Disclosed herein is an apparatus for driving rear-wheels of an environment-friendly vehicle. The apparatus for driving rear-wheels may include: a rear-wheel driver including a first motor and a second motor configured to respectively drive first and second rear wheels; a rear-wheel reducer configured to decelerate drive forces of the first and second motors and transmit the respective decelerated drive forces to the first and second rear wheels; a brake configured to releasably fix the rear-wheel reducer to a vehicle body; and a controller configured to control the rear-wheel driver, the rear-wheel reducer, and the brake. The rear-wheel reducer may include: a first planetary gear set disposed between an output end of the first motor and the first rear wheel; a second planetary gear set disposed between an output end of the second motor and the second rear wheel; and a ring gear coupled to the first and second planetary gear sets.

A track assembly includes a frame configured to be coupled to a chassis of a vehicle, a first wheel and a second wheel each pivotally coupled to the frame, a track engaging the first wheel and the second wheel, and a motor coupled to the track and the frame. The track extends along a track path that surrounds the first wheel and the second wheel. The motor is configured to drive the first wheel such that the track moves along the track path. The motor and the first wheel are aligned.

An electric drive system including: a rotary motor system including a hub assembly, a first rotating assembly, a second rotating assembly, and a third rotating assembly, wherein the hub assembly defines a rotational axis about which the first rotating assembly, the second rotating assembly, and the third rotating assembly are coaxially aligned and are capable of independent rotational movement independent of each other; a multi-bar linkage mechanism connected to each of the first and third rotating assemblies and connected to the hub assembly and constraining movement of the hub assembly so that the rotational axis of the hub assembly moves along a defined path that is in a transverse direction relative to the rotational axis and wherein the multi-bar linkage mechanism causes the rotational axis of the hub assembly to translate along the defined path in response to relative rotation of the first rotating assembly and the third rotating assembly with respect to each other.

An autonomous tilting three-wheeled vehicle comprises a pair of front wheels coupled to a tiltable chassis by a mechanical linkage, such that the pair of wheels and the chassis are configured to tilt in unison with respect to a roll axis of the chassis. An electronic controller of the autonomous vehicle controls a tilt actuator to selectively tilt the chassis. Optionally, a steering actuator is coupled to the front wheels and controlled by the electronic controller to selectively steer the wheels. A sensor configured to measure orientation-dependent information may be coupled to the chassis by a gimbal configured to compensate for vehicle tilt. In some examples, the autonomous vehicle comprises an autonomous delivery robot.

Disclosed is a corner module apparatus for a vehicle. The corner module includes a knuckle coupled to a wheel bearing rotatably supporting a wheel, a drive motor, configured to generate a drive power, spaced a distance away from the wheel, a transfer shaft, disposed between the wheel and the drive motor, configured to transfer the drive power generated from the drive motor, a suspension connected to the knuckle and configured to absorb shock transferred from a road surface, and a steering system configured to support the drive motor and the suspension and to adjust a steering wheel of the wheel.

The present invention relates to an in-wheel motor driving apparatus for reducing weight, improving Hall sensor assembly performance, and reducing a defect rate. According to one embodiment of the present invention, the weight of an in-wheel motor can be reduced by separating a suspension housing and a shaft and applying different materials thereto. Furthermore, the ease of assembling a Hall sensor can be improved, and the defect rate can be reduced.

The present invention relates to an in-wheel motor. The in-wheel motor according to an embodiment of the present invention includes: a circular rim to which a tire is coupled by being wrapped around an outer ring thereof and a shaft is connected by passing through a center thereof; a motor assembly which is disposed in an inner portion of the rim and includes a stator connected to the shaft and a rotor disposed to be wrapped around the stator and configured to rotate; a cover coupled to cover one open side surface of the rim and configured to seal the inner portion of the rim; and a lead-out wire entry/exit portion waterproof structure configured to seal an entry/exit portion for a lead-out wire connected to supply power from outside of the in-wheel motor to the inner portion of the rim via a hollow portion of the shaft, wherein the lead-out wire entry/exit portion waterproof structure includes an elastic stopper, to which the lead-out wire is connected to pass through a center thereof and which is configured to be elastically contracted after being inserted into the hollow portion of the shaft in an axial direction and seal between the hollow portion of the shaft and the lead-out wire, and a stopper fixing body fastened to the shaft and configured to press the elastic stopper in the axial direction so that the elastic stopper is inserted and fixed inside the hollow portion of the shaft.

A vehicle includes a first axle having a first electric machine, a second axle having a second electric machine and a controller. The controller is programmed to, in a user-selected four-wheel drive mode, command a first torque to the first electric machine based on a driver-demanded torque and a speed of the second axle, and command a second torque to the second electric machine based on a comparison of the driver-demanded torque and the first torque and further based on a speed of the first axle.

A dual-rotor in-wheel motor based on an axial magnetic field and a control method thereof are provided. The dual-rotor in-wheel motor includes an axle and a hub. The axle is fixedly connected to a frame. The hub relatively rotates around the axle. A disc-shaped intermediate stator is fixedly connected on the axle. A left coil assembly and a right coil assembly are fixedly mounted on two sides of the intermediate stator, respectively. A left rotor and a right rotor are respectively arranged on the two sides of the intermediate stator. The left coil assembly drives the left rotor to rotate, and the right coil assembly drives the right rotor to rotate. A left clutch is arranged between the left rotor and the hub, and a right clutch and a speed reduction mechanism are arranged between the right rotor and the hub.

A hub motor is disclosed, the hub motor is mounted on an axle assembly, the an axle assembly includes an axle rod and an axle sleeve, and an independent cassette flywheel is provided at one end of the axle sleeve where an end cover is located, a limiting sleeve is disposed outside of the cassette flywheel to prevent the cassette flywheel from detaching from the axle sleeve, and an anti-rotation piece for preventing rotation of the axle sleeve is provided at another end of the axle sleeve where a wheel hub is located.