The disclosure relates to a method for actuating an electric drive of a trailer vehicle with a towing vehicle, including the steps: determining a current slip of at least one driven wheel of a towing vehicle pulling the trailer vehicle, determining an expected slip for the driven wheel of the towing vehicle, determining an acceleration demand depending on the determined current slip and the determined expected slip and actuating the electric drive depending on the acceleration demand. The disclosure also relates to a control unit for executing the method, a towing vehicle, a trailer vehicle and a vehicle combination.

A towing module of a personal mobility includes: a main body provided to extend in a vertical direction and in which a battery is mounted: a driving wheel installed on a lower portion of the main body and having a driving motor: a steering handle installed on an upper portion of the main body; and a connector provided in the main body to selectively connect one of various types of modules to be towed. The main body is maintained in a standing state while driving by the connection to the module to be towed. A personal mobility and a control method thereof utilize the towing module.

A wheel structure includes: a wheel; a rotary part disposed inside the wheel and configured to rotate together with the wheel; a fixing part facing the rotary part; a hub bearing disposed at one side of the rotary part and the fixing part; and a resolver facing the hub bearing and configured to detect a position of the hub bearing. The hub bearing includes: a hub body fixedly coupled to the rotary part; and a hub outer race fixedly coupled to the fixing part. The resolver includes: a resolver rotor; and a resolver stator. The resolver rotor is fixedly coupled to the hub body.

A universal driving device includes a sun gear rotatably provided; a ring gear disposed on a rotation plane coplanar to a rotation plane of the sun gear and provided so that a rotation shaft of the ring gear is movable relative to a rotation shaft of the sun gear; and a gear train engaging the sun gear to the ring gear and configured to allow a relative motion between the rotation shaft of the sun gear and the rotation shaft of the ring gear and define a continuous power transmission state between the sun gear and the ring gear.

A power transmission apparatus may include a first motor-generator including a first stator fixed to a first housing, and a first rotor; a second motor-generator including a second stator fixed to a second housing and a second rotor; a first planetary gear set including first and third rotation elements connected to the first rotor and a first wheel, respectively, and a third rotation element; a second planetary gear set including fourth, fifth and sixth rotation elements connected to the second rotor, a second wheel, and the third rotation element, respectively; a first clutch selectively locking up the first planetary gear set by selectively connecting two out of the first to third rotation elements; a second clutch selectively locking up the second planetary gear set by selectively connecting two of the fourth to sixth rotation elements; and a brake selectively fixing the third and sixth rotation elements to a third housing.

A rear drive axle assembly includes fixedly attaching right and left axles to right and left rear wheels. Inner ends of the axles residing in a tube and reach in to almost a center of the vehicle, and extend out through self-aligning, pillow block bearings. Sprockets are attached to the axles between outer ends of the tube and the pillow block bearings. Negligible friction between the axles and tube is the only rotational coupling of the axles. The Rigid Tube provides concentricity between the two axles, provides perpendicularity of the drive wheels to the road surface and performs the function of a sleeve bearing.

The present invention aims at developing a robot for applying coating in regions called “difficult access areas” of offshore platforms and ships, such as curved, vertical surfaces, or surfaces with negative inclination angles. The design concept was developed based on a low-weight painting system, integrated into a vehicle with magnetic shoes (104), which produces a constant magnetic force on the metallic surface, capable of guaranteeing the support of the vehicle in the different areas of application. The floating magnetic system aims at ensuring that the wheels (102) have the necessary friction for the vehicle to move. The use of the equipment allows greater productivity, with agility and speed in the application of coatings, reduction of coating losses during the process, repeatability and guarantee of the thickness of the applied layer, in addition to allowing the application of the coating on vertical surfaces, with negative inclinations or curves, without the need for access using scaffolding, dispensing with scaffolding assembly and disassembly services and the use of ropes by professionals for work on the sea, with the consequent reduction in the number of workers on the sea and the reduction of exposure of the man in unhealthy environments.

A corner module apparatus for a vehicle includes a driving unit configured to provide driving power to a wheel of the vehicle; a braking unit, coupled with the driving unit, configured to apply or release braking power; an upper arm module, connected to the driving unit, adjustable to vary a camber angle of the wheel; a lower arm module, connected to the driving unit, configured to absorb road surface impact while the vehicle moves; and a steering unit configured to support the upper arm module and the lower arm module, and adjust a steering angle of the wheel.

A portal axle drive for a vehicle axle of an electric vehicle with driving wheels includes a drive shaft (AN) with an input axis (a) and an output shaft (AB) with an output and wheel axis (b). The input axis (a) and the output axis (b) have an axial or portal offset (c). A first gear stage (Ü1) is arranged between the drive shaft (AN) and the output shaft (AB). In an axial direction, a second gear stage (Ü2) is arranged next to the first gear stage (Ü1) and an engagement device (SE) is arranged next to the second gear stage (Ü2). The first gear stage (Ü1) and the second gear stage (Ü2) are engageable via the engagement device (SE).

An electrical portal wheel hub system is coupled with a wheel and has an electric motor/generator, such as an axial flux motor configured therein and configured to provide power or torque to drive the wheel. The electric motor may be offset vertically from the rotational axis of the wheel to provide additional ground clearance. The electric motor may drive an input gear that is coupled with an output gear that in turns drives the wheel mount and wheel. The gearing ratio can be selected based on the application. A drive axle may from the vehicle may couple with the electric motor and the electric motor may be used to provide supplemental power to drive the wheels. The hub casing may provide mounts for the upper and lower A-arms as well as for a steering arm. The electric motor may act as a generator to charge a battery.