CN109474130A - Hub motor wheel and its hub motor - Google Patents
Hub motor wheel and its hub motor Download PDFInfo
- Publication number
- CN109474130A CN109474130A CN201910010737.4A CN201910010737A CN109474130A CN 109474130 A CN109474130 A CN 109474130A CN 201910010737 A CN201910010737 A CN 201910010737A CN 109474130 A CN109474130 A CN 109474130A
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- China
- Prior art keywords
- hub motor
- grating encoder
- grating
- shell
- stator
- 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.)
- Pending
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 8
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 5
- 239000010959 steel Substances 0.000 claims abstract description 5
- 230000002093 peripheral effect Effects 0.000 claims abstract description 3
- 238000009434 installation Methods 0.000 claims description 13
- 230000002787 reinforcement Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000005611 electricity Effects 0.000 description 3
- 230000003014 reinforcing effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000004512 die casting Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005530 etching Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000010092 rubber production Methods 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
- 230000001755 vocal effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/22—Optical devices
-
- 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
Abstract
The invention discloses a kind of hub motors, including motor shaft, stator, rotor and grating encoder, the stator includes the iron core bracket for being sheathed on motor shaft and the coiling group on iron core bracket, the rotor includes the shell for accommodating stator, the lid for being covered on shell and installs magnet steel that is upper on the inner wall of the housing and being located on the stator peripheral, and the shell and lid are rotatably connected at motor shaft；The grating encoder includes the photoelectric sensor for being fixedly connected on the coiling group and the grating encoder for being fixedly mounted on the shell；The outer edge of the grating encoder is equipped with peripherally disposed grating region, and the photoelectric sensor is mounted on the outer edge of grating encoder and corresponds to the grating region.Grating encoder of the invention can obtain more pulse signals, correspondingly increase the control precision of hub motor.
Description
Technical field
The present invention relates to motor field more particularly to a kind of hub motors with grating encoder, and install the wheel
The hub motor wheel of hub motor.
Background technique
There are three Hall sensors for the inside installation of existing hub motor, can detecte hub motor by Hall sensor
Revolving speed and angular speed.The wheel application of hub motor is installed when the mobile base of mobile robot, it is contemplated that moving machine
Device people needs the speed control and position feedback precision of degree of precision, and the rotor relative stator of hub motor rotation one is enclosed, suddenly
Your sensor is only capable of tens position signals of feedback, is unable to accurate feedback angular speed and corner variable, is unable to satisfy wheel type mobile
The control accuracy requirement of robot is unfavorable for reliability when mobile robot operation.
Hub motor manufacturer need to be improved in R&D process for the Rotating speed measring structure of hub motor.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of hub motors that can be improved control precision.
In order to solve the above technical problems, the invention provides the following technical scheme: a kind of hub motor, including it is motor shaft, fixed
Son, rotor and grating encoder, the stator include be sheathed on the iron core bracket of motor shaft and on iron core bracket around
Line group, the rotor include the shell for accommodating stator, the lid for being covered on shell and install upper on the inner wall of the housing and be located on
The magnet steel of the stator peripheral, the shell and lid are rotatably connected at motor shaft；The grating encoder includes fixing
It is connected to the photoelectric sensor of the coiling group and is fixedly mounted on the grating encoder of the shell；The outside of the grating encoder
Edge is equipped with peripherally disposed grating region, and the photoelectric sensor is mounted on the outer edge of grating encoder and corresponds to described
Grating region.
The invention has the following beneficial effects: hub motors of the invention to be equipped with grating encoder compared to the prior art,
The grating encoder of the grating encoder is mounted on the rotor, and the photoelectric sensor of grating encoder is mounted in the coiling group of stator
And corresponding to the grating region of grating encoder, photoelectric sensor combination grating region can constantly detect turning for rotor relative stator
Speed and angular speed, grating encoder can obtain more pulse signals compared to Hall sensor, correspondingly increase hub motor
Control precision；The density for increasing grating region or the diameter for increasing grating encoder can also increase the arteries and veins of grating encoder acquisition
The quantity of signal is rushed, to further increase the control precision of hub motor.
Preferably, the shell includes the first accommodating body and the second of the containing grating encoder for containing the stator
Accommodating body, first accommodating body and the second accommodating body are interconnected.
Preferably, the fixing seat of installation grating encoder is convexly equipped on the inside of second accommodating body, the grating encoder is logical
It crosses fastener and is connected to fixing seat.
Preferably, the inner edge of the grating encoder is equipped with sleeve, and grating encoder is socketed on the periphery of fixing seat by sleeve,
The sleeve is connected to fixing seat by fastener.
Preferably, the fixing seat is recessed with the groove of installation bearing, and fixing seat is connected to motor shaft by bearing.
Preferably, the lid is convexly equipped with annular stage, the first accommodating body socket with respect to the end face of the first accommodating body
In the periphery of annular stage, the first accommodating body is connected to annular stage by sunk screw.
Preferably, the coiling group is equipped with the connecting base of installation photoelectric sensor.
Preferably, the photoelectric sensor is adopted as correlation photoelectric sensor, the correlation photoelectric sensor ride in
The outer edge of grating encoder.
The present invention also provides a kind of hub motor wheels, including tire body, hub motor described above, are assembled in
Fixation circle body between tire body and hub motor.
Preferably, the fixed circle body is inwardly convexly equipped with annular flange with respect to one end of shell, which passes through tight
Firmware is fixedly connected on the shell；The periphery of the fixed circle body is convexly equipped with reinforcement convex ribs, reinforces convex ribs along the axis of motor shaft
It is arranged to direction, the inner circumferential of the tire body is recessed with the holding tank for being coupled and reinforcing convex ribs.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram at the first visual angle of hub motor wheel of the present invention；
Fig. 2 is the stereoscopic schematic diagram at the second visual angle of hub motor wheel of the present invention；
Fig. 3 is the decomposition diagram of hub motor wheel of the present invention；
Fig. 4 is the floor map inside hub motor of the present invention；
Fig. 5 is the stereoscopic schematic diagram inside hub motor of the present invention；
Fig. 6 is the stereoscopic schematic diagram that hub motor of the present invention removes shell；
Fig. 7 is the schematic diagram of grating encoder and another assembling mode of fixing seat in the present invention；
Fig. 8 is the partial enlargement diagram in the portion A in Fig. 7.
Specific embodiment
A specific embodiment of the invention is described in detail with reference to the accompanying drawing, rather than to protection scope of the present invention
Limitation.The orientation or positional relationship of the instructions such as term "front", "rear", "left", "right", "upper", "lower" is based on the figure
Orientation or positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device of indication or suggestion meaning or
Element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.Art
Language " first ", " second " are only used for simplifying verbal description to be different from similar object, and should not be understood as between specific order
Precedence relationship.
Refering to fig. 1, Fig. 2 and Fig. 3 present embodiments provides a kind of hub motor wheel, including tire body 1, wheel hub electricity
Machine 2, the fixation circle body 3 being assembled between tire body 1 and hub motor 2.Tire body 1 refers to the carcass using rubber production.
Tire body 1 is adopted as solid tire.Certainly in other embodiments, tire body 1 can also be adopted as air tyre.
In the present embodiment, fixed circle body 3 to stationary hub motor 2 and installs tire body 1, to increase hub motor vehicle
The structural integrity of wheel.The material of fixed circle body 3 is adopted as aluminium alloy.The shell 231 of fixed 3 relativeatoeterahub motor 2 of circle body
One end is inwardly convexly equipped with annular flange 31.Hub motor 2 is placed in the inside of fixed circle body 3 along the axial direction of motor shaft 21,
One end of the shell 231 of hub motor 2 is resisted against annular flange 31.The annular flange 31 is solid by fasteners such as screw or bolts
Surely it is connected to shell 231.The periphery of fixed circle body 3, which is convexly equipped with, reinforces convex ribs 32, reinforces convex ribs 32 along the axial direction side of motor shaft 21
To setting.The quantity for reinforcing convex ribs 32 can adjust accordingly according to the design needs, and multiple reinforcement convex ribs 32 are uniformly distributed in
The periphery of fixed circle body 3, can increase the structural stability of fixed circle body 3.The inner circumferential of tire body 1, which is recessed with to be coupled, to be added
The holding tank 11 of strong convex ribs 32.When tire body 1 is assembled in fixed circle body 3, by reinforcing the cooperation of convex ribs 32 and holding tank 11,
It prevents the relatively fixed circle body 3 of tire body 1 from slipping phenomenon occurs, increase accordingly the frictional behaviour of tire body 1 Yu ground.When
So, tire body 1 and fixed circle body 3 can also be cast in one.
In the present embodiment, hub motor wheel is adopted as single side axis, i.e. the motor shaft 21 of hub motor 2 protrudes from wherein one
Side.Certainly according to the use occasion of hub motor wheel, hub motor wheel be can be used as bilateral axis, the i.e. electricity of hub motor 2
Arbor 21 protrudes from two sides.It is offered on motor shaft 21 and holds conducting wire 4 and introduce string holes 41 inside motor, conducting wire from outside motor
4 extend to coiling group 222 and its grating encoder 24 inside hub motor 2 by the string holes 41.
Refering to Fig. 4 and Fig. 5, in the present embodiment, hub motor 2 includes that motor shaft 21, stator 22, rotor 23 and grating are compiled
Code device 24.Stator 22 includes the iron core bracket 221 for being sheathed on motor shaft 21 and the coiling group 222 on iron core bracket 221.Turn
Son 23 includes the shell 231 of accommodating stator 22, is covered on the lid 232 of shell 231 and is mounted on 231 inner wall of shell simultaneously ring
Magnet steel 233 set on 22 periphery of stator.Shell 231 and lid 232 are connected to motor shaft 21, shell 231 and lid by bearing
232 are rotatably connected at motor shaft 21.Lid 232, which is equipped with, holds the perforative through-hole of motor shaft 21.After coiling group 222 is powered,
Coiling group 222 generates magnetic field, the magnetic field of coiling group 222 and the magnetic field interaction of magnet steel 233, so that rotor 23 surrounds stator 22
Rotation.
Refering to Fig. 4, shell 231 includes the first accommodating body 2311 and the second of containing grating encoder 24 for containing stator 22
Accommodating body 2312.First accommodating body 2311 and the second accommodating body 2312 are rounded and be interconnected, the second accommodating body 2312 it is straight
Diameter of the diameter less than the first accommodating body 2311.First accommodating body 2311 and the second accommodating body 2312 are integrally formed by die casting
Setting.Lid 232 is mounted on the first accommodating body 2311 and far from the second accommodating body 2312.Lid 232 is with respect to the first accommodating body
2311 end face is convexly equipped with annular stage 2321.First accommodating body 2311 is socketed on the periphery of annular stage 2321, the first accommodating
Body 2311 is connected to annular stage 2321 by sunk screw, so that shell 231 is fixedly connected with lid 232, and passes through annular
The inner edge of 2321 supporing shell 231 of stage prevents shell 231 from deforming, and improves the structural stability of shell 231；Also, wheel hub electricity
When machine 2 is assembled in tire body 1, the sunk screw for being connected to annular stage 2321 from the first accommodating body 2311 can also be hidden in
The inner circumferential of fixed circle body 3, correspondinglys increase the aesthetics of hub motor wheel.
Refering to fig. 4 to fig. 6, grating encoder 24 includes being fixedly connected on the photoelectric sensor 241 of coiling group 222 and fixing
It is mounted on the grating encoder 242 of the second accommodating body 2312.When grating encoder 242 follows shell 231 to rotate around motor shaft 21, light
Electric transducer 241 is capable of detecting when amount angular displacement of the grating encoder 242 with respect to photoelectric sensor 241, and judges corresponding
Rotation direction.The inside of second accommodating body 2312 is convexly equipped with the fixing seat 234 of installation grating encoder 242.The fixing seat 234 is from
The bottom wall of two accommodating bodies 2312 extends to 22 direction of stator, with cooperation assembling photoelectric sensor 241 and grating encoder 242.It is fixed
Seat 234 is recessed with the groove of installation bearing, and fixing seat 234 is connected to motor shaft 21 by bearing, to be convenient to 231 groups of shell
Loaded on motor shaft 21.It is set on grating encoder 242 there are three mounting hole, the end face of fixing seat 234, which is equipped with, corresponds respectively to three
The threaded hole of a mounting hole, grating code is connected to fixing seat 234 by fastener, and is coaxially disposed with motor shaft 21.The fastening
Part is adopted as screw or bolt.Certainly in other embodiments, as shown in Figure 7, Figure 8, the inner edge of grating encoder 242 can also
Equipped with sleeve 235, grating encoder 242 is socketed on the periphery of fixing seat 234 by sleeve 235, and sleeve 235 is connected by fastener
In fixing seat 234, to increase the installation fastness of grating encoder 242；It reduces because installation error, motor shake the objective shadow of bring
It rings, correspondinglys increase flatness when grating encoder 242 rotates, grating encoder 242 is avoided to touch photoelectric sensor 241.
Refering to Fig. 6, the chip shape of grating encoder 242 in a ring.The outer edge of grating encoder 242 is equipped with along the circumferential direction
The grating region 243 of setting.Grating encoder 242 is adopted as metal code disk, and it is equally distributed logical that grating region 243 is equipped with several
Hole.Photoelectric sensor 241 is mounted on the outer edge of grating encoder 242 and corresponds to grating region 243.Grating encoder 24 is a kind of
The mechanical displacement of grating encoder 242 is converted into the sensor of pulse or digital quantity by photoelectric conversion, its working principle is that
The Moire fringe that light transmission or reflection is generated at grating region 243, by the way that photosensitive reception circuit output is multiple and rotation direction
Square-wave signal relevant with speed.The number of openings of grating encoder 242 is more, and the pulse signal of feedback is more, control accuracy
It is higher, specifically it can increase light by increasing the density of 243 through-hole of grating region and/or increasing the diameter of grating encoder 242
The quantity for the pulse signal that grid encoder 24 obtains.According to the setting quantity of through-hole, grating encoder 242 is rotated around motor shaft 21
One circle can accordingly obtain 360,720,1080 equal number of pulse signals, export pulse by calculating grating encoder 24 per second
The quantity of signal can feed back the revolving speed of current motor, greatly improve the revolving speed and position control accuracy of hub motor 2.Grating code
Disk 242 can also be adopted as glass code-disc, and the grating region production of glass code-disc has several lighttight etching lines, grating region
Transmission region is equal to the through-hole being provided on metal code disk.
Coiling group 222 is equipped with the connecting base 223 of installation photoelectric sensor 241.The connecting base 223 is in circular ring shape, linking
Seat 223 is fixedly connected on coiling group 222 by connector.Connecting base 223 can be pcb board.Photoelectric sensor 241 is adopted as pair
Penetrate formula photoelectric sensor.Correlation photoelectric sensor rides in the outer edge of grating encoder 242.Correlation photoelectric sensor has
Signal transmitting terminal and signal receiving end.The gap for accommodating grating encoder 242 is equipped between signal transmitting terminal and signal receiving end.It is thin
The grating encoder 242 of plate shape is rotated around motor shaft 21, and when grating region 243 passes through the gap, grating encoder 24 obtains phase
The pulse signal answered.Certainly in other embodiments, photoelectric sensor 241 is adopted as reflective photoelectric sensor.The present invention
Hub motor 2 grating encoder 242 is mounted on rotor 23, the photoelectric sensor 241 of grating encoder 24 is mounted on stator
In 22 coiling group 222 and correspond to the grating region 243 of grating encoder 242, photoelectric sensor 241 combines grating region 243 can be with
Constantly detect that the revolving speed and angular speed of 23 relative stator 22 of rotor, grating encoder 24 can be obtained compared to Hall sensor
More pulse signals are obtained, the control precision of hub motor is correspondinglyd increase.In addition, when the hub motor 2 is assembled in wheel, it can
To improve the revolving speed reliability of hub motor wheel；The hub motor wheel group is loaded on the mobile base of wheeled mobile robot
When, it can be realized the high precision velocity control to robotically-driven wheel.
In the present embodiment, hub motor 2 further includes three Hall sensor (not shown)s.Three Hall sensors are matched
The control precision of hub motor 2 can be further increased by closing grating encoder 24.
Finally, it should be noted that above embodiments are only to illustrate the present invention and not limit technology described in the invention
Scheme；Therefore, although this specification is referring to the above embodiments, the present invention has been described in detail, this field
It is to be appreciated by one skilled in the art that still can modify to the present invention or equivalent replacement；And all do not depart from the present invention
Spirit and scope technical solution and its improvement, should all cover within the scope of the claims of the present invention.
Claims (10)
1. a kind of hub motor, it is characterised in that: including motor shaft, stator, rotor and grating encoder, the stator includes
It is sheathed on the iron core bracket of motor shaft and the coiling group on iron core bracket, the rotor includes the shell for accommodating stator, lid
The magnet steel of the stator peripheral is gone up on the inner wall of the housing and are located on to lid and installation together in shell, and the shell and lid can
It is rotationally connected with motor shaft；
The grating encoder includes being fixedly connected on the photoelectric sensor of the coiling group and being fixedly mounted on the shell
Grating encoder；The outer edge of the grating encoder is equipped with peripherally disposed grating region, and the photoelectric sensor is mounted on
The outer edge of grating encoder simultaneously corresponds to the grating region.
2. hub motor according to claim 1, it is characterised in that: the shell includes containing the first of the stator to hold
It sets body and contains the second accommodating body of the grating encoder, first accommodating body and the second accommodating body are interconnected.
3. hub motor according to claim 2, it is characterised in that: be convexly equipped with installation light on the inside of second accommodating body
The fixing seat of grid code-disc, the grating encoder are connected to fixing seat by fastener.
4. hub motor according to claim 3, it is characterised in that: the inner edge of the grating encoder is equipped with sleeve, grating
Code-disc is socketed on the periphery of fixing seat by sleeve, and the sleeve is connected to fixing seat by fastener.
5. hub motor according to claim 3, it is characterised in that: the fixing seat is recessed with the groove of installation bearing,
Fixing seat is connected to motor shaft by bearing.
6. hub motor according to claim 2, it is characterised in that: end face projection of the lid with respect to the first accommodating body
There is annular stage, first accommodating body is socketed on the periphery of annular stage, and the first accommodating body is connected to ring by sunk screw
Shape stage.
7. hub motor according to claim 1, it is characterised in that: the coiling group is equipped with installation photoelectric sensor
Connecting base.
8. hub motor according to claim 7, it is characterised in that: the photoelectric sensor is adopted as correlation photoelectric transfer
Sensor, the correlation photoelectric sensor ride the outer edge in grating encoder.
9. a kind of hub motor wheel, it is characterised in that: including wheel described in any one of tire body, claim 1 to 8
Hub motor, the fixation circle body being assembled between tire body and hub motor.
10. hub motor wheel according to claim 9, it is characterised in that: the one end of the fixed circle body with respect to shell
It inwardly is convexly equipped with annular flange, which is fixedly connected on the shell by fastener；The periphery of the fixed circle body
Reinforcement convex ribs are convexly equipped with, reinforces convex ribs and is arranged along the axial direction of motor shaft, the inner circumferential of the tire body is recessed with cooperation peace
Dress reinforces the holding tank of convex ribs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910010737.4A CN109474130A (en) | 2019-01-07 | 2019-01-07 | Hub motor wheel and its hub motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910010737.4A CN109474130A (en) | 2019-01-07 | 2019-01-07 | Hub motor wheel and its hub motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109474130A true CN109474130A (en) | 2019-03-15 |
Family
ID=65677556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910010737.4A Pending CN109474130A (en) | 2019-01-07 | 2019-01-07 | Hub motor wheel and its hub motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109474130A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112564349A (en) * | 2019-09-10 | 2021-03-26 | 深圳市前海胡桃科技有限公司 | In-wheel motor |
| CN114778881A (en) * | 2022-06-21 | 2022-07-22 | 宁波中车时代传感技术有限公司 | Photoelectric rotation speed sensor |
| WO2022230610A1 (en) * | 2021-04-28 | 2022-11-03 | 日本電産株式会社 | Hub and electric vehicle |
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| CN205610445U (en) * | 2016-03-25 | 2016-09-28 | 北京云迹科技有限公司 | In -wheel motor and wheeled robot drive chassis with high accuracy velocity feedback |
| CN205945421U (en) * | 2016-08-25 | 2017-02-08 | 爱啃萝卜机器人技术（深圳）有限责任公司 | In -wheel motor of high accuracy velocity feedback |
| CN206959866U (en) * | 2017-06-07 | 2018-02-02 | 象山县三环机电有限公司 | For detecting the grating encoder of motor speed |
| CN108768086A (en) * | 2018-09-05 | 2018-11-06 | 江苏领新电气科技有限公司 | A kind of mounting structure of external rotor electric machine encoder |
| CN209233670U (en) * | 2019-01-07 | 2019-08-09 | 常州摩本智能科技有限公司 | Hub motor wheel and its hub motor |
-
2019
- 2019-01-07 CN CN201910010737.4A patent/CN109474130A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205610445U (en) * | 2016-03-25 | 2016-09-28 | 北京云迹科技有限公司 | In -wheel motor and wheeled robot drive chassis with high accuracy velocity feedback |
| CN205945421U (en) * | 2016-08-25 | 2017-02-08 | 爱啃萝卜机器人技术（深圳）有限责任公司 | In -wheel motor of high accuracy velocity feedback |
| CN206959866U (en) * | 2017-06-07 | 2018-02-02 | 象山县三环机电有限公司 | For detecting the grating encoder of motor speed |
| CN108768086A (en) * | 2018-09-05 | 2018-11-06 | 江苏领新电气科技有限公司 | A kind of mounting structure of external rotor electric machine encoder |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112564349A (en) * | 2019-09-10 | 2021-03-26 | 深圳市前海胡桃科技有限公司 | In-wheel motor |
| WO2022230610A1 (en) * | 2021-04-28 | 2022-11-03 | 日本電産株式会社 | Hub and electric vehicle |
| CN114778881A (en) * | 2022-06-21 | 2022-07-22 | 宁波中车时代传感技术有限公司 | Photoelectric rotation speed sensor |
| CN114778881B (en) * | 2022-06-21 | 2022-09-27 | 宁波中车时代传感技术有限公司 | Photoelectric rotation speed sensor |
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