An improved axle may comprise three design features that, used individually or in combination, may drastically improve axle performance and decrease the likelihood of axle damage and/or deformation resulting from vehicle weight, jounce load, combined cornering load, and/or curb strike load. These three features are: dual opposed tapered roller bearings, increased shaft diameter at the bearings, and reinforced flange back face.

Vehicles are disclosed which have a lower center of gravity than existing all-terrain, amphibious, and unmanned ground vehicles due to the location of propulsion units and other vehicle components inside the wheels of the vehicle. The vehicles can climb over large obstacles vet are also able to corner at high speeds. The vehicles can be configured for direct manual operation or operation by remote control, and can also be configured for a wide variety of missions.

Vehicles are disclosed which have a lower center of gravity than existing all-terrain, amphibious, and unmanned ground vehicles due to the location of propulsion units and other vehicle components inside the wheels of the vehicle. The vehicles can climb over large obstacles vet are also able to corner at high speeds. The vehicles can be configured for direct manual operation or operation by remote control, and can also be configured for a wide variety of missions.

A motorized vehicle assembly includes an axle comprising a channel extending along a central axis of the axle, a socket positioned within the channel of the axle, and a motorized wheel configured to be mounted on an end the axle. The motorized wheel includes a boss configured to engage the end of the axle when the motorized wheel is mounted on the axle, an electric motor, a tire mounted on the rotor, and a plug positioned within the boss, the plug configured to engage with the socket when the motorized wheel is mounted on the axle. The electric motor includes a stator fixed to the boss and a rotor surrounding the stator, the rotor configured to rotate relative to the stator. The electric motor is configured to cause the rotor to rotate relative to the stator to cause the tire to rotate.

A motorized vehicle assembly includes an axle comprising a channel extending along a central axis of the axle, a socket positioned within the channel of the axle, and a motorized wheel configured to be mounted on an end the axle. The motorized wheel includes a boss configured to engage the end of the axle when the motorized wheel is mounted on the axle, an electric motor, a tire mounted on the rotor, and a plug positioned within the boss, the plug configured to engage with the socket when the motorized wheel is mounted on the axle. The electric motor includes a stator fixed to the boss and a rotor surrounding the stator, the rotor configured to rotate relative to the stator. The electric motor is configured to cause the rotor to rotate relative to the stator to cause the tire to rotate.

Vehicles are disclosed which have a lower center of gravity than existing all-terrain, amphibious, and unmanned ground vehicles due to the location of propulsion units and other vehicle components inside the wheels of the vehicle. The vehicles can climb over large obstacles yet are also able to corner at high speeds. The vehicles can be configured for direct manual operation or operation by remote control, and can also be configured for a wide variety of missions.

Vehicles are disclosed which have a lower center of gravity than existing all-terrain, amphibious, and unmanned ground vehicles due to the location of propulsion units and other vehicle components inside the wheels of the vehicle. The vehicles can climb over large obstacles yet are also able to corner at high speeds. The vehicles can be configured for direct manual operation or operation by remote control, and can also be configured for a wide variety of missions.

An axle device includes a power unit including an electric motor and a differential. A drive shaft transmits power distributed by the differential to a drive wheel. The drive shaft is supported by an axle pipe via a hub bearing. The right and left axle pipes are respectively fixed to right and left portions of the axle frame, and the power unit is fixed to the axle frame.

A wheel end assembly includes a hub connectable with a wheel and having a bore for receiving a shaft. An inboard bearing within the bore includes an outer ring coupled with hub, an inner ring within the outer ring and rolling elements. A seal assembly is coupled with the inner ring and retains the inner ring within the outer ring when the end assembly is separate from the shaft. An outboard bearing within the hub bore includes an outer ring coupled with the hub, an inner ring within the outer ring and rolling elements. A nut assembly is disposed adjacent to the outboard bearing and includes a nut threadably engaging the shaft. A retainer retains the nut assembly adjacent to the outboard bearing to limit axial displacement of the outboard inner ring to maintain the inner ring within the outer ring when the wheel end is separate from the shaft.

A method for assembling an axle assembly for a vehicle including that a pinion gear is inserted into a differential housing. The pinion gear having a first end and a second end opposite the first end. The pinion gear further includes a gear head at the first end, external threads proximate the second end, and external splines located a first distance away from the second end. The method further includes that a flange is slid over the second end of the pinion gear. The flange including internal splines. The method also includes that the internal splines of the flange are engaged with the external splines of the pinion gear and the flange is anchored to prevent the flange and the pinion gear from rotating. The method may further include that ultrasonic sound waves are transmitted through the pinion gear and reflections of the ultrasonic sound waves are detected.