hub;

a power unit for providing a second power to drive rotation of the hub; and

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.

In one embodiment, 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.

In one embodiment, 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;

Wherein, 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.

In one of the embodiments, 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.

In one of the embodiments, the power unit is an engine that drives the hub to rotate through a drive shaft.

In one embodiment, the ring gear and the ring gear stator are fixedly coupled within the steering knuckle. [Description of the Drawings]

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;

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;

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】

In order to facilitate the understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the description herein. An embodiment. Rather, these embodiments are provided so that the understanding of the disclosure of the invention will be more thorough. It should be noted that when an element is referred to as being "fixed" to another element, it may be directly on the other element or the element may be present. When an element is considered to be "connected" to another element, it can be directly connected to the other element or. The terms "vertical", "horizontal", "left", "right" and the like are used herein for the purpose of illustration only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

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. Specifically, 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.

Further, 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 a tooth groove is formed between each adjacent two convex teeth, and the coil is wound around the convex teeth. And embedded in the tooth gap, and 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.

Further, the 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.

Further, each phase winding is electrically connected to the power electronic device, and the power electronic device supplies power to the phase windings in sequence. 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 face The positional motion with the smallest total magnetic reluctance.

Specifically, 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.

Further, 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. Specifically, 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.

Wherein, when the planetary motor powers the wheel, 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.

It should be noted that 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.

Further, 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. Preferably, 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. For example, when the power unit is a motor, 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. When 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. When the power unit is an engine, the engine can directly drive the hub to rotate through the drive shaft.

It should be noted that the above-described hub drive device can be applied to an electric power wheel power system or to a hybrid wheel power system.

The above wheel power system will be described below in conjunction with the illustrated embodiment.

1, 2 and 3 are respectively a schematic cross-sectional view, a partial schematic view of the inner shaft and a partial schematic view of the outer shaft, in accordance with an embodiment of the present invention. Referring to FIGS. 1 to 3 , a wheel power system 100 according to a first embodiment of the present invention 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. Planetary mechanism 130 for matching planetary motor 110 and second motor 120 with wheels 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 (not shown).

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.

4 is a schematic view showing the rotation of the planetary motor 110 and the planetary mechanism 130. Referring to FIG. 4, in the illustrated embodiment, 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). If the rotational speed of the sun gear 131 is nt, the rotational speed nj of the carrier 133 is nt/(l+K), and the rotational speed nx of the planetary gear 137 is (3K-1) nil (Κ ^Λ 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 ηχ 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. Referring to Fig. 5, in the illustrated embodiment, 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. Assuming that the number of the planetary rotors 113 is N2 (for example, 6), the number of the convex teeth 111 la (the number of the slots 1111b) of the ring gear stator 111 is N1 (for example, 24), and 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, and each of the pole regions of the ring gear stator 111 corresponds to M convex teeth 111a (coil 1113). Assuming M is 4, 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.

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 stator winding magnetic connection/position/current relationship diagram of the rotor when the two-phase winding of the sub-111 is energized. Referring to Figures 6 and 7, in the illustrated embodiment, 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. When the two adjacent phase windings are energized, one phase is connected with positive current and the other is connected with negative current. If 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:

Rfi=Rl+ Rt 1 +Rt2+ Rg 1 +Rg2+Rr ( Do

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 ( Θ ) 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, and the current of two adjacent coils 1113 is ip, and the total magnetic potential of the magnetic circuit is 2Wp*ip, which is simplified. Analysis, ignoring the magnetic flux that is not closed by the above magnetic circuit (called leakage flux), the total flux linkage of two adjacent stator coils 1113 is approximately:

k=4*ip (Wp) ^Λ 2/ Rfi (2)

The total inductance is approximately:

Lab=4 (Wp) ^Λ 2/ Rfi (3 )

Obviously, the total flux linkage and total inductance are related to the rotor position. When the two-phase coil 1113 is energized, 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.

In the case where two adjacent coils 1113 are energized, the magnetic pull force received by the planetary rotor 113 is:

dW _c (0,i _k ) _ d _f3⁄4

Θ d0 ^Jo (4) which is related to the position Θ of the star rotor 113 and the two-phase current ik.

It can be seen from the above analysis that with current control, the planetary motor 110 has very good constant power characteristics.

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. A schematic diagram of a rolling motion. Referring to Figures 8 through 10, in the illustrated embodiment, during one cycle of energization, the planetary rotor 113 is rotated through a pole region of a ring gear stator 111, as shown, respectively, 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. In order to position the energization timing of the planetary motor 110 with the planetary rotor 113, a special position sensor is mounted on the carrier 133 of the apparatus for sensing the specific position of the planetary rotor 113.

Compared to the conventional hub 141 driving device, the above-described hub 141 driving device has at least the following advantages:

(1) It can be known from the principle of the planetary motor 110 that 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.

(2) 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.

Figure 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. Please refer to Figure 11, this issue 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. At this time, the planetary mechanism 230 omits the sun gear.

In other words, 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.

The above-mentioned embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims

claims

1. A wheel hub driving device with a planetary motor, characterized in that it includes:

A planetary motor, used to provide the first power to drive the hub to rotate. The planetary motor includes a ring gear stator and a plurality of planetary rotors located radially inside the ring gear stator; and

Planetary mechanism, used to match the rotation speed and torque of the planetary motor and the hub. The planetary mechanism includes a planet carrier, a ring gear and a plurality of planetary gears; the plurality of planetary gears are arranged in the radial direction of the ring gear. inside, and distributed in an annular shape; the plurality of planetary gears are meshed with the ring gear, so that the plurality of planetary gears can roll along the inner circumference of the ring gear; the plurality of planetary gears are respectively engaged with the A plurality of planetary rotors are arranged in one-to-one correspondence, and the plurality of planetary gears are coaxially connected to the plurality of planetary rotors respectively, so that each of the planetary gears rotates coaxially and synchronously with the corresponding planetary rotor; A plurality of planet gears are rotatably connected to the planet carrier through rotating shafts, so that the planet carrier rotates as the plurality of planet gears roll relative to the ring gear;

Wherein, when the planetary motor provides power to the wheel, the planet carrier is the output end of the power, and the planet carrier is used to drive the wheel hub to rotate, and the planet rotor drives the planet gear to rotate, so The planet gear meshes with the ring gear and rolls along the ring gear, thereby driving the planet carrier to rotate.

2. The wheel hub driving device according to claim 1, wherein the ring gear stator is connected to the ring gear, and the ring gear stator is arranged into a plurality of pole regions along the circumferential direction, each of the The coils in the pole area are arranged at regular intervals.

3. The wheel hub driving device according to claim 2, wherein 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 convex teeth arranged at intervals, and each phase A tooth slot is formed between two adjacent convex teeth, the coil is wound around the convex tooth and embedded in the tooth slot, and each coil corresponds to one of the convex teeth to form a phase, The number of coils in each pole area is the same as the number of teeth.

4. The wheel hub driving device according to claim 3, wherein each phase winding of the ring gear stator is composed of corresponding coils in each of the pole regions connected in series or in parallel, and every two phases are adjacent windings. energized at the same time, and the same amount of current flows.

5. The wheel hub driving device according to claim 4, wherein each phase winding is electrically connected to a power electronic device, and the power electronic device supplies power to each phase winding in sequence. When the two-phase coil is energized, , a magnetic pulling force will be generated on the planetary rotor, and the magnetic pulling force will always make the planetary rotor move toward the position where the total magnetic circuit resistance is minimum.

6. The hub driving device according to claim 2, wherein the planetary rotors are magnetically permeable cylinders with no magnetic tendency, and the plurality of planetary rotors are arranged along the inner periphery of the ring gear stator, The number of planetary rotors is the same as the number of pole regions of the ring gear stator and the number of planetary gears.

7. The wheel hub driving device according to claim 6, wherein magnetic steel is embedded in the planetary rotor.

8. The hub driving device according to claim 1, wherein the ring gear stator and the planetary rotor are detachably fixedly connected to the ring gear and the planetary gear respectively, or, the ring gear stator The rotor and the planetary rotor are integrally formed with the ring gear and the planetary gear respectively.

9. The wheel hub driving device according to claim 1, further comprising a position sensor, the position sensor being provided on the planet carrier and used to sense the position of the planet rotor.

10. A wheel power system, characterized by including:

The wheel hub drive device according to any one of claims 1 to 9;

The hub is fixedly connected to the planet carrier;

Wheels are fixedly connected to the wheel hub and rotate together with the wheel hub;

A power device for providing a second power to drive the wheel hub to rotate; and

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.

11. The wheel power system according to claim 10, further comprising a wheel hub bearing, the wheel hub bearing is fixed on the steering knuckle, and is sleeved on the rotating shaft of the wheel hub for supporting the wheel hub. hub.

12. The wheel power system according to claim 10, wherein the planetary mechanism further includes a sun gear, the sun gear is located at an intermediate position of the plurality of planetary gears and is in phase with the plurality of planetary gears. Engagement; The power device is a motor, the motor is installed in the middle of the plurality of planetary rotors, and the rotor of the motor is coaxially connected with the sun gear, so that the sun gear follows the rotor of the motor turn together;

Wherein, when the power device provides power to the wheel, the power device drives the sun gear to rotate, the sun gear meshes with the planet gear to drive the planet gear to rotate, and the planet gear and The ring gear meshes and rolls along the ring gear, thereby driving the planet carrier to rotate.

13. The wheel power system according to claim 12, wherein the rotor of the motor is detachably fixedly connected to the sun gear, or the rotor of the motor is integrally formed with the sun gear.

14. The wheel power system according to claim 10, wherein the power device is an engine, and the engine drives the wheel hub to rotate through a transmission shaft.

15. The wheel power system of claim 10, wherein the ring gear and the ring gear stator are both fixedly connected in the steering knuckle.