Motor drive unit and driving method for mobile platform

Abstract

The present application discloses a motor drive unit for a mobile platform, which includes a first stator, a second stator, a first rotor and a second rotor. In operation, the first stator drives the first rotor to generate a first output torque, thereby driving wheels via an output shaft; the second stator drives the second rotor to generate a second output torque, thereby driving a suspension via a support assembly. Other exemplary embodiments are described. In some embodiments, the motor drive unit provided by the present application can realize structural and physical decoupling by integrating the wheel drive and suspension drive structures, reduce the space ratio of the motor drive unit, and realize the deep integration of the motor drive unit with the mobile platform structure.

Description

Technical Field

[0001] This invention relates to motor drive technology, and in particular to a motor drive unit and method for a mobile platform. Background Technology

[0002] Existing drive motors for vehicles (such as trams) are typically located in the center of the vehicle and are radial flux motors that transmit power to moving actuators (e.g., wheels) via a drive shaft (output shaft). This drive method has many drawbacks, such as low power density, low energy conversion efficiency, excessive space occupation, and impact on the overall vehicle layout. Furthermore, existing technologies suffer from insufficient integration; for example, in some cases, the motor structure fails to integrate the suspension drive function; in others, while attempts have been made to integrate the motor with the active suspension, the structure is overly complex, limiting overall performance. In existing technologies, the wheel drive unit (such as in-wheel motor) and the active suspension system drive unit are often developed and controlled as two independent functional modules. This separate design leads to a complex system structure and an increased number of components, not only increasing the manufacturing and maintenance costs of the entire vehicle but also posing greater challenges to space layout and cost control. In particular, the active suspension system itself is expensive; if its drive unit is separated from the in-wheel motor, it will further increase the space constraints and lightweight design difficulties during the vehicle development process.

[0003] In summary, the shortcomings of the existing technology include, but are not limited to, one or more of the following:

[0004] 1. The drive system and suspension system are separated, resulting in a complex structure and high cost.

[0005] 2. Existing known in-wheel motor controls that integrate the suspension and output shaft lack effective decoupling, making the control algorithm quite difficult. Summary of the Invention

[0006] In view of this, in some embodiments, the present invention proposes a new integrated motor drive unit structure that integrates the drive unit and the suspension unit inside the same motor. Through structural innovation, the two are achieved in terms of compact physical arrangement and effective functional decoupling.

[0007] In some embodiments, the present invention overcomes the shortcomings of the above-mentioned one or more technologies, and proposes a solution to the problems of insufficient integration of motor drive units for mobile platforms and difficulty in precise adjustment and efficient coordinated control of integrated rear-wheel drive and suspension drive, thereby achieving physical decoupling.

[0008] In one aspect, the present invention provides a motor drive unit for a mobile platform, the mobile platform including a suspension, a support assembly, an output shaft, and wheels. The motor drive unit includes: a first stator; a second stator; a first rotor; and a second rotor, wherein the first stator is concentrically and pivotally connected to the output shaft, and the first rotor is concentrically and tractably connected to the output shaft such that, during operation, the first stator drives the first rotor to generate a first output torque, thereby driving the wheels via the output shaft; and wherein the second stator is concentrically and pivotally connected to the output shaft, the second rotor is concentrically and pivotally connected to the output shaft, and the second rotor is tractably connected to the support assembly such that, during operation, the second stator drives the second rotor to generate a second output torque, thereby driving the suspension via the support assembly.

[0009] In another aspect, the present invention provides a motor drive unit for a mobile platform, the mobile platform including a suspension, a support assembly, an output shaft, and wheels. The motor drive unit includes: a first output torque drive subunit comprising: a first stator including a first stator front having a first stator winding and a first stator back opposite thereto; and a first rotor including a first rotor front having a first rotor magnet assembly and a plurality of first rotor magnet slots and a first rotor back opposite thereto; and a second output torque drive subunit comprising: a second stator including a second stator front having a second stator winding and a second stator back opposite thereto; and a second rotor including a second rotor front having a second rotor magnet assembly and a plurality of second rotor magnet slots and a second rotor back opposite thereto. The opposite second rotor back side; and a stator housing, including a stator housing body, at least one conduit and at least one liquid conduit penetrating the stator housing body; a first rotor housing; and a second rotor housing, wherein the first stator and the first rotor are configured to match each other in size and shape, and when installed, the first stator is concentrically and pivotally connected to the output shaft, the first rotor is concentrically and tractably connected to the output shaft, the front sides of the first stator and the front sides of the first rotor face each other and maintain a certain distance to form a first output torque drive subunit, such that during operation, the first stator drives the first rotor to generate a first output torque, thereby driving the wheel via the output shaft, wherein the second stator and the... The dimensions and shape of the second rotor are configured to match each other, and during installation, the second stator is concentrically and pivotally connected to the output shaft, the second rotor is concentrically and pivotally connected to the output shaft, and the second rotor is tractably connected to the support assembly. The front faces of the second stator and the front faces of the second rotor face each other and maintain a certain distance to form a second output torque drive subunit, such that during operation, the second stator drives the second rotor to generate a second output torque, thereby driving the suspension via the support assembly. The moving platform includes an inner side and an outer side opposite to it. During installation, the first output torque drive subunit is located outside the second output torque drive subunit, and the back face of the first stator is adjacent to the support assembly. The back faces of the second stators face each other and are spaced apart. The stator housing is sized and shaped to securely accommodate the first and second stators, such that during installation, the stator housing is pivotally connected to the output shaft via the first and second stators. The first rotor housing is sized and shaped to securely accommodate the first rotor, and during installation, the first rotor housing is located outside the stator housing and is tractably connected to the output shaft, such that during operation, the first rotor housing transmits at least a portion of the first output torque to the output shaft to drive the wheel. The second rotor housing is sized and shaped to securely accommodate the second rotor.During installation, the second rotor housing is located inside the stator housing and pivotally connected to the output shaft. The second rotor housing is tractably connected to the support assembly, so that during operation, the second rotor housing transmits at least a portion of the second output torque to the support assembly to drive the suspension. The first rotor is substantially disk-shaped, and the plurality of first rotor magnet slots are equidistantly arranged along the edge of the front face of the first rotor. The size and shape of the plurality of first rotor magnet slots are configured to at least partially accommodate and securely mount the first rotor magnet assembly. The second rotor is substantially disk-shaped. A plurality of second rotor magnet slots are equidistantly arranged along the edge of the front face of the second rotor, and the size and shape of the plurality of second rotor magnet slots are configured to at least partially accommodate and securely mount the second rotor magnet assembly. The size and shape of the wire hole defined by the at least one conduit on the stator housing body are configured to accommodate at least a portion of the conductors of the first stator winding and / or at least a portion of the conductors of the second stator winding to pass through into the stator housing body. The size and shape of the liquid hole defined by the at least one liquid conduit on the stator housing body are configured to allow motor fluid to be injected into or discharged from the stator housing body.

[0010] In another aspect of the present invention, a driving method for a mobile platform is provided, the mobile platform including a suspension, a support assembly, an output shaft, and wheels, the driving method comprising the following steps: (1) providing at least one motor drive unit according to any of the preceding claims; (2) in operation, controllably driving a first rotor through a first stator to generate a first output torque, thereby driving the wheels via the output shaft; and (3) in operation, controllably driving a second rotor through a second stator to generate a second output torque, thereby driving the suspension via the support assembly, wherein steps (2) and (3) are performed independently of each other.

[0011] This article discusses other example implementations.

[0012] This invention offers numerous advantages. In some embodiments, the provided motor drive unit and driving method achieve deep integration of the electric drive unit and the mobile platform structure by directly integrating the motor into the wheel hub. In some embodiments, compared to traditional centralized drive methods, the provided motor drive unit and driving method offer the advantage of efficient direct drive, acting directly on the wheels and eliminating intermediate mechanisms such as drive shafts and differentials, significantly reducing energy loss and improving power density and energy conversion efficiency. In some embodiments, the provided motor drive unit has a compact structure and lighter weight, contributing to the overall lightweight design of the mobile platform and freeing up more usable space, thus enhancing the flexibility of the overall layout of the mobile platform. Furthermore, in some embodiments, the provided motor drive unit and driving method support independent control of all four wheels, enabling more precise torque distribution and dynamic response, thereby enhancing the handling performance and stability of the mobile platform.

[0013] In some embodiments, the provided motor drive unit and driving method improve the integration of the motor drive unit by integrating wheel drive and active suspension drive structures. In some embodiments, the motor drive unit provided by the present invention integrates wheel drive and suspension drive while achieving structural decoupling of stator-rotor control. Such a structure can be controlled independently without requiring decoupling in two vector directions at the algorithmic level. Therefore, in some embodiments, the provided motor drive unit and driving method have one or more advantages over the prior art:

[0014] 1. It can integrate dual-vector drive and control of moving actuators (such as wheels) and suspension on a single motor, and achieves structural and physical decoupling;

[0015] 2. Higher efficiency than traditional axial motors;

[0016] 3. The space occupied by the motor drive unit has been reduced, achieving deep integration with the mobile platform structure;

[0017] 4. It has good scalability and is widely applicable to various intelligent drive units such as passenger cars, electric wheelchairs, and logistics robots, and has broad social application potential. Attached Figure Description

[0018] Figure 1A This is an exploded side view of a motor drive unit and support assembly according to an embodiment of the present invention.

[0019] Figure 1B For reference in this invention Figure 1A A perspective view of the first rotor of an example.

[0020] Figure 1C For reference in this invention Figure 1BAn exploded perspective view of the first rotor of an example.

[0021] Figure 1D For reference in this invention Figure 1A A perspective view of the stator housing of an example.

[0022] Figure 1E For reference in this invention Figure 1A A perspective view of the first rotor housing of an example.

[0023] Figure 1F For reference in this invention Figure 1E Another perspective view of the first rotor housing of an example.

[0024] Figure 1G For reference in this invention Figure 1A A perspective view of the second rotor housing of an example.

[0025] Figure 1H For reference in this invention Figure 1G Another perspective view of the second rotor housing of one example.

[0026] Figure 2 This is a perspective view of a combination mechanism of a motor drive unit and a wheel hub for an electric vehicle, which is an example of the present invention.

[0027] Figure 3 This is a flowchart of a driving method for an example of the present invention. Detailed Implementation

[0028] 1. Definition

[0029] As used herein and in the claims, “comprising” means including the following components, but does not exclude other components.

[0030] As used herein and in the claims, “comprising” means to include the following elements, but does not exclude other elements. The terms “comprising” (or any related form such as “comprise” and “comprises”), “including” (or any related form such as “include” or “includes”), “containing” (or any related form such as “contain” or “contains”), and “having” (or any related form such as “have” or “has”) mean to include the following elements, but do not exclude other elements. It should be understood that for each embodiment using the terms “comprising” (or any related form such as “comprise” and “comprises”), “including” (or any related form such as “include” or “includes”), “containing” (or any related form such as “contain” or “contains”), or “having” (or any related form such as “have” or “has”), this disclosure / application also includes alternative embodiments in which the terms “comprising”, “including”, “contains”, or “having” are replaced with “consisting essentially of” or “consisting of”. These alternative embodiments using “consisting of” or “consisting essentially of” are understood to be narrower embodiments of the “comprising”, “including”, “contains”, or “having” embodiments.

[0031] For clarity, “containing,” “contains,” “containing,” or “having,” and any related forms, are open-ended terms that allow for additional elements or features beyond the specified essential elements, while “consisting of” is a closed-ended term that is limited to the elements listed in the claims and excludes any elements, steps, or ingredients not specified in the claims.

[0032] As used herein and in the claims, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” also include their corresponding plural indicators. When a numerical range is mentioned in the specification, the numerical range is understood to include every discrete point within that range. For example, 1-7 represents 1, 2, 3, 4, 5, 6, and 7.

[0033] As used herein and in the claims, unless otherwise stated, "at least one" means one or more, and "more than one" means two or more. Furthermore, to facilitate a clear description of the technical solutions of the present invention, the terms "first," "second," etc., are used herein and in the claims to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first," "second," etc., do not limit the quantity or order of execution, and that "first," "second," etc., do not necessarily imply differences.

[0034] As used herein and in the claims, the terms “about,” “roughly,” “substantially,” “approximately,” and “about” are understood to be within the normal tolerances in the art and not exceeding ±10% of the specified value. By way of example only, about 50 refers to all values ​​from 45 to 55, including those in between. As used herein, the phrase “about” also includes specific values, for example, about 50 includes 50.

[0035] As used herein and in the claims, the terms "generally" or "substantially" mean that the listed features, angles, shapes, states, structures, or values ​​do not need to be precisely realized, but deviations or variations, including, for example, tolerances, measurement errors, measurement accuracy limitations, and other factors known to those skilled in the art, may occur in an amount that does not preclude the effect that the feature is intended to provide. For example, an object having a "generally" cylindrical shape means that the object has a precisely cylindrical shape or a nearly precisely cylindrical shape. In another example, an object "substantively" perpendicular to a surface means that the object is either completely perpendicular to the surface or nearly completely perpendicular to the surface, for example, with a deviation of 10%.

[0036] For clarity, "characterized by, characterized in" (along with their related forms as described above) does not limit or change the nature of whether the following list of terms is open or closed. For example, in a claim for "an apparatus comprising A, B, C and characterized by D, E, and F," elements D, E, and F remain open-ended terms, and the claim is intended to include other elements due to the use of the word "comprising" preceding the claim.

[0037] As used herein and in the claims, the term "drive unit" refers to a means or component for generating a driving force to cause the mobile platform as a whole to move and / or to cause the moving parts included in the mobile platform.

[0038] As used herein and in the claims, the term "mobile platform" refers to a device or system capable of moving itself on the ground or other supporting surface via a drive unit. In some embodiments, a mobile platform may include, but is not limited to, passenger vehicles (such as new energy vehicles), electric wheelchairs, service robots, logistics and transportation robots, inspection robots, automated guided vehicles (AGVs), mobile chassis, and other intelligent units with mobility capabilities. In some embodiments, the mobile platform may be manned or unmanned, and may be suitable for indoor or outdoor environments.

[0039] As used herein and in the claims, the term "wheel" refers to any form of mobile actuator used to support a mobile platform and to contact the ground or other supporting surface to achieve movement. In some embodiments, a wheel includes a hub-and-tire structure. In other embodiments, a wheel also includes a track structure, a robotic leg structure, an omnidirectional wheel, a Mecanum wheel, and / or other mobile actuators adapted to ground or other supporting surface environments. In some embodiments, in addition to rolling movement, a wheel may generate propulsion by stepping and / or sliding. In this document and in the claims, "wheel" is used interchangeably with "wheel wheel" or "mobile actuator".

[0040] As used herein and in the claims, the term "suspension" refers to a mechanism system disposed between the mobile platform body and the mobile actuator (such as wheels) for supporting the mobile platform body, cushioning road impacts, suppressing vibrations, and / or adjusting the attitude of the mobile actuator and its contact state with the ground. In some embodiments, the suspension includes the frame of the mobile platform (such as a vehicle chassis). In some embodiments, the suspension is an adaptive suspension based on active control or an active suspension. In other embodiments, the suspension is a passive suspension system. In some embodiments, the suspension may be applicable to different types of mobile platforms, including but not limited to independent or non-independent suspensions in passenger vehicles, electrically adjustable suspensions in electric wheelchairs, modular damping structures in logistics robots, and joint compliant structures in biomimetic robots. In some embodiments, the suspension is not limited to any particular configuration or material.

[0041] As used herein and in the claims, the term "motor" refers to a drive device that converts electrical energy into mechanical energy. In some embodiments, the motor is a rotary motor and may employ various configurations such as permanent magnet, electromagnetic, electrically excited, induction, brushless, and brushed, and may also include single-phase, three-phase, or multi-phase drive forms. In some embodiments, the motor may also integrate position, speed, or current sensors to form a closed-loop control system. In some embodiments, the motor may have various cooling methods, including liquid cooling, oil cooling, and / or refrigerant cooling.

[0042] As used herein and in the claims, the term "stator" refers to a structural component in an electric motor that remains stationary relative to the rotor. In some embodiments, the stator is provided with a plurality of electromagnetic coils or windings for generating a magnetic field to drive or respond to the rotational motion of the rotor.

[0043] As used herein and in the claims, the term "rotor" refers to a component of an electric motor that is rotatable relative to the stator. In some embodiments, the rotor includes permanent magnets for generating rotational motion in response to a magnetic field generated by the stator.

[0044] As used herein and in the claims, the term "output shaft" refers to a rotating component for transmitting torque and rotational power, connected to the output end of the drive unit, with the other end used to drive an external load, such as a wheel. In some embodiments, the output shaft may be a solid or hollow structure. In some embodiments, the material and geometry of the output shaft may be selected and designed according to requirements such as load-bearing capacity, transmission accuracy, and working environment. "Output shaft" and "drive shaft" are used interchangeably herein and in the claims.

[0045] As used herein and in the claims, the term "bearing" refers to a mechanical component used to support rotating components (such as output shafts) and limit their relative movement, providing low-friction motion guidance under load. In some embodiments, bearings include various types such as rolling bearings, sliding bearings, magnetic bearings, air bearings, and / or hydrodynamic bearings.

[0046] As used herein and in the claims, the term "pivotible connection" refers to a connection between two components via a rotatable connection structure, allowing one component to rotate relative to the other about a point or axis. In some embodiments, a "pivotible connection" defines rotational degrees of freedom and allows relative rotation between the components within a certain range. In some embodiments, a "pivotible connection" can be achieved through a pin, pivot, hinge, universal joint, or other mechanical structure. In this document and in the claims, "pivotible connection" and "pivotable connection" are used interchangeably.

[0047] As used herein and in the claims, the term "transmissively connected" refers to a connection between two or more components that allows the power output (such as rotational or linear motion) of one component to be transmitted to another component, thereby causing the latter to move. In some embodiments, a "transmissively connected" connection may be implemented mechanically, magnetically, hydraulically, and / or otherwise. In some embodiments, a "transmissively connected" connection may be a direct connection (e.g., a rigid coupling, spline connection, key connection, etc.). In other embodiments, a "transmissively connected" connection may also be an indirect connection (e.g., via gears, chains, belts, magnetic coupling, and / or other intermediate transmission mechanisms). In this document and in the claims, "transmissively connected" and "transmissively connected" are used interchangeably.

[0048] As used herein and in the claims, the term "motor fluid" refers to a liquid medium introduced into the interior of a motor system for lubrication, cooling, insulation, noise reduction, vibration damping, and / or other functions. In some embodiments, the liquid may include, but is not limited to, coolants (such as water, oil, or a special coolant), lubricating oil, insulating oil, and / or composite liquids having the above-mentioned functions.

[0049] 2. Numbered Examples

[0050] Group 1

[0051] Example 1: A motor drive unit for a mobile platform, the mobile platform including a suspension, a support assembly, an output shaft, and wheels, the motor drive unit comprising:

[0052] First stator;

[0053] Second stator;

[0054] First rotor; and

[0055] Second rotor,

[0056] The first stator is concentrically and pivotally connected to the output shaft, and the first rotor is concentrically and driveably connected to the output shaft, such that during operation, the first stator drives the first rotor to generate a first output torque, thereby driving the wheel via the output shaft.

[0057] The second stator is concentrically and pivotally connected to the output shaft, the second rotor is concentrically and pivotally connected to the output shaft, and the second rotor is tractably connected to the support assembly, such that during operation, the second stator drives the second rotor to generate a second output torque, thereby driving the suspension via the support assembly.

[0058] Example 2. The motor drive unit according to any of the above embodiments, wherein,

[0059] The first stator includes a first stator front having a first stator winding and a first stator back opposite thereto;

[0060] The second stator includes a second stator front having a second stator winding and a second stator back opposite thereto;

[0061] The first rotor includes a first rotor front having a first rotor magnet assembly and a first rotor back opposite thereto; and

[0062] The second rotor includes a second rotor front having a second rotor magnet assembly and a second rotor back opposite thereto.

[0063] The first stator and the first rotor are configured to match each other in size and shape, and during installation, the front surfaces of the first stator and the first rotor face each other and maintain a certain distance to form a first output torque drive subunit.

[0064] The second stator and the second rotor are configured to match each other in size and shape, and during installation, the front surfaces of the second stator and the second rotor face each other and maintain a certain distance to form a second output torque drive subunit.

[0065] Example 3: The motor drive unit according to any of the above embodiments,

[0066] The mobile platform includes an inner side and an outer side opposite to it.

[0067] During installation, the first output torque drive subunit is located outside the second output torque drive subunit, and

[0068] During installation, the back surfaces of the first stator and the second stator face each other and maintain a certain distance.

[0069] Example 4: The motor drive unit according to any of the above embodiments further includes:

[0070] Stator housing;

[0071] First rotor housing; and

[0072] Second rotor housing,

[0073] The stator housing is sized and shaped to securely accommodate the first stator and the second stator, such that during installation, the stator housing is pivotally connected to the output shaft via the first stator and the second stator.

[0074] The first rotor housing is sized and shaped to securely accommodate the first rotor. During installation, the first rotor housing is located outside the stator housing and is tractably connected to the output shaft. Thus, during operation, the first rotor housing transmits at least a portion of the first output torque to the output shaft to drive the wheel.

[0075] The second rotor housing is sized and shaped to securely accommodate the second rotor. During installation, the second rotor housing is located inside the stator housing and pivotally connected to the output shaft. The second rotor housing is tractably connected to the support assembly, so that during operation, the second rotor housing transmits at least a portion of the second output torque to the support assembly to drive the suspension.

[0076] Example 5: The motor drive unit according to any of the above embodiments, wherein,

[0077] The front side of the first rotor further includes a plurality of first rotor magnet slots; and

[0078] The front side of the second rotor further includes a plurality of second rotor magnet slots.

[0079] The first rotor is substantially disk-shaped, and the plurality of first rotor magnet slots are equidistantly arranged along the edge of the front side of the first rotor. The size and shape of the plurality of first rotor magnet slots are configured to at least partially accommodate and securely mount the first rotor magnet assembly.

[0080] The second rotor is substantially constructed as a disk, and the plurality of second rotor magnet slots are arranged equidistantly along the front edge of the second rotor, and the size and shape of the plurality of second rotor magnet slots are configured to at least partially accommodate and fix the second rotor magnet assembly.

[0081] Example 6: According to any of the above embodiments, the motor drive unit further includes a stator housing body, at least one conduit penetrating the stator housing body, and at least one liquid conduit.

[0082] Wherein, the size and shape of the wire hole defined by the at least one conduit on the stator housing body are configured to accommodate at least a portion of the conductor of the first stator winding and / or at least a portion of the conductor of the second stator winding to pass through and enter the stator housing body, and

[0083] The size and shape of the liquid hole defined by the at least one liquid pipe on the stator housing body are configured to allow motor fluid to be injected into or discharged from the stator housing body.

[0084] Example 7: The motor drive unit according to any of the above embodiments, wherein the support component includes:

[0085] The crank connecting rod includes an upper part and a lower part;

[0086] plug;

[0087] The damper includes an upper part and a lower part.

[0088] The lower part of the crank connecting rod is tractably connected to the second rotor and / or the second rotor housing, the upper part of the crank connecting rod is tractably connected to the lower part of the damper via a pin, and the upper part of the damper is fixedly connected to the suspension, thereby driving the suspension via the support assembly with the second output torque.

[0089] Example 8: A motor drive unit for a mobile platform, the mobile platform including a suspension, a support assembly, an output shaft, and wheels, the motor drive unit comprising:

[0090] The first output torque drive subunit includes:

[0091] The first stator includes a first stator front having a first stator winding and a first stator back opposite thereto; and

[0092] The first rotor includes a first rotor front having a first rotor magnet group and a plurality of first rotor magnet slots and a first rotor back opposite thereto;

[0093] The second output torque drive subunit includes:

[0094] The second stator includes a second stator front having a second stator winding and a second stator back opposite thereto; and

[0095] The second rotor includes a second rotor front side having a second rotor magnet assembly and a plurality of second rotor magnet slots, and a second rotor back side opposite thereto; and

[0096] A stator housing includes a stator housing body, at least one conduit penetrating the stator housing body, and at least one liquid conduit.

[0097] First rotor housing; and

[0098] Second rotor housing,

[0099] The first stator and the first rotor are configured to match each other in size and shape. During installation, the first stator is concentrically and pivotally connected to the output shaft, and the first rotor is concentrically and transmissively connected to the output shaft. The front surfaces of the first stator and the first rotor face each other and maintain a certain distance to form a first output torque drive subunit. This allows the first stator to drive the first rotor to generate a first output torque during operation, thereby driving the wheel via the output shaft.

[0100] The second stator and the second rotor are configured to match each other in size and shape. During installation, the second stator is concentrically and pivotally connected to the output shaft, and the second rotor is concentrically and pivotally connected to the output shaft. The second rotor is tractably connected to the support assembly. The front faces of the second stator and the second rotor face each other and maintain a certain distance to form a second output torque drive subunit. This allows the second stator to drive the second rotor to generate a second output torque during operation, thereby driving the suspension via the support assembly.

[0101] The mobile platform includes an inner side and an outer side opposite to it. During installation, the first output torque drive subunit is located outside the second output torque drive subunit, and the back surfaces of the first stator and the second stator face each other and maintain a certain distance.

[0102] The stator housing is sized and shaped to securely accommodate the first stator and the second stator, such that during installation, the stator housing is pivotally connected to the output shaft via the first stator and the second stator.

[0103] The first rotor housing is sized and shaped to securely accommodate the first rotor. During installation, the first rotor housing is located outside the stator housing and is tractably connected to the output shaft. Thus, during operation, the first rotor housing transmits at least a portion of the first output torque to the output shaft to drive the wheel.

[0104] The second rotor housing is sized and shaped to securely accommodate the second rotor. During installation, the second rotor housing is located inside the stator housing and pivotally connected to the output shaft. The second rotor housing is driveably connected to the support assembly, so that during operation, the second rotor housing transmits at least a portion of the second output torque to the support assembly to drive the suspension.

[0105] The first rotor is substantially disk-shaped, and the plurality of first rotor magnet slots are equidistantly arranged along the edge of the front side of the first rotor. The size and shape of the plurality of first rotor magnet slots are configured to at least partially accommodate and securely mount the first rotor magnet assembly.

[0106] The second rotor is substantially disk-shaped, and the plurality of second rotor magnet slots are equidistantly arranged along the edge of the front side of the second rotor. The size and shape of the plurality of second rotor magnet slots are configured to at least partially accommodate and securely mount the second rotor magnet assembly.

[0107] Wherein, the size and shape of the wire hole defined by the at least one conduit on the stator housing body are configured to accommodate at least a portion of the conductor of the first stator winding and / or at least a portion of the conductor of the second stator winding to enter the stator housing body, and the size and shape of the liquid hole defined by the at least one liquid conduit on the stator housing body are configured to allow motor fluid to be injected into or discharged from the stator housing body.

[0108] Example 9: A driving method for a mobile platform, the mobile platform including a suspension, a support assembly, an output shaft, and wheels, the driving method comprising the following steps:

[0109] (1) Providing at least one motor drive unit according to any of the preceding claims;

[0110] (2) During operation, the first rotor is controllably driven by the first stator to generate a first output torque, thereby driving the wheel via the output shaft; and

[0111] (3) During operation, the second rotor is controllably driven by the second stator to generate a second output torque, thereby driving the suspension via the support assembly.

[0112] Steps (2) and (3) are executed independently of each other.

[0113] Group 2

[0114] Example 10: A motor drive unit, characterized by:

[0115] The motor module includes a housing, stator, rotor, output shaft, and torque crank, with the stator positioned in the center. Two rotors are located on either side, each with its own housing. The stator is connected to the output shaft, and the second rotor housing is connected to a torque crank-connecting rod mechanism, which is used to connect a spring damper.

[0116] A spring damper, wherein the spring damper is connected to the motor module.

[0117] Example 11: The motor drive unit according to any of the above embodiments is characterized in that the motor module includes a first rotor housing, an output shaft, a first rotor, a first stator, a stator housing, a second stator, a second rotor, a second rotor housing, a crank-connecting rod, a first stator bearing, a second stator bearing, a second rotor bearing, a second rotor housing bearing, a spring damper, and a pin. The first rotor housing, first rotor, first stator, stator housing, second stator, second rotor, and second rotor housing are connected to the output shaft. The first stator controls the first rotor, and the second stator controls the second rotor. The second rotor housing is connected to the crank-connecting rod. The crank-connecting rod is connected to the spring damper.

[0118] Example 12: The motor drive unit according to any of the above embodiments is characterized in that the first rotor is wrapped and fixedly connected by the first rotor housing, and the first rotor and the first rotor housing are fixedly connected to the output shaft.

[0119] Example 13: The motor drive unit according to any of the above embodiments is characterized in that the first stator and the second stator are fixedly connected, the first stator and the second stator are enclosed and fixedly connected by the stator housing, the first stator is connected to the output shaft through the first stator bearing, and the second stator is connected to the output shaft through the second stator bearing.

[0120] Example 14: The motor drive unit according to any of the above embodiments is characterized in that there are three outlet pipes on each of the left and right sides of the stator housing, namely the first stator outlet pipe and the second stator outlet pipe. There is a liquid injection pipe in the middle of the stator housing, and an outlet pipe is located immediately adjacent to it.

[0121] Example 15: The motor drive unit according to any of the above embodiments is characterized in that the second rotor is enclosed and fixedly connected by the second rotor housing, and the second rotor is connected to the output shaft through the second rotor bearing, and the second rotor housing is connected to the output shaft through the second rotor housing bearing.

[0122] Example 16: The motor drive unit according to any of the above embodiments is characterized in that a second rotor housing is fixed on the second rotor.

[0123] Example 17: The motor drive unit according to any of the above embodiments is characterized in that the second rotor housing is connected to the output shaft through a second rotor housing bearing, the second rotor housing is connected to the crank connecting rod, and the crank connecting rod is connected to the spring damper through a pin.

[0124] 3. Examples

[0125] To make the technical problems, technical solutions, and beneficial effects of this invention clearer and more understandable, the invention will be further described in detail below with reference to the accompanying drawings, examples, and embodiments. It should be understood that the specific examples and embodiments described herein are only for explaining the invention and are not intended to limit the invention.

[0126] 3.1 Example 1

[0127] Figure 1A-1H An example of a motor drive unit for a mobile platform is shown. This example discloses a motor drive unit 1000 that integrates mobile actuator drive and suspension drive functions, employing an independent dual-rotor and stator integrated structure to drive the wheels and suspension of the mobile platform. The mobile platform basically includes a suspension 10, a support assembly 20, an output shaft 30, and wheels (not shown). The motor drive unit 1000 is driveably connected to the support assembly 20, which is further driveably connected to the suspension 10, so that the motor drive unit 1000 can drive the suspension 10 through the support assembly 20 to achieve active suspension function. The motor drive unit 1000 is driveably connected to the output shaft 30, which is further driveably connected to the wheels, so that the motor drive unit 1000 can drive the wheels through the output shaft 30 to achieve the movement function of the mobile platform. The mobile platform also includes an inner side and an opposite outer side. For ease of description, the direction relative to the outer edge of the mobile platform toward the platform's geometric central axis or central region is defined as the inner side, regardless of whether the central axis is horizontal, vertical, or inclined; the direction opposite to the inner side is defined as the outer side.

[0128] like Figure 1AAs shown, the motor drive unit 1000 basically includes a first output torque drive subunit 1100, a second output torque drive subunit 1200, a stator housing 1300, a first rotor housing 1400, and a second rotor housing 1500. The first rotor housing 1400, the first output torque drive subunit 1100, the stator housing 1300, the second output torque drive subunit 1200, and the second rotor housing 1500 are sequentially connected concentrically to the output shaft 30 along the output shaft center axis x (represented by the dashed line in the figure) from the outer side to the inner side of the moving platform. The first output torque drive subunit 1100 includes a first stator 1110 and a first rotor 1120. The first stator 1110 includes a first stator front side 1111 with a first stator winding, an opposite first stator back side 1112, and a first stator bearing 1113.

[0129] like Figure 1B and Figure 1C As shown and referenced Figure 1A The first rotor 1120 includes a first rotor front 1121 having a first rotor magnet assembly 1123 and a plurality of first rotor magnet slots 1124, and a opposite first rotor back 1122. The first rotor 1120 is generally constructed in a disk shape. The number of magnet slots in the plurality of first rotor magnet slots 1124 is the same as the number of magnets in the first rotor magnet assembly 1123. The plurality of first rotor magnet slots 1124 are arranged equidistantly along the edge of the first rotor front 1121. The size and shape of each magnet slot in the plurality of first rotor magnet slots 1124 are configured to at least partially accommodate and securely mount one magnet from the first rotor magnet assembly 1123. The first stator 1110 is constructed in a disk shape having substantially the same size and shape as the first rotor 1120. During installation, the first stator 1110 is concentrically and pivotally connected to the output shaft 30 via a first stator bearing 1113. The first rotor 1120 is concentrically and fixedly connected to the output shaft 30. The first stator front face 1111 and the first rotor front face 1121 face each other and maintain a certain distance to form a first output torque drive sub-unit 1100, so that when working, the first stator 1110 drives the first rotor 1120 to generate a first output torque, thereby driving the wheel via the output shaft 30.

[0130] Still referencing Figure 1A The second output torque drive subunit 1200 includes a second stator 1210 and a second rotor 1220. The second stator 1210 includes a second stator front side 1211 with second stator windings, an opposite second stator back side 1212, and a second stator bearing 1213. In this example, the configuration and structure of the second rotor 1220 are similar to... Figure 1B and Figure 1CThe first rotor 1120 shown is substantially the same. The second rotor 1220 includes a second rotor front 1221 having a second rotor magnet assembly and a plurality of second rotor magnet slots, a opposite second rotor back 1222, and a second rotor bearing 1223. The overall size and shape of the second rotor 1220 are configured as a disc shape substantially the same as that of the first rotor 1120. The number of magnet slots in the plurality of second rotor magnet slots is consistent with the number of magnets in the second rotor magnet assembly. The plurality of second rotor magnet slots are arranged equidistantly along the edge of the second rotor front. The size and shape of each of the plurality of second rotor magnet slots are configured to at least partially accommodate and securely mount one magnet of the second rotor magnet assembly. The second stator 1210 is configured as a disc shape having a substantially the same size and shape as the second rotor 1220. During installation, the second stator 1210 is concentrically and pivotally connected to the output shaft 30 via the second stator bearing 1213, and the second rotor 1220 is concentrically and pivotally connected to the output shaft 30 via the second rotor bearing 1223. The second rotor 1220 is tractably connected to the support assembly 20 via the second rotor housing 1500. The second stator front face 1211 and the second rotor front face 1221 face each other and maintain a certain distance to form the second output torque drive subunit 1200, such that during operation, the second stator 1210 drives the second rotor 1220 to generate the second output torque, thereby driving the suspension 10 via the support assembly 20. During installation, the first output torque drive subunit 1100 is arranged outside the second output torque drive subunit 1200, and the first stator back face 1112 and the second stator back face 1212 face each other and maintain a certain distance. This distance can isolate the magnetic circuit coupling (such as leakage flux, mutual inductance, etc.) between the first stator 1110 and the second stator 1210. In some embodiments, a magnetic barrier or spacer, such as a magnetic partition made of composite material, can be placed between the first stator back face 1112 and the second stator back face 1212.

[0131] like Figure 1D As shown and referenced Figure 1AThe stator housing 1300 includes a stator housing body 1310, a first set of conduits 1320, a second set of conduits 1330, a first liquid pipe 1340, and a second liquid pipe 1350 passing through the stator housing body 1310. The stator housing body 1310 is essentially constructed as a bottomless cylindrical component, and the circular cross-sectional dimensions of the cylindrical space defined inside it are substantially the same as or slightly larger than the disc-shaped dimensions of the entire first stator 1110 and the entire second stator 1210, thereby allowing the stator housing body 1310 to securely accommodate and install the first stator 1110 and the second stator 1210 within it. During installation, the stator housing 1300 is pivotally connected to the output shaft 30 via the first stator 1110, the first stator bearing 1113, the second stator 1210, and the second stator bearing 1213. The first set of conduits 1310 includes three conduits arranged on the cylindrical surface of the stator housing body 1310 near the side where the first stator 1110 is fixedly mounted. The three wire holes defined in the first set of conduits 1320 on the stator housing body 1310 are sized and shaped to accommodate at least a portion of the conductors of the first stator winding to enter the stator housing body 1310. The second set of conduits 1330 includes three conduits arranged on the cylindrical surface of the stator housing body 1310 near the side where the second stator 1210 is fixedly mounted. The three wire holes defined in the second set of conduits 1330 on the stator housing body 1310 are sized and shaped to accommodate at least a portion of the conductors of the second stator winding to enter the stator housing body 1310. The first liquid conduit 1340 and the second liquid conduit 1350 are arranged on the cylindrical surface of the stator housing body 1310. The size and shape of the liquid hole defined by one of the liquid pipes on the stator housing body are configured to allow motor fluid to be injected into the stator housing body 1310, and the size and shape of the liquid hole defined by the other liquid pipe on the stator housing body are configured to allow motor fluid to be discharged from the stator housing body 1310.

[0132] like Figure 1E and Figure 1F Reference shown Figure 1AThe first rotor housing 1400 includes a first rotor housing body 1410 and an output shaft connection portion 1420 located at its center, having an output shaft connection hole 1421. The first rotor housing body 1410 is substantially constructed as a bottomed cylindrical member, the circular cross-sectional dimension of the cylindrical space defined inside it being substantially the same as or slightly larger than the disk-shaped dimension of the first rotor 1120, thereby allowing the first rotor housing body 1410 to securely accommodate and mount the first rotor 1120. During installation, the first rotor housing 1400 is located outside the stator housing 1300 and is fixedly connected to the output shaft 30 via the output shaft connection portion 1420 and its central output shaft connection hole 1421. During operation, the first rotor housing 1400 transmits at least a portion of the first output torque generated by the first rotor 1120 to the output shaft 30 to drive the wheel.

[0133] like Figure 1G and Figure 1H As shown and referenced Figure 1A The second rotor housing 1500 includes a second rotor housing body 1510, a second rotor bearing receiving portion 1520, a second rotor housing crank 1530, and a second rotor housing bearing 1540. The second rotor housing body 1510 is substantially constructed as a bottomed cylindrical member, with the circular cross-sectional dimensions of its internal cylindrical space being substantially the same as or slightly larger than the disc-shaped dimensions of the second rotor 1220, thereby allowing the second rotor housing body 1510 to securely accommodate and mount the second rotor 1220. During installation, the second rotor housing 1500 is located inside the stator housing 1300. The second rotor housing bearing 1540 is concentrically and pivotally connected to the output shaft 30, and is fixedly mounted to the second rotor housing body 1510 via the second rotor bearing receiving portion 1520, thereby allowing the second rotor housing body 1510 to be pivotally connected to the output shaft 30 via the second rotor housing bearing 1540. The second rotor housing crank 1530 is fixedly connected to the bottom of the second rotor housing body 1510 on the side facing the inside of the moving platform. One end of the crank has an extension of the second rotor bearing receiving part 1520, and the other end has a support device connecting shaft 1531.

[0134] like Figure 1AAs shown, the support assembly 20 includes a spring damper 21, a pin 22, and a crank connecting rod 23. The crank connecting rod 23 includes an upper crank connecting rod portion 231 and a lower crank connecting rod portion 232. The spring damper 21 includes an upper damper portion 211 and a lower damper portion 212. The lower crank connecting rod portion 232 is pivotally connected to the support device connecting shaft 1531 of the second rotor housing 1500, thereby drivingly connecting the lower crank connecting rod portion 232 to the second rotor housing 1500 and the second rotor 1220. The upper crank connecting rod portion 231 is pivotally connected to the lower damper portion 212 via the pin 22. The upper damper portion 211 is fixedly connected to the suspension 10, thereby drivingly connecting the second rotor 1220 and the second rotor housing 1500 to the support assembly 20. During operation, the second rotor housing 1500 can transmit at least a portion of the second output torque generated by the second rotor 1220 to the support assembly 20 to drive the suspension, such that the second output torque drives the suspension 10 via the support assembly 20.

[0135] In some embodiments, during installation, the first output torque drive subunit 1100 may also be arranged inside the second output torque drive subunit 1200.

[0136] In some embodiments, the first output torque drive subunit 1100 and the second output torque drive subunit 1200 are structurally and physically decoupled. During operation, the first stator 1110 controls the rotation of the first rotor 1120, which drives the output shaft 30 to move, causing it to drive the wheels. The second stator 1210 controls the rotation of the second rotor 1220, which drives the crank connecting rod 23 to move, causing it to drive the suspension 10. The control of the first stator 1110 and the control of the second stator 1210 are independent of each other. In some embodiments, during operation, the first stator 1110 drives the first rotor 1120 to generate a first output torque, thereby driving the wheels via the output shaft 30. Controllably, the second stator 1210 drives the second rotor 1220 to generate a second output torque, thereby driving the suspension 10 via the support assembly 20. The drive of the first rotor 1120 by the first stator 1110 and the drive of the second rotor 1220 by the second stator 1210 are independent of each other.

[0137] 3.2 Example 2

[0138] like Figure 2 As shown, this example provides an embodiment of a combined mechanism for an electric motor drive unit 2000 and a wheel hub after assembly for an electric vehicle. The component composition and structure of the motor drive unit 2000 are substantially the same as those of the motor drive units in any other examples and embodiments herein, and will not be repeated for the sake of simplicity.

[0139] The stator housing, first rotor housing, and second rotor housing of the motor drive unit 2000 are constructed to have substantially the same outer contour dimensions and shape, so that the overall size and shape of the motor drive unit 2000 can match the space defined inside the wheel hub 4 of the electric vehicle wheel, allowing at least a portion of the motor drive unit 2000 to be installed within the space defined inside the wheel hub 4. The output shaft 3 is concentrically and transmissively connected to the wheel hub 4. The lower part of the crank connecting rod of the support device 2 is pivotally connected to the support device connecting shaft of the second rotor housing of the motor drive unit 2000. The upper part of the damper of the support device 2 is fixedly connected to the suspension 1. During operation, the first stator of the motor drive unit 2000 drives its first rotor to generate a first output torque, thereby driving the wheel via the output shaft 3 and the wheel hub 4 it drives; the second stator of the motor drive unit 2000 drives its second rotor to generate a second output torque, thereby driving the suspension 1 via the support assembly 2.

[0140] In some embodiments, the motor drive unit 2000 can be completely installed within the space defined inside the hub 4.

[0141] 3.3 Example 3

[0142] For reference Figure 3 This example describes one embodiment of a driving method 3000 for a mobile platform. The mobile platform includes a suspension, a support assembly, an output shaft, and wheels, whose connection relationships are substantially the same as described in any other example or embodiment herein. The driving method 3000 includes the following steps:

[0143] 3100: Provide at least one motor drive unit according to any example or embodiment described herein;

[0144] 3200: During operation, the first rotor is controllably driven by the first stator to generate a first output torque, thereby driving the wheel via the output shaft; and

[0145] 3300: During operation, the second rotor is controllably driven by the second stator to generate a second output torque, thereby driving the suspension via the support assembly.

[0146] Steps 3200 and 3300 are executed independently of each other.

[0147] The preferred embodiments and examples of the present invention have been described above with reference to the accompanying drawings, but these are not intended to limit the scope of the invention. Those skilled in the art can implement the invention in various modifications without departing from its scope and spirit; for example, a feature of one embodiment may be used in another embodiment to obtain yet another embodiment. Any modifications, equivalent substitutions, and improvements made within the scope of the inventive concept should be within the scope of the invention.

Claims

1. A mobile platform driven by a motor drive unit, comprising: The suspension, motor drive unit, support components, and wheels; among which, The support assembly includes a crank connecting rod and a damper; The motor drive unit includes an output shaft connected to the output end of the motor drive unit, and a first stator, a second stator, a first rotor, and a second rotor are disposed on the output shaft; The first stator is connected to the output shaft via a first stator bearing, and the second stator is connected to the output shaft via a second stator bearing. The first stator and the second stator are fixedly connected, and the back surfaces of the first stator and the second stator face each other and maintain a certain distance to isolate magnetic circuit coupling. The first rotor is concentrically and fixedly connected to the output shaft. During operation, the first stator of the motor drive unit drives the first rotor to generate a first output torque, which is transmitted to the connected wheel through the output shaft to drive the wheel. The second rotor is connected to the output shaft through a second rotor bearing and is connected to the lower part of the crank connecting rod. The upper part of the damper is connected to the suspension. During operation, the second stator of the motor drive unit drives the second rotor to generate a second output torque. The second rotor drives the support assembly to convert the circumferential motion of the second rotor into the up-and-down motion of the suspension.

2. The mobile platform according to claim 1, wherein the motor drive unit further comprises: Stator housing; First rotor housing; as well as Second rotor housing, The stator housing is sized and shaped to securely accommodate the first stator and the second stator, such that during installation, the stator housing is pivotally connected to the output shaft via the first stator and the second stator. The first rotor housing is sized and shaped to securely accommodate the first rotor. During installation, the first rotor housing is located outside the stator housing and is tractably connected to the output shaft. Thus, during operation, the first rotor housing transmits at least a portion of the first output torque to the output shaft to drive the wheel. The second rotor housing is sized and shaped to securely accommodate the second rotor. During installation, the second rotor housing is located inside the stator housing and pivotally connected to the output shaft. The second rotor housing is tractably connected to the support assembly, so that during operation, the second rotor housing transmits at least a portion of the second output torque to the support assembly to drive the suspension.

3. The mobile platform according to claim 2, wherein, The front side of the first rotor further includes a plurality of first rotor magnet slots; and The front side of the second rotor further includes a plurality of second rotor magnet slots. The first rotor is substantially disk-shaped, and the plurality of first rotor magnet slots are equidistantly arranged along the edge of the front side of the first rotor. The size and shape of the plurality of first rotor magnet slots are configured to at least partially accommodate and securely mount the first rotor magnet assembly. The second rotor is substantially constructed as a disk, and the plurality of second rotor magnet slots are arranged equidistantly along the front edge of the second rotor, and the size and shape of the plurality of second rotor magnet slots are configured to at least partially accommodate and fix the second rotor magnet assembly.

4. The mobile platform according to claim 3, wherein, The stator housing further includes a stator housing body, at least one conduit penetrating the stator housing body, and at least one liquid conduit. Wherein, the size and shape of the wire hole defined by the at least one conduit on the stator housing body are configured to accommodate at least a portion of the conductor of the first stator winding and / or at least a portion of the conductor of the second stator winding to pass through and enter the stator housing body, and The size and shape of the liquid hole defined by the at least one liquid pipe on the stator housing body are configured to allow motor fluid to be injected into or discharged from the stator housing body.

5. The mobile platform according to claim 2, wherein, The support components include: The crank connecting rod includes an upper part and a lower part; plug; The damper includes an upper part and a lower part. The lower part of the crank connecting rod is tractably connected to the second rotor and / or the second rotor housing, the upper part of the crank connecting rod is tractably connected to the lower part of the damper via a pin, and the upper part of the damper is fixedly connected to the suspension, thereby driving the suspension via the support assembly with the second output torque.

6. A motor-driven mobile platform, comprising a suspension, a motor drive unit, a support assembly, and wheels, wherein: The motor drive unit includes: One output shaft; The first output torque drive subunit includes: The first stator includes a first stator front having a first stator winding and a first stator back opposite thereto; and The first rotor includes a first rotor front having a first rotor magnet group and a plurality of first rotor magnet slots and a first rotor back opposite thereto; The second output torque drive subunit includes: The second stator includes a second stator front having a second stator winding and a second stator back opposite thereto; and The second rotor includes a second rotor front side having a second rotor magnet assembly and a plurality of second rotor magnet slots, and a second rotor back side opposite thereto; and A stator housing includes a stator housing body, at least one conduit penetrating the stator housing body, and at least one liquid conduit. First rotor housing; and Second rotor housing, The support assembly includes a crank connecting rod and a damper. The lower part of the crank connecting rod is connected to the second rotor, and the upper part of the damper is connected to the suspension. The support assembly is used to convert the circumferential motion of the second rotor into the vertical motion of the suspension. The first stator and the first rotor are configured to match each other in size and shape. During installation, the first stator is connected to the output shaft via a first stator bearing, and the first rotor is concentrically and fixedly connected to the output shaft. The second stator is connected to the output shaft via a second stator bearing, and the second rotor is connected to the output shaft via a second rotor bearing. The second rotor is also connected to the lower part of the crank connecting rod, and the upper part of the damper is connected to the suspension. The first stator and the second stator are fixedly connected, and the back surfaces of the first stator and the second stator face each other and maintain a certain distance to isolate magnetic circuit coupling. The front surface of the first stator and the front surface of the first rotor face each other and maintain a certain distance to form a first output torque drive subunit, so that when working, the first stator of the motor drive unit drives the first rotor to generate a first output torque, so as to transmit torque and rotational power to the connected wheel through the output shaft to drive the wheel. The second stator and the second rotor are configured to match each other in size and shape. When installed, the front of the second stator and the front of the second rotor face each other and maintain a certain distance to form a second output torque drive subunit. This allows the second stator of the motor drive unit to drive the second rotor to generate a second output torque during operation. The second rotor drives the support assembly to convert the circumferential motion of the second rotor into the up-and-down motion of the suspension. In this configuration, the driving of the first stator on the first rotor and the driving of the second stator on the second rotor are independent of each other. The mobile platform includes an inner side and an outer side opposite to it. During installation, the first output torque drive subunit is located outside the second output torque drive subunit. The back surfaces of the first stator and the back surfaces of the second stator face each other and maintain a certain distance to isolate magnetic circuit coupling. The stator housing is sized and shaped to securely accommodate the first stator and the second stator, such that during installation, the stator housing is pivotally connected to the output shaft via the first stator and the second stator. The first rotor housing is sized and shaped to securely accommodate the first rotor. During installation, the first rotor housing is located outside the stator housing and is tractably connected to the output shaft. Thus, during operation, the first rotor housing transmits at least a portion of the first output torque to the output shaft to drive the wheel. The second rotor housing is sized and shaped to securely accommodate the second rotor. During installation, the second rotor housing is located inside the stator housing and pivotally connected to the output shaft. The second rotor housing is driveably connected to the support assembly, so that during operation, the second rotor housing transmits at least a portion of the second output torque to the support assembly to drive the suspension. The first rotor is substantially disk-shaped, and the plurality of first rotor magnet slots are equidistantly arranged along the edge of the front side of the first rotor. The size and shape of the plurality of first rotor magnet slots are configured to at least partially accommodate and securely mount the first rotor magnet assembly. The second rotor is substantially disk-shaped, and the plurality of second rotor magnet slots are equidistantly arranged along the edge of the front side of the second rotor. The size and shape of the plurality of second rotor magnet slots are configured to at least partially accommodate and securely mount the second rotor magnet assembly. Wherein, the size and shape of the wire hole defined by the at least one conduit on the stator housing body are configured to accommodate at least a portion of the conductor of the first stator winding and / or at least a portion of the conductor of the second stator winding to enter the stator housing body, and the size and shape of the liquid hole defined by the at least one liquid conduit on the stator housing body are configured to allow motor fluid to be injected into or discharged from the stator housing body.

7. A driving method for a mobile platform, configured on the mobile platform of claim 1, the driving method comprising the following steps: 1) The first rotor is controllably and independently driven by the first stator to generate a first output torque, thereby driving the wheel via the output shaft; as well as 2) The second rotor is controllably and independently driven by the second stator to generate a second output torque, thereby driving the suspension via the support assembly.

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