Drive system for wheeled vehicle and wheeled vehicle

Abstract

The present disclosure proposes a drive system for a wheeled vehicle and a wheeled vehicle, the drive system comprising a motor as a drive source, the motor comprising: a stator rotationally fixed to a transmission shaft of the wheeled vehicle, the transmission shaft being driven by manpower or a second drive source, the stator and the transmission shaft can rotate relative to the wheel type carrier; and the rotor is connected to a wheel of the wheel type carrier so as to drive the wheel to rotate, and the rotating speed of the rotor is equal to the sum of the first rotating speed of the transmission shaft and the second rotating speed of the rotor relative to the stator.

Description

Technical Field

[0001] The utility model relates to a driving system for a wheeled vehicle and a wheeled vehicle comprising the driving system. In particular, the wheeled vehicle may be a power-assisted electric bicycle. Background Art

[0002] Wheeled vehicles generally refer to vehicles with wheels and driven by human power or other external forces. Wheeled vehicles include but are not limited to: bicycles, scooters, bikes, wheelchairs, etc. In recent years, with people's enthusiasm for outdoor sports, wheeled vehicles driven by electricity to assist human power have become more and more popular.

[0003] For wheeled vehicles that are electrically driven to assist human power, usually the motor and human power jointly drive one or more wheels, thereby superimposing the torque of the motor and human power, and saving the required manpower through motor assistance. However, from the perspective of human-powered driving comfort, saving manpower is not the only evaluation criterion. The appropriate human power output frequency (such as the pedaling frequency of a bicycle) is also an important factor affecting comfort and operability. General wheeled vehicle users will only feel comfortable within a very narrow output frequency range, such as 40 to 60 revolutions per minute.

[0004] In order to solve this problem, a mechanical speed change system can be set up to change the transmission ratio by moving the chain on different toothed plates and flywheels, thereby achieving speed change so that the human output frequency is within a suitable range. However, this means that the user must constantly operate the speed change system to change speed, and the speed change process requires interruption of power.

[0005] Therefore, there is a need for a new type of drive system for a wheeled vehicle and a wheeled vehicle including such a drive system, which does not require an additional mechanical speed change system, has a wide speed change range, and can continuously output power during the speed change process. Utility Model Content

[0006] In response to the above-mentioned problems and needs, the present invention proposes a novel drive system for a wheeled vehicle, and a wheeled vehicle including such a drive system, which solves the above-mentioned problems and brings other technical effects by adopting the following technical features.

[0007] On the one hand, the utility model provides a drive system for a wheeled vehicle, including a motor as a drive source, the motor comprising: a stator, rotatably fixed to a transmission shaft of the wheeled vehicle, the transmission shaft being driven by manpower or a second drive source, and the stator and the transmission shaft being rotatable relative to the wheeled vehicle; a rotor, connected to the wheels of the wheeled vehicle to drive the wheels to rotate, and the rotational speed of the rotor is equal to the sum of a first rotational speed of the transmission shaft and a second rotational speed of the rotor relative to the stator.

[0008] In some examples, the drive shaft comprises an axle of a drive train or wheel axle disposed between a pedal crank and a wheel of the wheeled vehicle.

[0009] In some examples, by varying the rotational speed of the rotor, a gear ratio between the total rotational speed output by the motor and the rotational speed of the pedal crank is variable.

[0010] In some examples, the stator is fixedly connected to a central axle of the wheeled vehicle, and the central axle is fixedly connected to the pedal crank.

[0011] In some examples, the stator is transmission-connected to a central shaft of the wheeled vehicle, the central shaft is fixedly connected to the pedal crank, and the rotor or a motor housing connected to the rotor is transmission-connected to a wheel axle.

[0012] In some examples, the stator is fixedly connected to the wheel axle.

[0013] In some examples, the motor further includes: at least one conductive contact ring rotatably disposed on at least one end of the transmission shaft, the conductive contact ring being electrically connected to the stator for supplying power to the stator.

[0014] In some examples, the motor further includes: a first set of bearings disposed between the stator and the rotor; and a second set of bearings disposed between the wheeled vehicle and the stator, or between the wheeled vehicle and the rotor.

[0015] In some examples, the motor further includes: a motor housing connected to the rotor; and a one-way bearing arranged between the stator and the rotor, between the stator and the motor housing, or between the rotor and the motor housing.

[0016] In some examples, a first sensor is arranged on the stator and / or the rotor for detecting an absolute position of the stator and / or the rotor.

[0017] In some examples, a second sensor is further arranged between the stator and the rotor for detecting the relative position relationship between the stator and the rotor.

[0018] In some examples, the drive system further includes a third sensor for detecting the posture of the wheeled vehicle to match a suitable transmission ratio for different wheeled vehicle postures; and / or a fourth sensor for detecting the input force and / or input frequency of the pedal crank.

[0019] In yet another aspect, the present invention further provides a wheeled vehicle, the wheeled vehicle comprising the drive system as described above in claim 1.

[0020] In some examples, the wheeled vehicle is an electric power-assisted bicycle.

[0021] According to the drive system disclosed in the present invention and the wheeled vehicle including the same, by rotating and fixing the stator to the shaft of the transmission system of the wheeled vehicle or the wheel shaft, and connecting the rotor to the wheel, the rotation speed of the wheeled vehicle is superimposed, providing a comfortable riding experience for the user. This concept can achieve similar technical effects on multiple shafts of the transmission system of the wheeled vehicle. Based on the concept of the present invention, speed change can be achieved by controlling the motor speed, without the need to set up a complex mechanical speed change device, with low failure rate and light weight.

[0022] In addition, the speed is changed by changing the motor speed, and the speed range is wider than that of traditional mechanical speed change devices. There is no need to interrupt the power during the speed change process, and power can be continuously output during the speed change process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present disclosure, but are not intended to limit the present disclosure.

[0024] Figure 1 A schematic diagram of a wheeled vehicle according to at least one embodiment of the present disclosure is shown, wherein the wheeled vehicle shown is an electric power-assisted bicycle;

[0025] Figure 2 A cross-sectional view of a drive system according to at least one embodiment of the present disclosure is shown;

[0026] Figure 3 A partial cross-sectional view of a motor according to at least one embodiment of the present disclosure is shown;

[0027] Figure 4 Another cross-sectional view of a motor according to at least one embodiment of the present disclosure is shown;

[0028] Figure 5 A transmission system of a wheeled vehicle according to at least one embodiment of the present disclosure is shown;

[0029] Figure 6 A schematic block diagram of a drive system according to at least one embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the technical solution of the utility model clearer, the technical solution of the embodiment of the utility model will be clearly and completely described in combination with the drawings of the specific embodiments of the utility model. The same figure marks in the drawings represent the same parts. It should be noted that the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the described embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by persons with ordinary skills in the field to which the utility model belongs. The words "first", "second" and similar words used in the patent application specification and claims of the utility model do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not necessarily indicate quantity restrictions. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Indirect connections may be, for example, connections through intermediate components or transmission connections. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0032] Wheeled vehicles with wheels driven by human power or other external forces can use electric drive to assist human power. Usually, the motor and human power jointly drive one or more wheels, so that the torque of the motor and human power are superimposed together. The required manpower can be saved by the motor assist. This driving method can also be called "torque superposition". However, if the user wants to increase the power input, the driving speed cannot be significantly increased, but only the load on the motor is reduced, which is unsatisfactory for users who pursue a sports experience. Although there are some examples that use sensors to monitor the user's input torque to adjust the motor speed, the transformation and conversion from torque to speed is complicated.

[0033] The appropriate human output frequency (such as the pedaling frequency of a bicycle) is also an important factor affecting comfort and operability. Users of general wheeled vehicles will only feel comfortable within a very narrow output frequency range, such as 40 to 60 revolutions per minute. In order to solve this problem, a mechanical speed change system can be set up to change the transmission ratio by moving the chain on different toothed plates and flywheels, thereby achieving speed change so that the human output frequency is within a suitable range. However, frequent gear shifting is inconvenient for most users, and the human power input needs to be interrupted during the gear shifting process, which reduces the driving experience.

[0034] In view of the defects and shortcomings of the prior art, the present disclosure proposes a novel drive system for a wheeled vehicle and a wheeled vehicle including such a drive system, which does not require an additional mechanical speed change system, has a wide speed change range, and can continuously output power during the speed change process.

[0035] It should be noted that the range of wheeled vehicles applicable to the drive system of the present disclosure may be relatively wide, including but not limited to power-assisted electric bicycles, power-assisted electric scooters, power-assisted electric bicycles or power-assisted electric wheelchairs. Bicycles and wheelchairs are conventional and well-known forms of wheeled vehicles. One conventional form of a bicycle is to be driven only by the rider applying force to the pedals, and another newer form of a bicycle is an electric-assisted bicycle, in which electricity is used to assist or replace the rider's force. A wheeled vehicle may have two, three or four wheels, and in some cases even more.

[0036] It should be noted that the "rotational fixation" described in the present disclosure refers to the fixation of two or more components in the circumferential direction, so that the two or more components can rotate simultaneously without relative displacement in the circumferential direction. Rotational fixation does not limit whether these components are relatively fixed in the axial direction or whether they can have relative displacement.

[0037] In order to simplify the description, this disclosure will mainly focus on Figure 1 The power-assisted electric bicycle shown is used as an example to illustrate the drive system and the wheeled vehicle including the same according to the concept of the present invention. However, the present disclosure is not limited thereto, and those skilled in the art can easily transplant the concept of the present invention to other wheeled vehicle applications without departing from the protection scope of the present invention.

[0038] Hereinafter, various embodiments of the present invention will be described in detail with reference to the accompanying drawings. Here, it should be noted that in the accompanying drawings, the same reference numerals are given to components having substantially the same or similar structures and functions, and repeated descriptions thereof will be omitted.

[0039] Compared with the embodiments shown in the drawings, feasible implementations within the scope of protection of the present disclosure may have fewer components, other components not shown in the drawings, different components, differently arranged components, or differently connected components, etc. In addition, without departing from the concept of the present disclosure, two or more components in the drawings may be implemented in a single component, or a single component shown in the drawings may be implemented as multiple separate components.

[0040] Reference Figure 1 The wheeled vehicle 100 according to at least one embodiment of the present disclosure includes a drive system 1, a wheel 2, a transmission system 3, a pedal crank 4, and a power module 5. The transmission system 3 includes a central shaft 6 and a wheel axle 7 of the wheeled vehicle 100, as well as a crank chainring 70, a reduction gear, and a chain (not shown). In an alternative embodiment, the transmission system 3 may further include an additional intermediate shaft (not shown) disposed between the central shaft 6 and the wheel axle 7. Figure 1 In the illustrated embodiment, the drive system 1 and the pedal crank 4 are arranged on the middle shaft 6, and the drive system 1 includes a motor 10 as a first drive source. This arrangement is also called a mid-mounted motor. When a person drives the wheeled vehicle 100 and steps on the pedal, the pedal crank 4 is driven to rotate, and the pedal crank 4 in turn drives the middle shaft 6 to rotate. The middle shaft 6 transmits the rotational motion to the transmission system 3 through the drive system 1, thereby driving the wheel axle 7 and the wheel 2 to rotate, thereby realizing the movement of the wheeled vehicle 100.

[0041] In the existing "torque superposition" mid-mounted motor drive system, the motor is fixed between the front and rear wheels. The motor is connected to the pedal crank through a reduction gear. The torque sensor detects the pedal force, and the controller controls the motor to generate force. The motor drives the reduction gear, the reduction gear drives the crankshaft, and the toothed disc on the pedal crank drives the wheel to rotate through the chain to output power. However, this method has many problems, such as the poor comfort and operability mentioned above, and the narrow speed range.

[0042] The following combination Figures 2 to 6 A specific embodiment of the drive system 1 is described to describe the structure and working mode of the drive system 1 , and the technical effects of the present utility model are reflected in detail in the description of the embodiment.

[0043] like Figure 6 As shown, the drive system 1 includes a motor 10, a motor support frame 8, a plurality of sensors 91, 92, 93, 94 and a processor 20. The motor support frame 8 is used to support the motor 10 on a frame or bracket of a wheeled vehicle 100. The motor support frame 8 and the motor 10 can be coaxially arranged with the motor 10, and the motor support frame 8 can then be fixedly connected to the frame or bracket of the wheeled vehicle 100.

[0044] For example, Figures 2 to 4As shown, the motor 10 may include a stator 11, a rotor 12, a first group of bearings 30, a second group of bearings 40 and a one-way bearing 50. In the present embodiment, the motor 10 is an outward-rotating rotary motor in which the stator 11 is arranged on the inner diameter side and the rotor 12 is arranged on the outer diameter side. The stator 11 is in a circular ring shape, and an armature coil is wound and installed on the stator 11 to form a winding 111. The stator 11 is rotationally fixedly connected to the transmission shaft 101 of the wheeled vehicle 100, and is preferably coaxially arranged. In the present embodiment, the rotational fixation is achieved by a key or spline connection. The present disclosure is not limited to this, and the rotational fixed connection can also be achieved by means of a locking nut, a flange connection, welding, riveting, etc. In the present embodiment, the stator 11 is fixedly connected to the central axis 6 of the wheeled vehicle 100, and the central axis 6 is fixedly connected to the pedal crank 4.

[0045] The transmission shaft 101 includes an axis or a wheel axle of a transmission system 3 disposed between the pedal crank 4 and the wheel 2 of the wheeled vehicle 100, and may be, for example, the center shaft 6 of the wheeled vehicle 100, the wheel axle 7, or, alternatively, an additional intermediate shaft (not shown) disposed between the center shaft 6 and the wheel axle 7. The axial position of the stator 11 and the transmission shaft 101 may be fixed by a shoulder and a collar of the transmission shaft 101. Therefore, the stator 11 may rotate under the drive of the transmission shaft 101. The stator 11 may be coaxially disposed with the center shaft 6 or the wheel axle 7, or may share the same center shaft 6 or the wheel axle 7.

[0046] The rotor 12 is arranged radially outside the stator 11, and there is a magnetic gap between the stator 11 and the rotor 12. The rotor 12 is supported on the transmission shaft 101 by a first set of bearings 30, and the first set of bearings 30 may include one or more bearings, for example, two bearings in this embodiment. The first set of bearings 30 is arranged between the stator 11 and the rotor 12, and its inner ring is engaged with the transmission shaft 101, and the outer ring is combined with the rotor 12, so as to allow the rotor 12 to rotate around the transmission shaft 101 and the stator 11. The rotor 12 can be surrounded by a separate motor housing (not shown), or in this embodiment, the rotor 12 itself can also serve as a rotatable motor housing. The rotor 12 is fixedly connected to the crank chain plate 70, and the crank chain plate 70 is connected to the wheel 2 through a reduction gear and a chain, so that the wheel 2 is driven to rotate as the rotor 12 rotates.

[0047] The second set of bearings 40 may be arranged between the wheeled vehicle 100 and the stator 11, and more specifically, in this embodiment, between the motor support frame 8 fixedly connected to the wheeled vehicle 100 and the stator 11. Figure 2 As shown, the second set of bearings 40 may include one or more bearings, such as two bearings in this embodiment. Exemplarily, the second set of bearings 40 are arranged on the outside of the first set of bearings 30 in the axial direction relative to the stator 11 to support the motor support frame 8 on the transmission shaft 101.

[0048] Thus, the transmission shaft 101 driven by human power or the second driving source can rotate at a first speed, and the motor 10 as the first driving source can drive the rotor 12 to rotate at a second speed relative to the stator 11, so that the rotation speed of the rotor 12 is equal to the sum of the first rotation speed and the second rotation speed, and the wheel 2 can rotate at a speed of the rotation speed of the rotor 12 or the transmission speed multiplied by the transmission ratio. Here, the second driving source can be a driving source other than human power, such as an electrically actuated driving source.

[0049] Therefore, the drive system 1 proposed in the present disclosure achieves rotational superposition of the wheeled vehicle 100 by fixing the stator 11 and the shaft of the transmission system 3 or the wheel shaft 7 of the wheeled vehicle 100, and connecting the rotor 12 to the wheel, thereby providing a comfortable riding experience for the user.

[0050] Since the stator 11 of the present disclosure and the shaft of the transmission system 3 or the wheel shaft 7 of the wheeled vehicle 100 are rotationally fixed, there is no need to switch or change the connection relationship between the stator 11 and these shafts.

[0051] In addition, the transmission ratio between the rotation speed of the rotor 12 and the rotation speed of the pedal crank 4 is variable by changing the rotation speed of the rotor 12. Therefore, this solution does not require cumbersome gear shifting or complex gear shifting devices, and can achieve a fixed or variable transmission ratio through electronic control.

[0052] In order to prevent the motor 10 from reversing during operation, a one-way bearing 50 may be provided between the rotor 12 and the stator 11 , between the stator 11 and the motor housing, or between the rotor 12 and the motor housing.

[0053] In this embodiment, the motor 10 further includes at least one conductive contact ring 60, which is rotatably disposed on at least one end of the transmission shaft 101. The conductive contact ring 60 is electrically connected to the stator 11, and is used to continuously supply power to the stator 11 during operation, while avoiding faults such as twisted wires during rotation.

[0054] The above exemplary embodiments of the drive system 1 in the form of a mid-mounted motor are shown. The present disclosure is not limited thereto, and the drive system 1 based on the concept of the present utility model can also be used in other drive forms.

[0055] For example, optionally, the transmission shaft 101 is arranged as an additional intermediate shaft (not shown) between the middle shaft 6 and the wheel shaft 7, and then the stator 11 can be driven to be connected to the middle shaft 6 of the wheeled vehicle 100, the middle shaft is fixedly connected to the pedal crank 4, and the rotor 12 or the motor housing connected to the rotor 12 can be driven to be connected to the wheel shaft 7.

[0056] For another example, the drive system 1 may also be in the form of a "wheel hub motor" and be arranged on the side of the wheel 2. The stator 11 is fixedly connected to the wheel shaft 7, and the rotor 12 is connected to the wheel hub of the wheel 2. In the form of a wheel hub motor, the rotor 12 can directly drive the wheel 2.

[0057] The plurality of sensors 91, 92, 93, 94 may include a first sensor 91, a second sensor 92, a third sensor 93 and a fourth sensor 94. The third sensor 93 and the fourth sensor 94 are optional.

[0058] The first sensor 91 is arranged on the stator 11 and / or the rotor 12, and is used to detect the absolute position of the stator 11 and / or the rotor 12. It is worth noting that, since the stator 11 and the shaft or wheel shaft 7 of the transmission system 3 of the wheeled vehicle 100 are rotationally fixed, the first sensor 91 can also be arranged on the shaft or wheel shaft 7, and is regarded as being arranged on the stator 11. In addition to the absolute position, the first sensor 91 can also measure the absolute speed of the stator 11 and / or the rotor 12.

[0059] The second sensor 92 may be disposed between the stator 11 and the rotor 12 to detect a relative position relationship between the stator 11 and the rotor 12 .

[0060] Optionally, the third sensor 93 is used to detect the posture of the wheeled vehicle 100 to match the appropriate transmission ratio for different wheeled vehicle postures. In some application scenarios, it is necessary to match the appropriate transmission ratio for the user according to the posture of the wheeled vehicle 100 to achieve a comfortable riding state. The third sensor 93 can be, for example, a multi-axis posture sensor integrated with an accelerometer and a gyroscope sensor, or a multi-axis posture sensor integrated with an accelerometer, a gyroscope sensor, and a magnetic field sensor, or a multi-axis posture sensor integrated with an accelerometer, a gyroscope sensor, a magnetic field sensor, and an air pressure sensor (for measuring height information). Taking a multi-axis posture sensor integrated with an accelerometer and a gyroscope sensor as an example, the third sensor 93 can collect the current posture angle of the wheeled vehicle 100, such as a pitch angle, a roll angle, or a yaw angle, so as to sense whether the wheeled vehicle 100 is on flat ground, uphill, downhill, left and right rotation, or swinging posture, and match the appropriate transmission ratio according to the posture of the wheeled vehicle 100. For example, the gear ratio may be higher in an uphill attitude and lower in a downhill attitude compared to a flat attitude.

[0061] Optionally, the fourth sensor 94 is used to detect the input force and / or input frequency of the pedal crank 4. For example, the fourth sensor 94 is used to detect the input frequency of the pedal crank 4, that is, the pedaling frequency of the human power. Directly obtaining the pedaling frequency can facilitate the processor 20 to calculate and drive the motor 10 to adjust to a suitable speed, so as to control the pedaling frequency within a comfortable range for the user.

[0062] Exemplarily, the first sensor 91 , the second sensor 92 and the fourth sensor 94 may be encoders or speed sensors, such as photoelectric encoders, magnetoelectric sensors, Hall sensors, and the like.

[0063] The processor 20 is configured to obtain the position or speed information of the first sensor 91 and the second sensor 92, as well as the transmission ratio information, and calculate the first speed that the motor 10 should reach based on the obtained position or speed information and transmission ratio information, and send a control signal and a drive signal to drive the motor 10 to run at the first speed. The speed of the wheeled vehicle 100 is equal to the sum of the first speed of the motor 10 and the speed of the stator 11, thereby realizing a speed superposition mode. When the user changes the riding speed or pedaling frequency, the processor 20 can calculate in real time the second speed that the motor 10 should reach at the new pedaling frequency while maintaining the current transmission ratio, and control the motor 10 to run at the second speed, thereby realizing electronic speed change without the need for an additional mechanical speed change system.

[0064] In addition, the processor 20 can also obtain the gear change information sent by the user, change the current transmission ratio, and realize electronic gear shifting.

[0065] Some embodiments involve the use of one or more processors, processing devices or controllers, such as a general-purpose central processing unit (CPU), a graphics processing unit (GPU), a microcontroller, a reduced instruction set computer (RISC) processor, an application-specific integrated circuit (ASIC), a programmable logic circuit (PLC), a field programmable gate array (FPGA), a digital signal processing (DSP) device and / or any other circuit or processing device capable of performing the functions described herein. The methods described herein may be encoded as executable instructions embodied in a computer-readable medium (including but not limited to a storage device and / or a memory device). These instructions, when executed by a processing device, cause the processing device to perform at least a portion of the methods described herein. The examples above are exemplary only and are therefore not intended to limit the definition and / or meaning of the terms processor and processing device in any way.

[0066] The drive system for a wheeled vehicle and an exemplary implementation of a wheeled vehicle proposed in the present invention are described in detail with reference to preferred embodiments. However, it is understood by those skilled in the art that various modifications and variations may be made to the above specific embodiments without departing from the concept of the present invention. In addition, various technical features and structures proposed in various aspects of the present invention may be combined in various ways without exceeding the protection scope of the present invention, which is determined by the attached claims.

Claims

1. A drive system for a wheeled vehicle, comprising a motor as a first drive source, characterized in that: The motor comprises: A stator, rotatably fixed to a transmission shaft of the wheeled vehicle, the transmission shaft being driven by manpower or a second driving source, and the stator and the transmission shaft being rotatable relative to the wheeled vehicle; A rotor is connected to the wheel of the wheeled vehicle to drive the wheel to rotate, and a rotation speed of the rotor is equal to the sum of a first rotation speed of the transmission shaft and a second rotation speed of the rotor relative to the stator.

2. The drive system according to claim 1, characterized in that: The drive shaft comprises an axle of a drive train or wheel axle arranged between the pedal cranks and the wheels of the wheeled vehicle.

3. The drive system according to claim 2, characterized in that: By varying the rotational speed of the rotor, the transmission ratio between the rotational speed of the rotor and the rotational speed of the pedal crank is variable.

4. The drive system according to claim 2, characterized in that: The stator is fixedly connected to the center shaft of the wheeled vehicle, and the center shaft is fixedly connected to the pedal crank.

5. The drive system according to claim 2, characterized in that: The stator is transmission-connected to the middle shaft of the wheeled vehicle, the middle shaft is fixedly connected to the pedal crank, and the rotor or the motor housing connected to the rotor is transmission-connected to the wheel axle.

6. The drive system according to claim 2, characterized in that: The stator is fixedly connected to the wheel axle.

7. The drive system according to claim 1, characterized in that: The motor further comprises: at least one conductive contact ring rotatably disposed on at least one end of the transmission shaft, wherein the conductive contact ring is electrically connected to the stator for supplying power to the stator.

8. The drive system according to claim 1, characterized in that: The motor also includes: a first set of bearings arranged between the stator and the rotor; A second set of bearings is arranged between the wheeled vehicle and the stator, or between the wheeled vehicle and the rotor.

9. The drive system according to claim 8, characterized in that: The motor also includes: a motor housing connected to the rotor; and A one-way bearing is arranged between the stator and the rotor, between the stator and the motor housing, or between the rotor and the motor housing.

10. The drive system according to claim 1, characterized in that: A first sensor is arranged on the stator and / or the rotor for detecting the absolute position of the stator and / or the rotor.

11. The drive system according to claim 10, characterized in that: A second sensor is also arranged between the stator and the rotor for detecting the relative position relationship between the stator and the rotor.

12. The drive system according to claim 3, characterized in that: The drive system further comprises: a third sensor for detecting the posture of the wheeled vehicle to match the transmission ratio for different wheeled vehicle postures; and / or The fourth sensor is used to detect the input force and / or input frequency of the pedal crank.

13. A wheeled vehicle, characterized in that: Comprising a drive system as claimed in any one of claims 1 to 12.

14. The wheeled vehicle according to claim 13, wherein: The wheeled vehicle is a power-assisted electric bicycle, a power-assisted electric pedal car, a power-assisted electric scooter or a power-assisted electric wheelchair.

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