A wheel assembly for a vehicle comprises a hollow support cylinder extending along an axis and anchored to a frame of the vehicle, and a wheel disposed about the axis, annularly surrounding the hollow support cylinder. The wheel comprises an inner wall and a tire extending radially outward of the inner wall, and anchored thereto. The wheel assembly further comprises first and second sleeve bearings disposed between and abutting the hollow support cylinder and the inner wall, the first sleeve bearing being situated proximal to the frame along the axis, the second sleeve bearing being situated distal to the frame along the axis, and the wheel being rotatably supported on the hollow support cylinder via the first and second sleeve bearings. The wheel assembly further comprises a first direct drive motor disposed axially between the first and second sleeve bearings. The first direct drive motor comprises a first wound stator anchored to the hollow support structure, and a first permanent magnet rotor anchored to the inner wall, axially aligned with the first wound stator and radially outward of the first wound stator.

A modular axle and motive wheel system comprises: a pair of opposed axle ends and attached axle hubs; a pair of inner motive wheels each comprising an outer surface and configured for radially extending rotatable disposition on the hubs; and a pair of inner electric hub motors each comprising an inner stator and an inner rotor, the inner stators configured for attachment to the axle hubs, the inner rotors configured for attachment to the outer surface of the inner motive wheels, the inner rotors configured for rotation of the inner motive wheels by and about the inner stators; the inner motive wheels configured for attachment of a pair of outer motive wheels each comprising an outer electric hub motor comprising an outer stator configured for selective attachment to the inner stator and an outer rotor configured for attachment to the outer motive wheel and rotation of the outer motive wheels.

The present invention provides a smart mobile vehicle comprising a vehicle body, a chassis, driving wheels, a battery module, a plurality of motors and a vehicle control unit. The chassis has a suspension system, a brake system and a steering system. The two driving wheels are composed of a plurality of circular units, and the driving wheels are embedded in two-wheel frames on two sides of the vehicle body. The battery module provides the smart mobile vehicle with driving power. The plurality of motors disposed between the two circular units or on a surface of any one of the circular units; wherein the motors are electrically connected to the battery module, and the torque and directional outputs of the motors is used to drive the rotation of the two driving wheels. The vehicle control unit is electrically connected to the motors and the battery module to transmit a monitoring signal.

A method for determining state values of a wheel (R) of a wheel drive module that includes the wheel (R), a speed modulation gearbox (G), a first electric motor (M1) and a second electric motor (M2), as well as at least one first sensor (S1) for sensing state values of the first electric motor (M1), at least one second sensor (S2) for sensing state values of the second electric motor (M2), wherein additional state value sources of the electric motors (M1, M2) and/or the wheel (R) are provided and the sensed state values are compared with each other in order to compensate for and to recognize errors in the sensing of the state values so that actual state values of the wheel (R) are determined from the individual sensed state values.

A wheel drive module comprises wheel (R), speed modulation gearbox (G), first electric motor (M1), and second electric motor (M2). First and second electric motors (M1, M2) jointly drive wheel (R) about wheel axis (A) by the speed modulation gearbox (G) and steer said wheel about steering axis (L). Wheel drive module comprises first motor electronics (10) for controlling first electric motor (M1) and second motor electronics (20) for controlling second electric motor (M2) and central electronics (30) connected to first and second motor electronics (10, 20), allowing a signal transfer. Wheel drive module comprises control logic for controlling first and second electric motors (M1, M2), which logic is provided by first and second motor electronics (10, 20), central electronics (30), application electronics (40) connected to the central electronics (30), allowing a signal transfer, or jointly by the central electronics (30) and the first and second motor electronics (10, 20).

The invention relates to a wheel drive module (1) for driving and steering a wheel (30), comprising the wheel (30), a first drive motor (11), a second drive motor (21), and a transmission, wherein the wheel (30) can be driven and steered simultaneously by the first drive motor (11) and the second drive motor (21) via the transmission, wherein a first motor shaft (12) for driving the transmission extends from the first drive motor (11) in a first motor shaft direction (12′), a second motor shaft (22) for driving the transmission extends from the second drive motor (21) in a second motor shaft direction (22′), the first motor shaft direction (12′) and the second motor shaft direction (22′) are opposite each other, and the first drive motor (11) and the second drive motor (21) extend parallel to the first and second motor shaft directions (12′, 22′) over a common overlap section (Ü).

A wheel assembly includes an attachment module, a motor module, a battery module, and a wheel. The wheel is rotatably coupled to the attachment module about a rotational axis of the wheel. The attachment module has a plurality of coupling elements, and the motor module and the battery module each releasably couple to one of the coupling elements. The wheel extends around the attachment, motor, and battery modules. The motor and battery modules are identically shaped in a direction along the rotational axis.

A rotary drive device includes a pair of drive force transmissions, a pair of decelerators, a pair of carriers, and at least one coupler. Driving rollers are included in the pair of drive force transmissions. Driving rollers transmit drive force to a main wheel. The main wheel includes driven rollers. The pair of drive force transmissions are rotatable about a rotation axis. The pair of carriers accommodate at least a portion of the decelerators. The pair of carriers oppose each other in an axial direction along the rotation axis. The pair of carriers include a first carrier and a second carrier that are directly or indirectly coupled by the at least one coupler.

A suspension and traction system (MC) is described for vehicles equipped with a frame and a propulsive element (R.), which by rolling on the ground (T) is adapted to move the vehicle relative to the ground (T).

A rotary electric motor (12) operates two rotors (14, 16) independently controllable from one another to supply two epicycloidal mechanisms (20, 30) whose outer ring gears (28, 38) are independently movable to rotate about the respective solar gear (24, 34) and rigidly connected substantially to a same point (P) of the frame.

A dump truck 100 including: an engine 1; a generator 10 driven by the engine 1; and a pair of driving wheels 3L and 3R arranged to the left and right of a vehicle body frame 7 includes: a traveling electric motor 12L including a plurality of electric motors 12La, 12Lb, and 12Lc that are coupled to the driving wheel 3L and simultaneously drive the driving wheel 3L; and a traveling electric motor 12R including a plurality of electric motors 12Ra, 12Rb, and 12Rc that are coupled to the driving wheel 3R and simultaneously drive the driving wheel 3R. Thereby, drive systems corresponding to loads of dump trucks or the like can be configured using identical components.