Motor and electric vehicle using the same

CN224760046UActive Publication Date: 2026-09-15ZHEJIANG CFMOTO POWER CO LTD
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Patent Information

Application Number
CN202521912387.8
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2025-09-04
Publication Date
2026-09-15
Estimated Expiration
2035-09-04

AI Technical Summary

Technical Problem

传统的电机通过风冷或者水冷进行散热,绕组产生的热量需要通过绝缘系统、铁芯和机壳,最后才能传导至外部空气或冷却介质中,其传热路径长,散热能力差

Benefits of technology

[0015]The advantages of this utility model are as follows: by arranging the phase change heat pipe close to the winding in the stator core, and setting interconnected cooling pipes and a first end channel in the shell and end cover, and placing the phase change heat pipe part in the first end channel, the phase change heat pipe absorbs the heat next to the winding and quickly completes the heat exchange between the winding and the cooling medium by utilizing the phase change principle. The structure is simple and the heat transfer path has low thermal resistance. With the cooling pipes and the first end channel surrounding the motor to supplement the heat exchange, the heat dissipation efficiency of the motor is improved, and the purpose of motor heat dissipation is achieved.

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Abstract

The utility model discloses a kind of motor and electric vehicle using the motor, motor includes shell, stator and rotor.Stator includes stator core and multiple windings, phase-change heat pipe is equipped between any two adjacent windings, the end surface of shell is provided with first end cover, first end cover is provided with first end passage, phase-change heat pipe at least part is inserted into first end passage.Electric machine further includes at least part cooling pipeline being arranged in the shell, cooling pipeline and first end passage are communicated with each other, cooling pipeline includes one liquid inlet pipe and one liquid outlet pipe, cooling pipeline and first end passage are exchanged by liquid inlet pipe and liquid outlet pipe Cooling medium.
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Description

Technical Field

[0001] This application relates to the field of electric vehicle technology, specifically to motors and electric vehicles using the motors. Background Technology

[0002] The motor is typically a core component of electric vehicles such as electric motorcycles and electric all-terrain vehicles, and its performance directly affects the overall vehicle's power. Among these components, the temperature rise of the motor windings is a significant factor limiting performance. Traditional motors dissipate heat through air or water cooling. The heat generated by the windings must pass through the insulation system, the iron core, and the housing before finally being conducted to the external air or cooling medium. This long heat transfer path results in poor heat dissipation. Existing technologies to improve motor winding cooling include placing heat spreaders around the windings, connected to the housing, and transferring heat to the cooling medium through the housing. However, because the heat spreaders need to be machined into a special shape to fit the stator slots and do not directly contact the cooling medium, the manufacturing process is complex, resulting in high thermal resistance in the heat transfer path. Therefore, the motor still risks insufficient heat dissipation under high loads. Electric vehicles using this type of motor are prone to overheating, limiting performance and, in severe cases, affecting driving safety. Utility Model Content

[0003] To address the shortcomings of existing technologies, the purpose of this utility model is to provide a motor with a simple structure and low thermal resistance in the heat transfer path, as well as an electric vehicle using this motor.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] An electric motor includes a housing, a stator, and a rotor. The housing forms an accommodating space; the stator includes a stator core and multiple windings, the stator core including multiple teeth spaced around its center line, the multiple windings being wound correspondingly on the multiple teeth, and the stator being at least partially disposed within the accommodating space; the rotor is rotatably mounted within the stator and coaxially disposed with the stator. A phase-change heat pipe is provided between any two adjacent windings, a first end cap is provided on the end face of the housing, and a first end channel is provided within the first end cap, with the phase-change heat pipe at least partially extending into the first end channel; the motor also includes a cooling pipe at least partially disposed inside the housing, the cooling pipe and the first end channel being interconnected; the cooling pipe includes an inlet pipe and a drain pipe, and the cooling medium is exchanged between the cooling pipe and the first end channel through the inlet pipe and the drain pipe. The phase-change heat pipe directly carries heat from around the windings into the cooling medium of the first end channel, resulting in a short heat transfer path, low thermal resistance, and higher heat transfer efficiency.

[0006] Furthermore, the inner wall of the stator core is provided with several snap-fit ​​parts spaced apart in the circumferential direction. Each snap-fit ​​part is basically parallel to the axis of the stator core, and the phase change heat pipe is fixed inside the stator core through the snap-fit ​​parts. The contact between the phase change heat pipe and the stator core is beneficial for removing heat from the stator core.

[0007] Furthermore, a water channel cover plate is provided inside the first end cover, and the water channel cover plate and the first end cover together form a first end channel. The water channel cover plate is provided with at least two flow holes, and the first end channel is connected to the cooling pipe through the flow holes. While forming the first end channel using the water channel cover plate, cooling medium is also supplied to the first end channel through the flow holes on the water channel cover plate.

[0008] Furthermore, the water channel cover is provided with an isolation plate facing the first end cover. The isolation plate defines the path of the first end channel. There are two flow holes, which are located near the two ends furthest apart in the direction of cooling medium flow within the first end channel.

[0009] Furthermore, the water channel cover plate is provided with several through holes, each through hole allowing the phase change heat pipe to pass through and be interference-fitted with the phase change heat pipe.

[0010] Furthermore, the shell has a hollow section, and the cooling pipes are located inside the hollow section. The end face of the shell has a clearance hole for the flow hole to communicate with the cooling pipes.

[0011] Furthermore, the cooling pipes are coiled in a serpentine pattern around the axis of the hollow section, and are positioned close to the sidewall of the hollow section radially towards its axis. The cooling medium within the cooling pipes can not only be continuously circulated and renewed, but also absorb heat transferred to the casing.

[0012] Furthermore, the phase change heat pipe has a flat strip structure and includes at least an evaporation section and a condensation section. The evaporation section is at least partially located inside the stator core, and the condensation section is at least partially located inside the first end channel.

[0013] Furthermore, a second end cover is provided on the other end face of the housing away from the first end cover. A second end channel is provided inside the second end cover. The cooling pipes and the second end channel are interconnected, and the phase change heat pipe extends at least partially into the second end channel. The cooling pipes, the first end channel, and the second end channel together surround the motor, forming a three-dimensional cooling system to improve heat dissipation capacity.

[0014] An electric vehicle, which is an electric motorcycle or an electric all-terrain vehicle, includes a frame, body panels, and a running gear. The body panels at least partially cover the frame; the running gear is connected to the frame. The electric vehicle includes a motor as described above, which provides power to the running gear.

[0015] The advantages of this utility model are as follows: by arranging the phase change heat pipe close to the winding in the stator core, and setting interconnected cooling pipes and a first end channel in the shell and end cover, and placing the phase change heat pipe part in the first end channel, the phase change heat pipe absorbs the heat next to the winding and quickly completes the heat exchange between the winding and the cooling medium by utilizing the phase change principle. The structure is simple and the heat transfer path has low thermal resistance. With the cooling pipes and the first end channel surrounding the motor to supplement the heat exchange, the heat dissipation efficiency of the motor is improved, and the purpose of motor heat dissipation is achieved. Attached Figure Description

[0016] Figure 1 This is a three-dimensional schematic diagram of the motor provided in the embodiments of this application;

[0017] Figure 2 This is a cross-sectional view of the motor provided in an embodiment of this application;

[0018] Figure 3 This is a three-dimensional schematic diagram of the stator provided in the embodiments of this application;

[0019] Figure 4 This is a three-dimensional schematic diagram of the motor cooling structure provided in the embodiments of this application;

[0020] Figure 5 This is a three-dimensional schematic diagram of the cooling medium flow channel provided in the embodiments of this application;

[0021] Figure 6 This is a three-dimensional schematic diagram of the waterway cover provided in the embodiments of this application;

[0022] Figure 7 An exploded view of the motor provided in the embodiments of this application;

[0023] Figure 8 This is a cross-sectional view of the stator provided in an embodiment of this application;

[0024] Figure 9 yes Figure 8 A magnified view of a section at point A in the middle;

[0025] Figure 10 This is a three-dimensional schematic diagram of the phase change heat pipe provided in the embodiments of this application;

[0026] Figure 11 This is a three-dimensional schematic diagram of the housing provided in the embodiments of this application;

[0027] Figure 12 This is a perspective view of the electric motorcycle provided in the embodiments of this application;

[0028] Figure 13 This is a three-dimensional schematic diagram of the electric all-terrain vehicle provided in the embodiments of this application. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments.

[0030] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0031] It should be noted that the technical terms "first" and "second" are used only to distinguish different objects and should not be interpreted as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features.

[0032] like Figures 1 to 3 As shown, this application provides an electric motor 100, which includes a housing 11, a stator 12, and a rotor 13. The housing 11 forms a receiving space 111. The stator 12 includes a stator core 121 and a plurality of windings 122. The stator core 121 includes a plurality of teeth 1211 spaced apart around its own center line. The plurality of windings 122 are wound on the plurality of teeth 1211. The stator 12 is at least partially disposed within the receiving space 111. The rotor 13 is rotatably mounted within the stator 12 and is coaxially arranged with the stator 12. To increase the power of the motor 100, a higher slot fill factor is usually required. The windings 122, as components that generate a large amount of heat within the motor 100, are generally made of enameled copper wire. When the motor 100 is energized, the windings 122 generate heat. The increase in slot fill factor places higher demands on the heat dissipation performance of the motor 100.

[0033] In this embodiment, a phase change heat pipe 123 is provided between any two adjacent windings 122, and the phase change heat pipe 123 can absorb heat around the windings 122. In some embodiments, a thermally conductive medium such as thermally conductive adhesive or thermally conductive paint can be added between the phase change heat pipe 123 and the windings 122 to further accelerate the conduction of heat from the windings 122 to the phase change heat pipe 123.

[0034] Specifically, the phase change heat pipe 123 exchanges heat through the principle of phase change, and includes a sealed shell, a wick, and a working fluid. The sealed shell is typically made of metal or ceramic, the wick is a porous structure in the form of metal mesh, sintered powder, or grooves, and the working fluid can be selected from water, ammonia, acetone, sodium, or potassium, depending on the operating temperature of the motor 100. The phase change heat pipe 123 utilizes capillary action to drive the reflux of the working fluid, achieving rapid heat transfer through the phase change of the working fluid.

[0035] like Figures 4 to 7 As shown, a first end cap 14 is provided on the end face of the housing 11, and a first end channel 141 is provided inside the first end cap 14. The phase change heat pipe 123 extends at least partially into the first end channel 141. Since a part of the phase change heat pipe 123 is in direct contact with the cooling medium in the first end channel 141, the thermal resistance of the heat transfer path is small, and the heat generated by the winding 122 can be quickly discharged by the phase change heat pipe 123.

[0036] The motor 100 also includes a cooling pipe 112 at least partially disposed inside the housing 11. The cooling pipe 112 and the first end channel 141 are interconnected to allow the cooling medium to circulate within the cooling pipe 112 and the first end channel 141. The cooling pipe 112 and the first end channel 141 form an enclosing structure for the motor 100, allowing the cooling medium to flow within these two channels. This not only increases the surface area of ​​contact between the cooling medium and the motor 100 but also effectively controls the overall volume of the motor 100.

[0037] The cooling pipe 112 includes an inlet pipe 113 and an outlet pipe 114. The cooling pipe 112 and the first end channel 141 exchange cooling media through the inlet pipe 113 and the outlet pipe 114. The inlet pipe 113 passes through either the housing 11 or the first end cover 14, and the outlet pipe 114 passes through either the housing 11 or the first end cover 14, continuously supplying new cooling media to the inside of the motor 100 while promptly discharging the cooling media that has absorbed heat. The positions of the inlet pipe 113 and the outlet pipe 114 can be flexibly set, as long as they do not interfere with the normal operation of the motor 100. Specifically, both the inlet pipe 113 and the outlet pipe 114 pass through the housing 11, so as not to affect the axial arrangement of other components of the motor 100 during operation. In some embodiments, the inlet pipe 113 and the outlet pipe 114 may both be disposed on the first end cap 14, or the inlet pipe 113 may be disposed on the housing 11 and the outlet pipe 114 may be disposed on the first end cap 14, or the inlet pipe 113 may be disposed on the first end cap 14 and the outlet pipe 114 may be disposed on the housing 11, depending on the installation position of the motor 100 and the usage environment.

[0038] like Figure 8 and Figure 9As shown, in one implementation, the inner sidewall of the stator core 121 is provided with several snap-fit ​​parts 1211 at intervals in the circumferential direction. The snap-fit ​​parts 1211 can be in the form of grooves or ribs, etc. Each snap-fit ​​part 1211 is basically parallel to the axis of the stator core 121. The phase change heat pipe 123 is fixed in the stator core 121 through the snap-fit ​​parts 1211. The phase change heat pipe 123 is in direct contact with the stator core 121, and can remove heat from the area around the winding 122 and also remove heat from the stator core 121.

[0039] As one implementation, a water channel cover plate 16 is provided inside the first end cover 14. The water channel cover plate 16 and the first end cover 14 form a sealed cavity, thereby enclosing the first end channel 141. The water channel cover plate 16 is provided with at least two flow holes 161. The first end channel 141 is connected to the cooling pipe 112 through the flow holes 161. The flow holes 161 are used to circulate and renew the cooling medium in the first end channel 141.

[0040] As one implementation, the water channel cover 16 is provided with an isolation plate 162 facing the first end cover 14. The isolation plate 162 abuts against the end cover, and the path of the first end channel 141 is limited by the isolation plate 162. By changing the shape or position of the isolation plate 162, the length, width and number of parameters of the first end channel 141 can be changed, so as to adjust according to the heat dissipation requirements of the motor 100.

[0041] Specifically, there are two flow-through holes 161, located near the two furthest ends of the first end channel 141 along the direction of cooling medium flow. For example, when the first end channel 141 is substantially arc-shaped, the two flow-through holes 161 are located near the two ends of the arc shape of the first end channel 141, allowing the cooling medium to flow completely through the entire first end channel 141 and fully exchange heat with the phase-change heat pipe 123 inserted in the first end channel 141. It is understood that increasing the number of flow-through holes 161 can divide the first end channel 141 into more segments, which helps increase the flow efficiency of the cooling medium for motors 100 that are larger in size or have high heat dissipation requirements.

[0042] like Figure 10As shown, the phase change heat pipe 123 has a flat strip structure and includes at least an evaporation section 1231 and a condensation section 1232. The evaporation section 1231 is at least partially located inside the stator core 121. When the evaporation section 1231 is heated, the working fluid absorbs heat and evaporates into gas, while absorbing a large amount of latent heat. The evaporation process occurs inside or on the surface of the wick, generating a vapor pressure difference that drives the gas to flow to the condensation section 1232. The condensation section 1232 is at least partially located inside the first end channel 141. The vapor releases latent heat when it encounters cold in the condensation section 1232 and condenses into liquid. The heat is transferred to the cooling medium through the wall of the condensation section 1232. The wick draws the condensed liquid back to the evaporation section 1231 by capillary force, completing the cycle. The entire process does not require an external mechanical pump, operates entirely passively, has a simple structure, occupies a small volume, and is suitable for the internal working conditions of the motor 100. In this embodiment, the phase change heat pipe 123 is a straight pipe. The phase change heat pipe 123 will not experience a decrease in heat transfer capacity due to bending or changes in cross-sectional area, and will not reduce the maximum heat exchange capacity of the phase change heat pipe 123, thereby maximizing the phase change heat exchange effect of the phase change heat pipe 123.

[0043] Furthermore, the phase change heat pipe 123 also includes an adiabatic section, which connects the evaporation section 1231 and the condensation section 1232. After the working fluid absorbs heat and turns into steam, it quickly diffuses through the adiabatic section to the condensation section 1232, which has a lower temperature. This is beneficial for the working fluid to absorb or release heat in the preset range of the phase change heat pipe 123, reducing the conduction of heat to other areas, achieving precise heat conduction, and improving heat conduction efficiency.

[0044] As one implementation, the water channel cover 16 is provided with several through holes 163. Each through hole 163 allows the phase change heat pipe 123 to pass through and be press-fitted with the phase change heat pipe 123, thereby ensuring the sealing of the first end channel 141 while also fixing the phase change heat pipe 123. The phase change heat pipe 123 passes through the through holes 163, with one end placed inside the stator core 121 and the other end immersed in the cooling medium in the first end channel 141. The heat transfer process does not pass through other intermediate media, resulting in a short heat transfer path.

[0045] like Figure 11 As shown, in one implementation, the housing 11 has a hollow portion (not shown), and the cooling pipe 112 is disposed inside the hollow portion. A clearance hole 115 is provided on the end face of the housing 11 to allow the flow-through hole 161 to communicate with the cooling pipe 112. After the cooling pipe 112 passes through the clearance hole 115 and communicates with the flow-through hole 161, the cooling medium can not only absorb the heat conducted from inside the motor 100 to the housing 11 within the cooling pipe 112, but also flow into the first end channel 141 through the flow-through hole 161 to achieve heat exchange with the phase change heat pipe 123.

[0046] Specifically, the cooling pipe 112 is coiled in a serpentine shape around the axis of the hollow part. The cooling pipe 112 is set close to the side wall of the hollow part on the radial side near the axis of the hollow part. This arrangement can not only extend the path length of the cooling pipe 112, but also promote the cooling medium to absorb the heat conducted from the stator core 121 to the housing 11.

[0047] As one implementation, a second end cover 15 is provided on the other end face of the housing 11 away from the first end cover 14. A second end channel 151 is provided inside the second end cover 15. The cooling pipe 112 and the second end channel 151 are interconnected, and the phase change heat pipe 123 extends at least partially into the second end channel 151. Since the first end channel 141 and the second end channel 151 are respectively connected to the cooling pipe 112, the three channels together form a three-dimensional cooling system, and can simultaneously exchange heat with both ends of the phase change heat pipe 123, further improving the heat exchange efficiency. In an illustrative configuration, the flow sequence of the cooling medium can be: inlet pipe 113, cooling pipe 112, first end channel 141, cooling pipe 112, second end channel 151, cooling pipe 112, and drain pipe 114, thus forming a complete circulation process.

[0048] In this embodiment, when the cooling system is in operation, the cooling medium is input into the cooling pipe 112 through the liquid inlet pipe 113 on the housing 11, and flows into the first end channel 141 through the flow hole 161 on the first end cover 14. The evaporation section 1231 of the phase change heat pipe 123 absorbs the heat around the winding 122 and the stator core 121, and conducts the heat to the condensation section 1232 of the phase change heat pipe 123. The condensation section 1232 exchanges heat with the cooling medium in the first end channel 141. After absorbing heat, the cooling medium flows back to the cooling pipe 112, and after passing through a part of the cooling pipe 112, it flows into the second end channel 151 through the flow hole 161 on the second end cover 15. After exchanging heat with the condensation section 1232 of the phase change heat pipe 123 in the second end channel 151, the cooling medium returns to the cooling pipe 112 again, and is finally discharged through the drain pipe 114 on the housing 11. The number of components through which heat is transferred from inside the motor 100 to the cooling medium is small, resulting in low thermal resistance in the heat transfer path. Furthermore, the cooling pipe 112, the first end channel 141, and the second end channel 151 form a fully enclosed structure around the motor 100, further enhancing heat dissipation. The combination of the internal heat conduction of the phase change heat pipe 123 and the external heat absorption of the cooling medium improves heat dissipation capacity, ensuring stable performance output of the motor 100.

[0049] This application also provides an electric vehicle. For example... Figure 12As shown, in some embodiments, the electric vehicle is an electric motorcycle 200, which includes a frame 21, a body panel 22, and a running system 23. The frame 21 forms the basic framework of the electric motorcycle 200 and serves as the basis for arranging other components. The body panel 22 at least partially covers the frame 21 and is used to protect the electrical components housed therein from dust and water. The running system 23 is connected to the frame 21 and is at least partially disposed below the frame 21, forming a rotatable connection with it. The electric motorcycle 200 includes a motor 100 as described above, which provides power to the running system 23. To ensure continuous high power output, good heat dissipation is essential.

[0050] like Figure 13 As shown, in some embodiments, the electric vehicle is an electric all-terrain vehicle 300, which includes a frame 31, a body panel 32, and a running system 33. The frame 31 supports the installation of other components and also provides protection for the driver's cabin; the body panel 32 at least partially covers the frame 31 and typically also provides partial shelter for the driver's cabin; the running system 33 is connected to the frame 21. The electric all-terrain vehicle 300 includes the motor 100 as described above. Since the electric all-terrain vehicle 300 is used in diverse terrain conditions such as farms, beaches, and mountains, better heat dissipation is required to cope with different situations.

[0051] It is understood that the electric vehicle provided in this application embodiment can also be other electrically driven pure electric or hybrid vehicles such as electric tricycles. Since the motor 100 described above is used, the performance will not be limited due to heat dissipation problems when driving in complex or harsh environments, so that the power can be output continuously and stably, which helps to improve the driving performance and safety of the electric vehicle.

[0052] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that the above embodiments do not limit this utility model in any way, and all technical solutions obtained by equivalent substitution or equivalent transformation fall within the protection scope of this utility model.

Claims

1. An electric motor, comprising: The shell, which has a containing space; The stator includes a stator core and multiple windings. The stator core includes multiple teeth spaced apart around its own center line. The multiple windings are wound on the multiple teeth. The stator is at least partially disposed within the receiving space. The rotor is rotatably mounted inside the stator and coaxially arranged with the stator; Its features are, A phase change heat pipe is provided between any two adjacent windings. A first end cap is provided on the end face of the housing. A first end channel is provided inside the first end cap. The phase change heat pipe extends at least partially into the first end channel. The motor also includes a cooling pipe that is at least partially disposed inside the housing. The cooling pipe and the first end channel are interconnected. The cooling pipe includes an inlet pipe and a drain pipe. The cooling pipe and the first end channel exchange cooling media through the inlet pipe and the drain pipe.

2. The motor according to claim 1, characterized in that, The inner sidewall of the stator core is provided with several snap-fit ​​parts at intervals in the circumferential direction. Each snap-fit ​​part is basically parallel to the axis of the stator core. The phase change heat pipe is fixed in the stator core through the snap-fit ​​parts.

3. The motor according to claim 1, characterized in that, A water passage cover plate is provided inside the first end cover. The water passage cover plate and the first end cover form the first end channel. The water passage cover plate is provided with at least two flow holes. The first end channel is connected to the cooling pipe through the flow holes.

4. The motor according to claim 3, characterized in that, The water channel cover is provided with an isolation plate facing the first end cover. The isolation plate defines the path of the first end channel. There are two flow holes, which are located near the two ends that are furthest apart in the direction of cooling medium flow within the first end channel.

5. The motor according to claim 3, characterized in that, The water channel cover plate is provided with several through holes, each of which allows one phase change heat pipe to pass through and be interference-fitted with the phase change heat pipe.

6. The motor according to claim 3, characterized in that, The housing has a hollow portion, the cooling pipe is disposed inside the hollow portion, and the end face of the housing has a clearance hole for the flow hole to communicate with the cooling pipe.

7. The motor according to claim 6, characterized in that, The cooling pipes are coiled in a serpentine shape around the axis of the hollow part inside the hollow part, and the cooling pipes are arranged close to the side wall of the hollow part radially closer to the axis of the hollow part.

8. The motor according to claim 1, characterized in that, The phase change heat pipe has a flat strip structure and includes at least an evaporation section and a condensation section. The evaporation section is at least partially located inside the stator core, and the condensation section is at least partially located inside the first end channel.

9. The motor according to claim 1, characterized in that, A second end cap is provided on the other end face of the housing away from the first end cap. A second end channel is provided inside the second end cap. The cooling pipe and the second end channel are interconnected. The phase change heat pipe extends at least partially into the second end channel.

10. An electric vehicle, wherein the electric vehicle is an electric motorcycle or an electric all-terrain vehicle, the electric vehicle comprising: Frame; A body panel that at least partially covers the vehicle frame; The walking system is connected to the vehicle frame; Its features are, The electric vehicle includes a motor as described in any one of claims 1 to 9, the motor providing power to the walking system.