Motor structure, angle module and vehicle

Abstract

The invention relates to a motor structure, an angle module and a vehicle. The motor structure comprises a rotor and a mover, the stator comprises a first stator and a second stator which are connected with each other; wherein the rotor is adapted to cooperate with the first stator to provide a first motion form; the mover is adapted to cooperate with the second stator to provide a second form of motion. The first stator and the second stator are connected and integrated, so that the motor is more compact in structure and smaller in occupied space.

Description

Technical Field

[0001] This application relates to the field of vehicle suspension technology, and more particularly to a motor structure, corner module, and vehicle. Background Technology

[0002] Currently, in related technologies, the installation of motors is mostly done independently without any integrated design, resulting in a large space occupation. However, in some places, multiple motors are required and space is limited.

[0003] Therefore, a technical solution is needed to at least partially solve the above-mentioned technical problems. Summary of the Invention

[0004] This application provides a motor structure, a corner module, and a vehicle. The motor structure has a high degree of integration and reduces space occupation, thereby at least partially solving the above-mentioned technical problems.

[0005] To achieve the above objectives, according to a first aspect of this application, a motor structure is provided, comprising: Rotor; Movers; A stator, the stator comprising a first stator and a second stator connected to each other; The rotor is adapted to cooperate with the first stator to provide a first form of motion; the mover is adapted to cooperate with the second stator to provide a second form of motion.

[0006] In some embodiments, the first motion is that the rotor is driven to rotate, and the second motion is that the mover is driven to move linearly.

[0007] In some embodiments, the rotor is at least partially mounted within the first stator; and / or The mover is at least partially installed within the second stator.

[0008] In some embodiments, a guiding mechanism is included, through which one end of the mover is adapted to the second stator to provide guidance for the movement of the mover.

[0009] In some embodiments, the rotor includes a shaft coaxially disposed on the rotor, and a transmission element is provided at the end of the shaft away from the second stator, the transmission element being adapted to connect with a wheel to drive the wheel to steer.

[0010] In some embodiments, the rotor is arranged at a predetermined angle to the axis of the mover.

[0011] In some embodiments, the rotor and the mover are arranged coaxially.

[0012] In some embodiments, a first housing is included, in which the first stator and the second stator are at least partially disposed, and the shafts of the rotor and the mover extend at least partially from both ends of the first housing.

[0013] In some embodiments, the connection between the first stator and the second stator includes at least one of bolted connection, threaded connection, snap-fit, adhesive bonding and welding.

[0014] A second aspect of this application provides an angle module including the aforementioned motor structure.

[0015] In some embodiments, a first suspension arm is included, the first suspension arm having a first end connected to the vehicle body and a second end connected to a wheel.

[0016] In some embodiments, a second suspension arm is included, the second suspension arm having a third end connected to the rotor of the motor structure, and the second suspension arm having a fourth end connected to the wheel.

[0017] In some embodiments, a first suspension arm and a second suspension arm are included, the first suspension arm having a first end connected to the vehicle body and the second suspension arm having a second end connected to the wheel; The second suspension arm has a third end connected to the rotor of the motor structure, and the second suspension arm has a fourth end connected to the wheel.

[0018] In some embodiments, the second suspension arm has a fifth end connected to the fifth end, and the first suspension arm is connected to the wheel via the second suspension arm.

[0019] In some embodiments, a first end of the first suspension arm is fixedly connected to the body of the motor structure, the second suspension arm has a fifth end, the fifth end is rotatably mounted on a second end of the first suspension arm and / or the body of the motor structure, and the fourth end is connected to a wheel.

[0020] In some embodiments, the first suspension arm includes a first bracket; The first bracket is connected to the body of the motor structure to at least support the motor structure.

[0021] In some embodiments, the first stator and the second stator are spaced apart along the height direction of the vehicle, and the first bracket includes a first arm, a second arm, and a first connecting arm. The first connecting arm extends along the height direction of the vehicle. The first support arm and the second support arm are respectively disposed at both ends of the first connecting arm. The first support arm is supported on the end of the second stator opposite to the first stator, and the second support arm is constructed as part of the second end.

[0022] In some embodiments, the first suspension arm further includes a second bracket connected to the body of the motor structure and / or the first bracket to at least support the motor structure.

[0023] In some embodiments, the second support includes a third arm, a fourth arm, and a second connecting arm; The second connecting arm extends along the height direction of the vehicle, and the third and fourth arms are respectively located at both ends of the second connecting arm. The fourth arm is constructed as part of the first end, and the third arm is constructed as part of the second end. The second end is used to connect with the wheel.

[0024] In some embodiments, the third arm is mounted on the body of the motor structure and / or the first bracket.

[0025] In some embodiments, the second suspension arm is rotatably mounted on the body of the first suspension arm and / or the motor structure.

[0026] In some embodiments, the second suspension arm includes a fifth arm, a sixth arm, and a third connecting arm, wherein the fifth arm and the sixth arm are respectively disposed at both ends of the third connecting arm, and the third connecting arm is configured as part of the fourth end.

[0027] In some embodiments, the fifth arm is rotatably mounted on the first suspension arm and / or the motor structure, and the fifth arm is configured as part of the fifth end.

[0028] In some embodiments, the rotor includes a shaft coaxially mounted on the rotor, a transmission element is provided at one end of the shaft away from the second stator, the sixth arm is connected to the rotor via the transmission element, the sixth arm is driven by the rotor, causing the second suspension arm to rotate about the rotor, and the sixth arm is configured as part of the third end.

[0029] In some embodiments, a hub motor is included, wherein the rotor component of the hub motor is connected to the hub of the wheel, and the stator component of the hub motor is connected to the second suspension arm.

[0030] In some embodiments, a controller is mounted on the motor structure, the controller being configured to control the motor structure and the hub motor.

[0031] In some embodiments, the motor structure is mounted on the first suspension arm, the first suspension arm including a first bracket, the first bracket including a first arm and a second arm, the first arm supporting the motor structure at the end away from the mover, the second arm being mounted on the motor structure at a predetermined distance from the first arm; the controller is mounted on the motor structure between the first arm and the second arm.

[0032] In some embodiments, the controller is mounted at the end of the motor structure away from the rotor.

[0033] In some embodiments, the controller is housed within a second housing, which is mounted on the motor structure.

[0034] In some embodiments, the second housing is a hollow cylindrical shape.

[0035] In some embodiments, an air spring is mounted on the motor structure, the air spring being connected to the vehicle body to provide shock absorption for the vehicle body.

[0036] In some embodiments, the air spring is mounted on the linear motor.

[0037] According to a third aspect of this application, a vehicle is provided, characterized in that it includes the aforementioned corner module.

[0038] In the motor structure of this application embodiment, the first stator and the second stator are connected, the first stator is fitted with the rotor, and the second stator is fitted with the mover to achieve the integration of two motors, making the motor structure compact and occupying less space, which can be used in components such as corner modules of vehicles.

[0039] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0041] Figure 1 This is a schematic diagram of the motor structure provided in an exemplary embodiment of this application; Figure 2 This is a three-dimensional structural diagram of the motor structure mounting air spring provided in an exemplary embodiment of this application; Figure 3 This is a cross-sectional structural diagram of the motor structure mounting air spring provided in an exemplary embodiment of this application; Figure 4 This is a schematic diagram of the motor structure and the first suspension arm mounting provided in an exemplary embodiment of this application; Figure 5 This is a schematic diagram of the motor structure and the installation of the first suspension arm, the second suspension arm, and the air spring provided in an exemplary embodiment of this application; Figure 6 This is an exploded view of the corner module provided in an exemplary embodiment of this application; Figure 7 This is a schematic diagram of the motor structure and the installation of the first suspension arm, the second suspension arm, and the controller provided in an exemplary embodiment of this application; Figure 8 These are schematic diagrams showing the controller installed at different positions on the corner module according to an exemplary embodiment of this application; Figure 9 This is a schematic diagram of a controller control method provided in an exemplary embodiment of this application.

[0042] Explanation of reference numerals in the attached figures: 1-Motor structure; 10-Rotating motor; 101-First stator; 102-Rotor; 103-Shaft; 104-Transmission component; 11-Linear motor, 111-Second stator, 112-Motor, 113-First housing, 114-Guide mechanism, 1141-Guide post; 12-First suspension arm, 121-First bracket, 1211-First support arm, 1212-Second support arm, 1213-First connecting arm, 1214-Support plate, 122-Second bracket, 1221-Third support arm, 1222-Fourth support arm, 1223-Second connecting arm; 13-Second suspension arm, 131-Fifth support arm, 132-Sixth support arm, 133-Third connecting arm; 14-Controller, 141-Second housing; 15-Air spring, 151-Airbag, 152-Top cover, 153-Snap fastener; 16-Ground motor; 17-Wheel. Detailed Implementation

[0043] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0044] In existing technologies, the corner module of a vehicle integrates the steering system, suspension system, and drive system to a certain extent, but it still has some drawbacks, including: the steering system is located at the support column of the double wishbone, and the suspension system is located at the lower wishbone of the double wishbone, without the possibility of further high-level integration and space optimization; the placement space of the electronic control units of the steering system, suspension system, and drive system is not considered. Under the existing layout scheme, the electronic control units need to be placed outside the overall corner module unit, requiring an additional 1 to 3 electronic control units and a large number of connecting harnesses to control the above systems. The electronic control units need to be connected to the three systems through independent wiring harnesses, which increases the complexity and cost of the system. A first aspect of this application provides an electric motor structure 1, see [link to relevant documentation]. Figure 1 and Figure 3 The motor structure 1 includes a rotor 102 and a mover 112, as well as a stator. The stator includes a first stator 101 and a second stator 111 connected to each other. The rotor 102 is adapted to cooperate with the first stator 101 to provide a first motion mode; the mover 112 is adapted to cooperate with the second stator 111 to provide a second motion mode. The first motion mode is that the rotor 102 is driven to perform rotational motion, and the second motion mode is that the mover 112 is driven to perform linear motion.

[0045] Specifically, in the first motion mode, when energized, the first stator 101 drives the rotor 102 to rotate; in the second motion mode, when energized, the second stator 111 drives the rotor 112 to move along the axis of the rotor 112. It can be understood that the first stator 101 and the rotor 102 constitute a rotary motor 10, and the second stator 111 and the rotor 112 constitute a linear motor 11. The first stator 101 and the second stator 111 are interconnected, allowing the rotary motor 10 and the linear motor 11 to share a single integrated stator, making the overall motor structure 1 more compact, simpler, and requiring less space.

[0046] Furthermore, the connection between the first stator 101 and the second stator 111 can be either a direct connection or an indirect connection. A direct connection includes at least one of bolted connections, threaded connections, snap-fit ​​connections, adhesive bonding, and welding. It is understood that the first stator 101 and the second stator 111 are physically connected to form a single rigid stator. The connection method can be one or more of bolted connections, threaded connections, snap-fit ​​connections, adhesive bonding, and welding; typically, only one connection method is needed. An indirect connection involves connecting the first stator 101 and the second stator 111 through a third component. For example, the first stator 101 and the second stator 111 are installed within a first housing 113, which serves as the third component, connecting the first stator 101 and the second stator 111 as a single unit. Additionally, in the corner module applied to the wheel 17, the rotary motor 10 is a motor that drives its rotor 102 to rotate around the axis of the rotor 102 after being energized, enabling steer-by-wire control of the wheel 17. A linear motor 11 replaces the traditional helical spring shock absorber, forming an electromagnetic shock absorber. Furthermore, the rotary motor 10 includes a disc motor. The stator of the disc motor is typically a flat disc with embedded coils. When the stator coils are energized, the generated magnetic field acts on the magnetic poles or induction coils on the rotor 102, generating electromagnetic force and driving the rotor 102 to rotate. The rotational motion of the rotor 102 outputs mechanical energy through the motor shaft. Disc motors feature high power density, high efficiency, and fast response, making them suitable for applications requiring high-precision control and rapid response, providing a hardware foundation for more advanced intelligent driving systems. The first stator 101 is connected to the second stator 111, and both stators are enclosed by a common first housing 113.

[0047] In some implementations, please refer to Figure 1 and Figure 3 The rotor 102 is at least partially mounted within the first stator 101; and / or, the mover 112 is at least partially mounted within the second stator 111. It is understood that the rotary motor 10 includes a first stator 101 and a rotor 102, with the rotor 102 at least partially mounted within the first stator 101. When the first stator 101 is energized, it drives the rotor 102 to rotate. The rotor 102 can partially extend beyond the first stator 101 to connect with other structures, such as vehicle steering components, to control vehicle steering. The linear motor 11 includes a second stator 111 and a mover 112. When the second stator 111 is energized, it drives the mover 112 to move. Similarly, the mover 112 can partially extend beyond the second stator 111 to connect with other components, such as vehicle body or suspension components. By embedding the rotor 102 and the mover 112 within the stator, a solution is formed where the rotor 102 and the mover 112 are internally mounted, facilitating the integration of the rotary motor 10 and the linear motor 11 into a single unit.

[0048] In some implementations, please refer to Figure 6 The system includes a guide mechanism 114, through which one end of the mover 112 is adapted and installed to the second stator 111 to guide the movement of the mover 112 in the second motion form. It can be understood that the mover 112 moves linearly relative to the second stator 111, guided by the guide mechanism 114. The guide mechanism 114 includes a guide member mounted on the mover 112 and a guide groove disposed on the second stator 111. The guide member is installed in the guide groove, allowing it to move along the groove. The guide groove is a linear guide groove disposed within the second stator 111. The guide mechanism 114 includes multiple guide posts 1141, which are installed in the guide groove for engaging with it. Typically, 3-5 guide posts 1141 are evenly distributed at the end of the mover 112.

[0049] In some implementations, please refer to Figure 6 The rotor 102 includes a shaft 103, and a transmission member 104 is provided at one end of the shaft 103 away from the second stator 111. The transmission member 104 is adapted to be connected to a wheel 17 to drive the wheel 17 to steer. The transmission member 104 is used to transmit power from the shaft 103 to the driven component, and can be composed of one or more gears or spline sets, or a pulley set. The transmission member 104 is used to transmit power to the wheel 17 so that the wheel 17 is driven to steer.

[0050] In some embodiments, the axes of rotor 102 and mover 112 are arranged at a predetermined angle. It is understood that, to improve spatial layout flexibility and adapt to various corner module designs or other structural layouts, the rotor 102 and mover 112 are arranged at a predetermined angle, meaning their axes are set at a predetermined angle, for example, between 0° and 60°. When the axes of rotor 102 and mover 112 are at 0°, their axes are parallel or coincident. A preferred embodiment is described in [reference needed]. Figures 1 to 3 The rotor 102 and the mover 112 are coaxially arranged, which facilitates the manufacturing of the structure of the first stator 101 and the second stator 111. The force borne by the rotor 102 and the mover 112 can be evenly distributed to the first stator 101 and the second stator 111. In addition, the structure can be made more compact and smaller in size.

[0051] In some implementations, please refer to Figure 1 and Figure 3The system includes a first housing 113, in which the first stator 101 and the second stator 111 are at least partially disposed. The shafts of the rotor 102 and the mover 112 extend at least partially from both ends of the first housing 113. It is understood that the first stator 101 and the second stator 111 are integrally connected by having a common first housing 113, thus integrating their structures. The shafts of the rotor 102 and the mover 112 extend at least partially from both ends of the first housing 113. In other words, the shafts of the rotor 102 and the mover 112 are respectively mounted at opposite or substantially opposite ends of the first housing 113, facilitating their installation with other components, particularly when the rotor 102 and the mover 112 are coaxially arranged.

[0052] For the second aspect of this application, please refer to Figure 1 , Figure 3 and Figure 4 A corner module is provided, including the aforementioned motor structure 11. Since this corner module possesses all the technical features of the motor structure 1, it also possesses all its beneficial effects. It is understood that because the corner module incorporates the aforementioned motor structure 1, the corner module can be steered by a rotary motor 10 and damped by a linear motor 11, resulting in a higher degree of vehicle electrification and providing active damping functionality. This corner module does not use traditional coil spring shock absorbers, thus reducing space requirements and resulting in higher integration and fewer components.

[0053] In some implementations, please refer to Figures 4 to 6 The system includes a first suspension arm 12, which has a first end connected to the vehicle body and a second end connected to the wheel 17. The second end of the first suspension arm 12 is fixedly mounted to the body of the motor structure 1 to support the vehicle body. It is understood that the first suspension arm 12 supports the motor structure 1 and facilitates its installation with other components, such as mounting the motor structure 1 to the wheel 17 via the first suspension arm 12. The first suspension arm 12 can have various structures, including, for example, a double wishbone, a single lateral arm / single wishbone, a multi-link, a trailing arm, an H-arm, etc.

[0054] In some embodiments, a second suspension arm 13 is included. The second suspension arm 13 has a third end connected to the rotor 102 of the motor structure 1 and a fourth end connected to the wheel 17. It is understood that the third end of the second suspension arm 13 is connected to the rotor 102 of the motor structure 1, and the fourth end of the second suspension arm 13 is connected to the wheel 17. The rotor 102 drives the second suspension arm 13 to rotate about the axis of the rotor 102, thereby steering the wheel 17. In some embodiments, a first suspension arm 12 and a second suspension arm 13 are included. The first suspension arm 12 has a first end connected to the vehicle body and a second end connected to the wheel 17. The second suspension arm 13 has a third end connected to the rotor 102 of the motor structure 1 and a fourth end connected to the wheel 17. The second end of the first suspension arm 12 is fixedly mounted to the body of the motor structure 1 to support the vehicle body. It is understood that the first suspension arm 12 supports the motor structure 1 and facilitates its installation with other components, such as mounting the motor structure 1 to the wheel 17 via the first suspension arm 12. The third end of the second suspension arm 13 is connected to the rotor 102 of the motor structure 1, and the fourth end of the second suspension arm 13 is connected to the wheel 17. The rotor 102 drives the second suspension arm 13 to rotate around a preset axis. For example, the second suspension arm 13 rotates around the axis of the rotor 102 so that it drives the wheel 17 to steer.

[0055] Furthermore, the second suspension arm 13 has a fifth end, which is connected to the first suspension arm 12, and the first suspension arm 12 is connected to the wheel 17 via the second suspension arm 13. It can be understood that by connecting the fifth end of the second suspension arm 13 to the second end of the first suspension arm 12, the second suspension arm 13 is mounted on the first suspension arm 12 to transmit load between the first suspension arm 12 and the second suspension arm 13. The fifth end of the second suspension arm 13 is rotatably mounted to the second end of the first suspension arm 12, such that the rotor 102 drives the second suspension arm 13 to rotate about a predetermined axis.

[0056] The first end of the first suspension arm 12 is fixedly connected to the body of the motor structure 1. The second suspension arm 13 has a fifth end, which is rotatably mounted on the first end of the first suspension arm 12 and / or the body of the motor structure 1. The fourth end is connected to the wheel 17. It can be understood that the first suspension arm 12 is fixedly mounted to the body of the motor structure 1 via its first end, and the second suspension arm 13 is mounted to the second end of the first suspension arm 12 and / or the body of the motor structure 1 via its fifth end. The body of the motor structure 1 should have sufficient strength to form a load-bearing connection between the second suspension arm 13 and the first suspension arm 12 and / or the motor structure 1. The fourth end is connected to the wheel 17 to provide steering drive for the vehicle. The body of the motor structure 1 is typically the housing of the motor structure, or a part of the motor that is excluded from the movement of the rotor, stator, etc., such as the stator of the motor structure.

[0057] In some implementations, please refer to Figures 4 to 6 The first suspension arm 12 includes a first bracket 121; the first bracket 121 is connected to the body of the motor structure 1 to at least support the motor structure 1. It is understood that the first bracket 121 is connected to the body of the motor structure 1, which is either the stator or the housing of the motor structure 1, to provide support for the motor structure 1.

[0058] In some embodiments, the first stator 101 and the second stator 111 are spaced apart along the height direction of the vehicle. The first bracket 121 includes a first support arm 1211, a second support arm 1212, and a first connecting arm 1213. The first connecting arm 1213 extends along the height direction of the vehicle. The first support arm 1211 and the second support arm 1212 are respectively disposed at two ends of the first connecting arm 1213 at a set angle. The first support arm 1211 is supported on one end of the second stator 111 away from the first stator 101. The second support arm 1212 is constructed as part of the second end. The first support arm 1211 and the second support arm 1212 are arranged on the same side of the first connecting arm 1213 to facilitate the installation of the first bracket 121 with the motor structure 1. It is understood that the first stator 101 and the second stator 111 are spaced apart along the height direction of the vehicle to support the vehicle body. The first connecting arm 1213 extends along the height direction of the vehicle to support the first support arm 1211 and the second support arm 1212 in the height direction of the vehicle. The first support arm 1211 and the second support arm 1212 are located at both ends of the first connecting arm 1213. The connection between the first support arm 1211, the second support arm 1212 and the first connecting arm 1213 can be set at an angle to form various installation methods and adjust the installation structure according to the spatial arrangement. Among them, the first support arm 1211 is supported on the end of the second stator 111 away from the first stator 101 to fix it to the motor structure 1. The second support arm 1212 is part of the second end of the first suspension arm 12 to connect to the fifth end of the second suspension arm 13.

[0059] The first bracket 121, consisting of the first support arm 1211, the second support arm 1212, and the first connecting arm 1213, forms a C-shaped structure to facilitate installation with the motor structure 1. The angle between the first support arm 1211, the second support arm 1212, and the first connecting arm 1213 can be 60°-120°, and typically the first support arm 1211 and the second support arm 1212 are positioned nearly perpendicularly to the first connecting arm 1213.

[0060] The second support arm 1212 is installed on the motor structure 1 at a predetermined distance from the first support arm 1211. The first support arm 1211 and the second support arm 1212 together provide support for the motor structure 1. The first support arm 1211 is C-shaped, and a support plate 1214 is provided in the middle of the first support arm 1211 for installation at the end of the motor structure 1 away from the mover 112. In other words, the support plate 1214 supports the lower end of the rotary motor 10. The second support arm 1212 is installed at a predetermined distance from the first support arm 1211. Typically, the second support arm 1212 is fixedly installed in the middle or slightly above the middle of the motor structure 1 to withstand a greater load and provide a stable mounting structure.

[0061] In some implementations, please refer to Figures 4 to 6 The first suspension arm 12 is a double wishbone including a first bracket 121 and a second bracket 122. It can be understood that the first suspension arm 12 is a double wishbone structure including two brackets, which enables the corner module composed of the motor structure 1 and the double wishbone to take into account both precise vehicle handling and stability, can accurately control the movement of the wheel 17, resist brake dive, and can better adapt to the installation of the aforementioned motor structure 1 and the air spring 15.

[0062] In some implementations, please refer to Figures 4 to 5 The first suspension arm 12 includes a second bracket 122, which is connected to the body of the motor structure 1 and / or the first bracket 121 to at least support the motor structure 1. It is understood that the second bracket 122 can be disposed on the body (housing) of the motor structure 1, or it can be disposed on the first bracket 121, such as... Figure 4 In this configuration, the second bracket 122 is positioned above or on top of the first bracket 121, thereby fixing the second bracket 122, the first bracket 121, and the motor structure 1 together.

[0063] The second bracket 122 includes a third arm 1221, a fourth arm 1222, and a second connecting arm 1223. The second connecting arm 1223 extends along the height direction of the vehicle. The third arm 1221 and the fourth arm 1222 are respectively disposed at two ends of the second connecting arm 1223 at a set angle. The fourth arm 1222 is constructed as part of the first end, and the third arm 1221 is constructed as part of the second end. The second end is used to connect with the wheel 17, such that the third arm 1221 and the second arm 1222 together constitute the second end. The second end is used to connect directly or indirectly with the wheel 17. The third arm 1221 and the fourth arm 1222 are arranged on the same side of the second connecting arm 1223. It is understood that the third arm 1221 and the fourth arm 1222 are respectively positioned at the two ends of the second connecting arm 1223 at a predetermined angle, and the third arm 1221 and the fourth arm 1222 are arranged on the same side of the second connecting arm 1223 to facilitate installation with the motor structure 1. The angle between the third arm 1221, the fourth arm 1222 and the second connecting arm 1223 can be 60°-120°, and usually the third arm 1221 and the fourth arm 1222 are set perpendicular to the second connecting arm 1223.

[0064] In some implementations, please refer to Figures 4 to 5The third support arm 1221 is mounted on the motor structure 1 and / or the first bracket 121. It can be understood that the third support arm 1221 can be mounted on both the motor structure 1 and the first bracket 121, or on either the motor structure 1 or the first bracket 121; either mounting method can be chosen during implementation, and both will serve to support the motor structure 1. Furthermore, the third support arm 1221 is typically mounted in the middle of the motor structure 1, and the fourth support arm 1222 is used for connection and installation with other components to provide load-bearing capacity, such as for installation with vehicle body components.

[0065] In some implementations, please refer to Figures 4 to 6 The second suspension arm 13 is rotatably mounted on the body of the first suspension arm 12 and / or the motor structure 1. It is understood that the second suspension arm 13 supports the first suspension arm 12, and the second suspension arm 13 rotates relative to the first suspension arm 12 / motor structure 1. Specifically, the fourth end of the second suspension arm 13 is rotatably mounted on the body of the first suspension arm 12 and / or the motor structure 1.

[0066] The rotary motor 10 is configured to drive the second suspension arm 13 to rotate. It can be understood that by controlling the rotary motor 10, the angle and speed of rotation of the second suspension arm 13 relative to the first suspension arm 12 can be controlled. Typically, a wheel 17 is mounted on the second suspension arm 13 for vehicle steering.

[0067] In some embodiments, the second suspension arm 13 includes a fifth arm 131, a sixth arm 132, and a third connecting arm 133. The fifth arm 131 and the sixth arm 132 are respectively disposed at both ends of the third connecting arm 133 at a set included angle. The third connecting arm 133 is constructed as part of the fourth end to form the structure of the second suspension arm 13, which is connected to the wheel 17. Typically, the fifth arm 131, the sixth arm 132, and the third connecting arm 133 are configured in a C-shape to form a C-shaped second suspension arm 13. The two ends of the C-shaped second suspension arm 13 are convenient for installation with the first suspension arm 12 and / or the motor structure 1. The fifth arm 131 is rotatably mounted on the first suspension arm 12 and / or the motor structure 1. It is understood that the fifth support arm 131 can be mounted on the first suspension arm 12 or the motor structure 1, such that the second suspension arm 13 can rotate relative to the first suspension arm 12 and the motor structure 1. Typically, the fifth support arm 131 is rotatably mounted on the first suspension arm 12 to provide load-bearing capacity for the motor structure 1 mounted on the first suspension arm 12. In some embodiments, the fifth support arm 131 is rotatably mounted on the first suspension arm 12 and / or the motor structure 1, and the fifth support arm 131 is configured as part of the fifth end, and the fifth support arm 131 is rotatably connected to the first end of the first suspension arm 12.

[0068] Furthermore, the rotor 102 includes a rotating shaft 103 coaxially mounted on the rotor 102. A transmission member 104 is provided at the end of the rotating shaft 103 away from the second stator 111. The sixth support arm 132 is connected to the rotor 102 via the transmission member 104, and the sixth support arm 132 is driven by the rotor 102, causing the second suspension arm 13 to rotate around the rotor 102. The sixth support arm 132 is driven by the rotor 102 via a rotary motor 10, which drives the rotor 102 to rotate, thereby rotating the sixth support arm 132. The sixth support arm 132 is constructed as part of the third end. It can be understood that the sixth support arm 132 is configured to be driven by the rotary motor 10 to control the relative rotation of the second suspension arm 13 and the first suspension arm 12. The second suspension arm 13 is used to mount the wheel 17, thereby controlling the rotation of the wheel 17 by controlling the relative rotation of the second suspension arm 13 and the first suspension arm 12. A transmission component 104 is mounted on the rotating shaft 103 of the rotary motor 10. A transmission part that cooperates with the transmission component 104 is provided at the third end of the second suspension arm 13. In other words, the sixth arm 132 is the third end, and a transmission part that cooperates with the transmission component 104 is provided on it. The transmission component 104 and the transmission part are gears, splines, or other power transmission components, so that the transmission component 104 drives the transmission part to drive the second suspension arm 13 to rotate, so that the two transmit power to each other.

[0069] The rotor 102 of the rotary motor 10 has a shaft 103 that is connected to the sixth arm 132 via a transmission component 104. The transmission component 104 can be a gear or spline transmission method. The sixth arm 132 is provided with a corresponding transmission part that meshes with the gear or spline, so that the rotor 102 rotates and drives the sixth arm 132 to rotate, and the sixth arm 132 drives the entire second suspension arm 13 to rotate.

[0070] Please refer to some implementation methods Figure 3 and Figure 8 The system includes a hub motor 16, which comprises a rotor 102 and a stator that cooperate with each other. The rotor 102 is connected to the hub of the wheel 17, and the stator is connected to the second suspension arm 13. It is understood that the hub motor 16 is used to drive the vehicle. Therefore, the hub motor 16, the steering motor (rotary motor 10), and the suspension motor (linear motor 11) can be integrated into the corner module, resulting in higher integration of the entire corner module and enabling drive-by-wire adjustment for all components. It should be noted that the rotor 102 is driven to rotate the vehicle's wheel hub, and the stator is connected to the second suspension arm 13 to fix the hub motor 16. The rotor 102 is rotatably mounted on the stator.

[0071] In some implementations, please refer to Figure 8 and Figure 9 A controller 14 is mounted on the motor structure 1, and the controller 14 is configured to control the motor structure 1 and the hub motor 16. It can be understood that the motor structure 1 includes a linear motor 11 and a rotary motor 10. The control units for the linear motor 11, rotary motor 10, and hub motor 16 are integrated into one unit and controlled by a single controller 14, making the controller 14 occupy less space and easier to arrange. The controller 14 is connected to the electromagnetic suspension drive unit, the steering drive unit, and the hub motor 16 drive unit, respectively, which drive the linear motor 11, the rotary motor 10, and the hub motor 16. Based on the collected angle signal, torque signal, vehicle status signal, torque signal, and wheel speed signal, the controller 14 controls the steering drive unit to drive the rotary motor 10, thereby driving the second suspension arm 13 to rotate for steering control. The controller 14, based on collected road surface information, steering angle signals, gyroscope signals, vehicle height sensor signals, vehicle status signals, wheel speed signals, and vehicle acceleration sensor signals, controls the suspension drive unit to drive the linear motor 11 to move linearly along the axis, thereby controlling the longitudinal direction of the vehicle body. The controller 14, based on collected drive signals and acceleration sensor signals, controls the wheel hub motor 16 drive unit to drive the wheel hub motor 16 to drive the vehicle, enabling the vehicle to move.

[0072] In some implementations, please refer to Figures 5 to 7 The motor structure 1 is mounted on the first suspension arm 12. The first suspension arm 12 includes a first bracket 121, which includes a first support arm 1211 and a second support arm 1212. The first support arm 1211 is supported on the body of the motor structure 1 at the end away from the mover 112. The second support arm 1212 is mounted on the motor structure 1 at a predetermined distance from the first support arm 1211. The controller 14 is mounted on the motor structure 1 between the first support arm 1211 and the second support arm 1212. It can be understood that by using the aforementioned corner module, the controller 14 is mounted between the first support arm 1211 and the second support arm 1212 to improve the space utilization of the corner module, making the controller 14 close to the hub motor 16, the steering motor, and the linear motor 11, thus reducing the use of wiring harnesses. In some implementations, please refer to Figures 5 to 7 The controller 14 is installed at the end of the motor structure 1 away from the rotor 102. It can be understood that this embodiment provides another way of installing the controller 14, in which the controller 14 is installed at the end of the motor structure 1 away from the rotor 102 (steering motor). In other words, the controller 14 is installed at the end of the linear motor 11 to reduce space requirements, improve space utilization, and improve the integration of the corner module.

[0073] In some implementations, please refer to Figures 5 to 7 The controller 14 is mounted on the motor structure 1 via the second housing 141. It is understood that the controller 14 is installed within the second housing 141, which provides protection and fixation for the controller 14. The mounting method within the second housing 141 can be various, and the circuit board of the controller 14 is adapted for mounting within the second housing 141.

[0074] The second housing 141 can be configured in various forms; for example, it can be cylindrical. When the second housing 141 is a hollow column, the controller 14 is housed within it, and the second housing 141 is fitted onto the motor structure 1, located between the first support arm 1211 and the second support arm 1212. Alternatively, when the second housing 141 is a hollow column, it can also be located at the end of the motor structure 1 furthest from the steering motor, i.e., at the end of the linear motor 11, positioned above it. This configuration allows the second housing 141 to make fuller use of the gaps between the corner modules.

[0075] In some implementations, please refer to Figure 2 , Figure 3 and Figure 5An air spring 15 is mounted on the motor structure 1. The air spring 15 is connected to the vehicle body to provide shock absorption. It can be understood that mounting the air spring 15 on the motor structure 1 improves the shock absorption performance of the linear motor 11, resulting in better overall suspension system shock absorption and improved vehicle vibration performance. Based on the original active suspension control of the linear motor 11, the passive suspension control of the air spring 15 is added, realizing an integrated active and passive suspension system. The air spring 15 is mounted on the motor structure 1, with at least one end attached to the motor structure 1 to provide support, and the other end connected to the vehicle body to provide support. Alternatively, the air spring 15 can be fitted onto the motor structure 1 to make the corner module structure more compact.

[0076] In some implementations, please refer to Figure 2 , Figure 3 and Figure 5 The air spring 15 is mounted on the linear motor 11. It is understood that since the linear motor 11 and the rotary motor 10 are positioned opposite each other, the linear motor 11 is used for shock absorption, and the steering motor is used to control the vehicle's steering. The air spring 15 is mounted on the linear motor 11 to facilitate its placement and reduce the space requirement of the corner module. Furthermore, one installation method for the air spring 15 is that one end of the air spring 15 directly abuts against the linear motor 11 (the housing of the linear motor 11), and the other end abuts against the vehicle body; another installation method for the air spring 15 is that the air spring 15 has a cavity in the middle, and the air spring 15 is at least partially fitted onto the linear motor 11 to reduce the requirement for installation air. The air spring 15 includes an airbag 151 and a top cover 152. The airbag 151 has a cavity in the middle to accommodate the linear motor 11, allowing the airbag 151 to be fitted over the linear motor 11. One side of the airbag 151 is fixedly mounted to the housing of the linear motor 11 via a clip 153, and the other side is mounted to the outer edge of the top cover 152 near the linear motor 11 via a clip 153, so that the top cover 152, the linear motor 11, and the airbag 151 form a space for containing gas. Furthermore, the top cover 152 has a hole through which the mover 112 of the linear motor 11 passes, and the top cover 152 is mounted to the end of the linear motor 11. A third aspect of this application provides a vehicle including the aforementioned corner module. Since this vehicle possesses all the technical features of the corner module, it also possesses all its technical effects. A vehicle equipped with this corner module can improve the vehicle's integration and space utilization.

[0077] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0078] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0079] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0080] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A motor structure (1), characterized in that, include: Rotor (102); Motion (112); The stator includes a first stator (101) and a second stator (111) connected to each other; The rotor (102) is adapted to cooperate with the first stator (101) to provide a first motion mode; the mover (112) is adapted to cooperate with the second stator (111) to provide a second motion mode.

2. The motor structure (1) according to claim 1, characterized in that, The first motion is that the rotor (102) is driven to rotate, and the second motion is that the mover (112) is driven to move linearly.

3. The motor structure (1) according to claim 1, characterized in that, The rotor (102) is at least partially mounted within the first stator (101); and / or The mover (112) is at least partially installed within the second stator (111).

4. The motor structure (1) according to claim 1, characterized in that, Includes a guide mechanism (114), one end of the mover (112) is adapted to be installed with the second stator (111) through the guide mechanism (114) to provide guidance for the movement of the mover (112).

5. The motor structure (1) according to claim 1, characterized in that, The rotor (102) includes a shaft (103) coaxially disposed on the rotor (102), and a transmission member (104) is provided at one end of the shaft (103) away from the second stator (111). The transmission member (104) is adapted to be connected to a wheel (17) to drive the wheel (17) to turn.

6. The motor structure (1) according to claim 1, characterized in that, The rotor (102) and the moving part (112) are arranged at a set angle.

7. The motor structure (1) according to claim 1, characterized in that, The rotor (102) and the mover (112) are coaxially arranged.

8. The motor structure (1) according to claim 1, characterized in that, Includes a first housing (113), the first stator (101) and the second stator (111) are at least partially disposed within the first housing (113), and the shaft of the rotor (102) and the shaft of the mover (112) extend at least partially from both ends of the first housing (113).

9. The motor structure (1) according to claim 1, characterized in that, The connection between the first stator (101) and the second stator (111) includes at least one of bolt connection, threaded connection, snap-fit, adhesive bonding and welding.

10. A corner module, characterized in that, Includes the motor structure (1) as described in any one of claims 1-9.

11. The corner module according to claim 10, characterized in that, It includes a first suspension arm (12), which has a first end connected to the vehicle body and a second end connected to the wheel (17).

12. The corner module according to claim 10, characterized in that, It includes a second suspension arm (13), which has a third end connected to the rotor (102) of the motor structure (1) and a fourth end connected to the wheel (17).

13. The corner module according to claim 10, characterized in that, It includes a first suspension arm (12) and a second suspension arm (13), the first suspension arm (12) having a first end connected to the vehicle body and a second end connected to the wheel (17); The second suspension arm (13) has a third end connected to the rotor (102) of the motor structure (1), and the second suspension arm (13) has a fourth end connected to the wheel (17).

14. The corner module according to claim 13, characterized in that, The second suspension arm (13) has a fifth end, which is connected to the fifth end, and the first suspension arm (12) is connected to the wheel (17) through the second suspension arm (13).

15. The corner module according to claim 13, characterized in that, The first end of the first suspension arm (12) is fixedly connected to the body of the motor structure (1), the second suspension arm (13) has a fifth end, the fifth end is rotatably mounted on the second end of the first suspension arm (12) and / or the body of the motor structure (1), and the fourth end is connected to the wheel (17).

16. The corner module according to claim 15, characterized in that, The first suspension arm (12) includes a first bracket (121); The first bracket (121) is connected to the body of the motor structure (1) to at least support the motor structure (1).

17. The corner module according to claim 16, characterized in that, The first stator (101) and the second stator (111) are spaced apart along the height direction of the vehicle, and the first bracket (121) includes a first support arm (1211), a second support arm (1212) and a first connecting arm (1213); The first connecting arm (1213) extends along the height direction of the vehicle. The first support arm (1211) and the second support arm (1212) are respectively disposed at both ends of the first connecting arm (1213). The first support arm (1211) is supported on the end of the second stator (111) away from the first stator (101). The second support arm (1212) is constructed as part of the second end.

18. The corner module according to claim 16, characterized in that, The first suspension arm (12) further includes a second bracket (122), which is connected to the body of the motor structure (1) and / or the first bracket (121) to at least support the motor structure (1).

19. The corner module according to claim 18, characterized in that, The second support (122) includes a third arm (1221), a fourth arm (1222), and a second connecting arm (1223); The second connecting arm (1223) extends along the height direction of the vehicle, and the third arm (1221) and the fourth arm (1222) are respectively disposed at both ends of the second connecting arm (1223). The fourth arm (1222) is constructed as part of the first end, and the third arm (1221) is constructed as part of the second end. The second end is used to connect with the wheel (17).

20. The corner module according to claim 19, characterized in that, The third arm (1221) is mounted on the body of the motor structure (1) and / or the first bracket (121).

21. The corner module according to claim 13, characterized in that, The second suspension arm (13) is rotatably mounted on the body of the first suspension arm (12) and / or the motor structure (1).

22. The corner module according to claim 21, characterized in that, The second suspension arm (13) includes a fifth arm (131), a sixth arm (132) and a third connecting arm (133). The fifth arm (131) and the sixth arm (132) are respectively located at both ends of the third connecting arm (133), and the third connecting arm (133) is constructed as part of the fourth end.

23. The corner module according to claim 22, characterized in that, The fifth arm (131) is rotatably mounted on the first suspension arm (12) and / or the motor structure (1), and the fifth arm (131) is configured as part of the fifth end.

24. The corner module according to claim 23, characterized in that, The rotor (102) includes a rotating shaft (103) coaxially mounted on the rotor (102). A transmission member (104) is provided at one end of the rotating shaft (103) away from the second stator (111). The sixth arm (132) is connected to the rotor (102) through the transmission member (104). The sixth arm (132) is driven by the rotor (102) so that the second suspension arm (13) rotates around the rotor (102). The sixth arm (132) is constructed as part of the third end.

25. The corner module according to any one of claims 11-24, characterized in that, Includes a hub motor (16), the rotor (102) component of which is connected to the hub of the wheel (17), and the stator component of the hub motor (16) is connected to the second suspension arm (13).

26. The corner module according to claim 25, characterized in that, A controller (14) is mounted on the motor structure (1), and the controller (14) is configured to control the motor structure (1) and the hub motor (16).

27. The corner module according to claim 26, characterized in that, The motor structure (1) is mounted on the first suspension arm (12). The first suspension arm (12) includes a first bracket (121), which includes a first support arm (1211) and a second support arm (1212). The first support arm (1211) is supported on the end of the motor structure (1) away from the mover (112). The second support arm (1212) is mounted on the motor structure (1) at a set distance from the first support arm (1211). The controller (14) is mounted on the motor structure (1) between the first support arm (1211) and the second support arm (1212).

28. The corner module according to claim 26, characterized in that, The controller (14) is installed at one end of the motor structure (1) away from the rotor (102).

29. The corner module according to claim 25, characterized in that, The controller (14) is located inside the second housing (141), which is mounted on the motor structure (1).

30. The corner module according to claim 29, characterized in that, The second shell (141) is a hollow column.

31. The corner module according to claim 10, characterized in that, An air spring (15) is installed on the motor structure (1), and the air spring (15) is used to connect to the vehicle body to provide shock absorption for the vehicle body.

32. The corner module according to claim 31, characterized in that, The air spring (15) is mounted on the linear motor (11).

33. A vehicle, characterized in that, Includes the corner module as described in any one of claims 10-32.

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