JP2021175657A - Electric automobile driving device, driving unit, and electronic automobile - Google Patents

Abstract

To reduce manufacturing costs for an electric automobile by making an electric automobile driving device common whatever total vehicle weight the electric automobile has.SOLUTION: A pair of driving shafts 4a, 4b are supported coaxially and rotatably on a housing 2 with tip parts thereof in mutually opposite directions. Respective output shafts 7a of a pair of electric motors 3a are arranged non-coaxially in parallel with each other with tip parts thereof in mutually opposite directions. Rotation torques of the respective output shafts 7a of the pair of electric motors 3a are transmitted to the pair of respective driving shafts 4a, 4b while increased by a pair of torque transmission devices 5a, 5b, respectively.SELECTED DRAWING: Figure 5

Description

The present invention relates to a drive device for an electric vehicle that rotationally drives wheels using an electric motor as a drive source, a drive unit including the drive device for the electric vehicle, and an electric vehicle including a plurality of the drive units.

In response to the recent trend toward fossil fuel reduction, research on electric vehicles has progressed and is being carried out in some areas. Japanese Patent Application Laid-Open No. 2006-22879 (Patent Document 1) describes a drive for an electric vehicle in which the output torque of one electric motor is transmitted to a pair of left and right drive wheels via a two-speed transmission and a differential gear. The device is described.

Japanese Unexamined Patent Publication No. 2006-22879

The drive device for an electric vehicle described in Japanese Patent Application Laid-Open No. 2006-22879 is configured to drive a pair of left and right drive wheels by one electric motor. Therefore, it is necessary to use an electric motor, a two-speed transmission, and a differential gear having appropriate specifications according to the gross vehicle weight. In other words, when the drive device for an electric vehicle described in Japanese Patent Application Laid-Open No. 2006-22879 is adopted as the drive device for an electric vehicle, it is necessary to design it exclusively for each gross vehicle weight, and the manufacture of the electric vehicle. It is disadvantageous in terms of reducing costs.

In particular, an autonomous vehicle that can be driven by a human without performing a driving operation is equipped with a large number of expensive sensors, and there is a great demand for cost reduction.

In view of the above circumstances, it is an object of the present invention to standardize a drive device for an electric vehicle regardless of the gross vehicle weight and reduce the manufacturing cost of the electric vehicle.

The drive device for an electric vehicle of the present invention
With the housing
A pair of electric motors, each having an output shaft and supported against the housing,
A pair of drive shafts that are rotatably supported with respect to the housing, coaxially with each other and with their tips on which the wheels are supported facing in opposite directions.
A pair of torque transmission devices that transmit the rotational torque of each of the output shafts of the pair of electric motors to each of the pair of drive shafts.
To be equipped.

The drive device for an electric vehicle of the present invention is supported with respect to the vehicle body so as to be able to rotate about a turning axis orthogonal to the road surface.
Further, when the electric vehicle is configured by using the electric vehicle drive device of the present invention, one or more, for example, four or more electric vehicle drive devices are mounted on the vehicle body.

In the drive device for an electric vehicle of the present invention, the output shafts of the pair of electric motors and the pair of drive shafts can be arranged in parallel.
In this case, the output shafts of the pair of electric motors can be arranged non-coaxially with each other and parallel to each other.
Further, in this case, each of the pair of electric motors can be arranged so as to overlap each other in a direction orthogonal to the respective output axes.

Further, each of the pair of electric motors can be arranged at a position displaced outward in the radial direction from the wheels. Alternatively, each of the pair of electric motors may be arranged in a portion between the wheels.

Each of the pair of torque transmission devices can be configured by a gear type speed reducer including a plurality of gears.
Alternatively, each of the pair of torque transmission devices may be configured by a speed reducer using a belt or a chain, or may be configured by a worm speed reducer.
Alternatively, each of the pair of torque transmission devices can adjust the reduction ratio between the output shaft of each of the pair of electric motors and each of the pair of drive shafts, such as a continuously variable transmission or a stepped transmission. It can also be configured by a transmission.

The drive unit of the present invention
A drive device for an electric vehicle having a pair of drive shafts,
A pair of wheels supported by each of the pair of drive shafts,
A swivel device that supports the drive device for an electric vehicle with respect to a vehicle body so as to be able to rotate around a swivel axis orthogonal to the road surface.
With
The electric vehicle drive device is composed of the electric vehicle drive device of the present invention.

The swivel device may have a stopper mechanism that regulates a rotatable range of the drive device for an electric vehicle centered on the swivel shaft.

The swivel device is arranged with a rotating member that is impossibly supported for rotation about the swivel axis with respect to the driving device for an electric vehicle, and a rotating member that can rotate with respect to the rotating member coaxially with the rotating member. Moreover, it can have a fixing member which is supported and fixed to the vehicle body.
In this case, the stopper mechanism faces the circumferential direction centered on the swivel shaft, faces the rotating side stopper surface provided on the rotating member, and faces the circumferential direction centered on the swivel shaft, and said. It can have a fixed-side stopper surface that faces the rotating-side stopper surface and is provided on the fixing member.

The rotating member
2.
It has a stopper member side facing surface that faces in the circumferential direction about the swivel axis and is in contact with or close to the main body side facing surface, and the rotating side stopper surface, and is supported by the rotating member main body. With the fixed rotating side stopper member,
Can be provided.

The fixed side member is
A fixing member body that is supported and fixed to the vehicle body,
A fixed-side stopper member having the fixed-side stopper surface and being supported and fixed to the fixing member main body so as to be able to adjust the mounting position in the circumferential direction about the swivel axis.
Can be provided.

The drive unit of the present invention may include a support device that reduces vibrations transmitted from the road surface to the vehicle body via each of the wheels while pressing each of the outer peripheral surfaces of the tires constituting the wheels against the road surface. can.

The drive unit of the present invention may include a vehicle height adjusting device that is arranged between each of the electric vehicle drive devices and the vehicle body and adjusts the height of the vehicle body with respect to the road surface.

The electric vehicle of the present invention
With the car body
With at least one drive unit
With
Each of the drive units is composed of the drive unit of the present invention.
In the electric vehicle of the present invention, the number of the drive units mounted is determined according to the gross vehicle weight.

According to the present invention, regardless of the gross vehicle weight, the drive device for an electric vehicle can be shared to reduce the manufacturing cost of the electric vehicle.

FIG. 1 is a perspective view showing a drive device for an electric vehicle according to a first example of the embodiment. FIG. 2 is a perspective view showing a part of the drive device for an electric vehicle according to the first example of the embodiment in an exploded manner. FIG. 3 is a perspective view showing a drive device for an electric vehicle according to the first example of the embodiment with a pair of hub unit bearings attached. FIG. 4 is a side view showing the drive device for an electric vehicle according to the first example of the embodiment in a state where a pair of hub unit bearings are attached. Figure 5 is a _{X 1 -O 1 -O 2 -O 3} -X 2 cross-sectional view of FIG. Figure 6 is a _{X 1 -O 1 -O 2 -O 4} -X 3 cross-sectional view of FIG. FIG. 7 is a schematic view showing a drive device for an electric vehicle according to the first example of the embodiment. FIG. 8 is a perspective view showing a drive unit including the drive device for an electric vehicle according to the first example of the embodiment. FIG. 9 is a perspective view showing the vehicle height adjusting device removed from the drive unit shown in FIG. FIG. 10 is a side view showing one drive wheel removed from the state shown in FIG. 11 (A) is a perspective view showing a first example of the electric vehicle including the drive unit according to the first example of the embodiment, and FIG. 11 (B) is from the lower right side of FIG. 11 (A). It is a side view as seen, and FIG. 11C is an end view seen from the left side of FIG. 11B. FIG. 12 (A) is a perspective view showing a second example of the electric vehicle including the drive unit according to the first example of the embodiment, and FIG. 12 (B) is from the lower right side of FIG. 12 (A). It is a side view as seen, and FIG. 12 (C) is an end view seen from the left side of FIG. 12 (B). 13 (A) is a perspective view showing a third example of the electric vehicle including the drive unit according to the first example of the embodiment, and FIG. 13 (B) is from the lower right side of FIG. 13 (A). It is a side view as seen, and FIG. 13 (C) is an end view seen from the left side of FIG. 13 (B). FIG. 14A is a perspective view showing an unmanned transport vehicle (electric vehicle) according to the second example of the embodiment, and FIG. 14B is an unmanned transport vehicle according to the second example of the embodiment. It is a side view which shows, and FIG. 14C is a bottom view seen from the lower side of FIG. 14B. FIG. 15 is a perspective view showing the drive unit according to the second example of the embodiment taken out. FIG. 16 is a side view showing the drive unit according to the second example of the embodiment taken out. FIG. 17 is a front view seen from the left side of FIG. FIG. 18 is a plan view seen from the upper side of FIG. FIG. 19 is a perspective view showing the drive unit according to the second example of the embodiment with the wheels removed. FIG. 20 is a side view showing the drive unit according to the second example of the embodiment with the wheels removed. FIG. 21 is a front view seen from the left side of FIG. 20. FIG. 22 is a plan view seen from the upper side of FIG. 20. Figure 23 is a _{Y 1 -O 5 -O 6 -O 7} -O 8 -O 9 -O 10 -Y 2 cross-sectional view of FIG. 20. Figure 24 is a _{Y 3 -O 7 -O 8 -O 9} -O 10 -Y 2 cross-sectional view of FIG. 20. FIG. 25 is a cross-sectional view taken along _{the line Y 4-} O _5- O _6- O _7- O _11- Y _{5 of FIG.} FIG. 26 is a schematic view showing a drive device for an electric vehicle according to a second example of the embodiment. FIG. 27 (A) is a perspective view showing the automatic guided vehicle according to the third example of the embodiment, and FIG. 27 (B) is a side view showing the automatic guided vehicle according to the third example of the embodiment. Yes, FIG. 27 (C) is a bottom view seen from the lower side of FIG. 27 (B). FIG. 28 is a perspective view showing a drive unit according to a fourth example of the embodiment. FIG. 29 (A) is a side view showing a state before the lid is attached by taking out only one cylindrical portion from the fixing member, and FIG. 29 (B) is a ZZ cross section of FIG. 29 (A). It is a figure. FIG. 30 is a perspective view showing a drive unit according to a fifth example of the embodiment. FIG. 31 is a schematic view showing a state in which an automobile is transported by an automatic guided vehicle according to a sixth example of the embodiment. FIG. 32 is a perspective view showing the drive unit according to the seventh example of the embodiment. FIG. 33 is a plan view showing the drive unit according to the seventh example of the embodiment. FIG. 34 is a plan view showing the drive unit according to the seventh embodiment of the embodiment in a state where one rotating side stopper surface and one fixed side stopper surface are in contact with each other. FIG. 35 is a perspective view showing a state in which the swivel device is taken out from the drive unit according to the seventh embodiment and the rotating side stopper surface and the fixed side stopper surface are in contact with each other. FIG. 36 is a partially cut perspective view showing a state before the swivel device is taken out from the drive unit according to the seventh embodiment and the rotating side stopper member is supported and fixed to the rotating member main body. FIG. 37 shows a state before the swivel device is taken out from the drive unit according to the seventh embodiment and the rotary side stopper member is supported and fixed to the rotary member main body from a direction different from that of FIG. 36. It is a partial cut perspective view. FIG. 38 is a perspective view showing the swivel device taken out from the drive unit according to the eighth example of the embodiment. FIG. 39 is a perspective view showing the swivel device taken out from the drive unit according to the eighth example of the embodiment and partially disassembled. FIG. 40 is a perspective view showing the swivel device taken out from the drive unit according to the ninth embodiment of the embodiment. FIG. 41 is a perspective view showing a swivel device taken out from the drive unit according to the ninth embodiment of the embodiment and partially disassembled. FIG. 42 is a perspective view showing the swivel device taken out from the drive unit according to the tenth embodiment of the embodiment. FIG. 43 is a perspective view showing a swivel device taken out from the drive unit according to the tenth embodiment of the embodiment and partially disassembled. FIG. 44 is a partially cut perspective view showing a part taken out from the swivel device according to the tenth embodiment of the embodiment. FIG. 45 is a perspective view showing the swivel device taken out from the drive unit according to the eleventh example of the embodiment. FIG. 46 is a perspective view showing a swivel device taken out from the drive unit according to the eleventh example of the embodiment and partially disassembled. FIG. 47 is a partially cut perspective view showing a part taken out from the swivel device according to the eleventh example of the embodiment.

[First Example of Embodiment]
A first example of the embodiment of the present invention will be described with reference to FIGS. 1 to 13 (C). The electric vehicle drive device 1 includes a housing 2, a pair of electric motors 3a and 3b, a pair of drive shafts 4a and 4b, and a pair of torque transmission devices 5a and 5b.

The housing 2 is made of a light alloy such as an aluminum alloy, a synthetic resin, or the like, and is made of a combination of a plurality of parts. The housing 2 of this example includes three cylindrical portions 6a, 6b, and 6c arranged parallel to each other, and is directed from the lower end portion toward one side (left side in FIGS. 4 and 10) in the traveling direction. It is provided with an extended arm portion 37.

The traveling direction means that the drive unit 48 including the drive device 1 for an electric vehicle is attached to the vehicle bodies 32a, 32b, 32c (see FIGS. 11A to 13C) and the wheels 16a are attached. , 16b (see FIGS. 8 and 9) in the traveling direction (see FIGS. 11 (A) to 13 (C)) of the electric vehicles 50a, 50b, 50c (see FIGS. 11 (A) to 13 (C)) (FIGS. 4, 10 and 10). 11 (B), 12 (B), and 13 (B) in the left-right direction). Further, in the width direction, the electric vehicle 50a in a state where the drive unit 48 including the drive device 1 for the electric vehicle is attached to the vehicle bodies 32a, 32b, 32c and the wheels 16a, 16b are directed in the straight-ahead direction. , 50b, 50c (horizontal directions of FIGS. 5, 7, 11 (C), 12 (C) and 13 (C)).

Further, the housing 2 is provided with a connector portion 54 on the upper portion thereof. The connector portion 54 is connected to a pair of electric motors 3a and 3b and various sensors constituting the electric vehicle drive device 1 by a cable. Further, the connector portion 54 is connected to the power supply and the control device mounted on the vehicle bodies 32a, 32b, and 32c by a harness. As a result, power can be supplied to the pair of electric motors 3a and 3b, and output signals of various sensors can be transmitted to the control device.

Each of the pair of electric motors 3a and 3b has output shafts 7a and 7b and is supported by the housing 2. The output shafts 7a and 7b of the pair of electric motors 3a and 3b are arranged non-coaxially with each other and parallel to each other with their respective tip portions facing in opposite directions.

For this purpose, specifically, the output shaft 7a of the first electric motor 3a, which is one of the pair of electric motors 3a and 3b, has a tip portion on one side in the width direction (left side of FIGS. 5 and 7). ), It is rotatably supported inside one of the three cylindrical portions 6a, 6b, and 6c of the housing 2. That is, in the first electric motor 3a, the inner peripheral surface of the stator 8a supported and fixed to the inner peripheral surface of the cylindrical portion 6a is close to the outer peripheral surface of the rotor 9a supported and fixed around the intermediate portion of the output shaft 7a. They are facing each other.

On the other hand, of the pair of electric motors 3a and 3b, the output shaft 7b of the second electric motor 3b, which is the other, has its tip end facing the other side (right side in FIG. 7) in the width direction. It is rotatably supported inside another one of the three cylindrical portions 6a, 6b, 6c of the housing 2. That is, in the second electric motor 3b, the inner peripheral surface of the stator 8b supported and fixed to the inner peripheral surface of the cylindrical portion 6b is close to the outer peripheral surface of the rotor 9b supported and fixed around the intermediate portion of the output shaft 7b. They are facing each other.

Each of the pair of electric motors 3a and 3b arranges the drive units 53a and 53b including the stators 8a and 8b and the rotors 9a and 9b so as to overlap each other in the directions orthogonal to the output shafts 7a and 7b, respectively. .. Specifically, in this example, the positions of the drive units 53a and 53b in the width direction are the same as each other.

Of the output shafts 7a and 7b of the pair of electric motors 3a and 3b, rotation sensors 10a and 10b are mounted around the base end portion protruding from the side surface of the housing 2. As a result, the rotation speeds (rotational speeds) of the output shafts 7a and 7b of the pair of electric motors 3a and 3b can be detected.

Each of the pair of electric motors 3a and 3b has the same rated output and rated rotation speed (rated rotation speed), and the rotation speed (rotation speed) and rotation direction of the respective output shafts 7a and 7b are independent. It is configured to be controllable. The rated output and rated rotation speed of each of the pair of electric motors 3a and 3b are not particularly limited as long as they are the same, but for example, the rated output can be 5 kW or more and 10 kW, and the rated rotation speed can be set. Can be 2400 rpm or more and 4500 rpm or less.

The pair of drive shafts 4a and 4b are rotatably supported with respect to the housing 2 in a state of being coaxial with each other and having their tip portions oriented in opposite directions. In this example, the pair of drive shafts 4a and 4b are arranged non-coaxially and parallel to the output shafts 7a and 7b of the pair of electric motors 3a and 3b, respectively.

For this purpose, specifically, the first drive shaft 4a, which is one of the pair of drive shafts 4a and 4b, has the base end portion of the housing with the tip end portion facing one side in the width direction. It is rotatably supported on one end in the width direction of the remaining one of the three cylindrical portions 6a, 6b, and 6c of 2. On the other hand, of the pair of drive shafts 4a and 4b, the second drive shaft 4b, which is the other, has the tip end portion facing the other side in the width direction, and the base end portion having the width of the cylindrical portion 6c. It is rotatably supported at the end on the other side of the direction.

Further, in this example, each of the pair of drive shafts 4a and 4b has a spline shaft portion 24 on the outer peripheral surface of the tip portion.

Each of the pair of torque transmission devices 5a and 5b transmits the rotational torque of the output shafts 7a and 7b of the pair of electric motors 3a and 3b to the pair of drive shafts 4a and 4b, respectively. In this example, each of the pair of torque transmission devices 5a and 5b is composed of a gear type speed reducer. That is, the first torque transmission device 5a, which is one of the pair of torque transmission devices 5a and 5b, attaches to the first drive shaft 4a while increasing the rotational torque of the output shaft 7a of the first electric motor 3a. introduce. On the other hand, the second torque transmission device 5b, which is the other of the pair of torque transmission devices 5a and 5b, increases the rotational torque of the output shaft 7b of the second electric motor 3b while increasing the rotational torque of the second drive shaft. Communicate to 4b.

For this purpose, each of the pair of torque transmission devices 5a and 5b includes one intermediate shaft 11 and four gears 12a, 12b, 12c and 12d.

The intermediate shaft 11 is rotatably supported with respect to the housing 2 in a non-coaxial and parallel manner with the output shafts 7a and 7b and the drive shafts 4a and 4b.

The first gear 12a rotates together with the output shafts 7a and 7b of the electric motors 3a and 3b, respectively. In this example, the first gear 12a is supported and fixed to the tip ends of the output shafts 7a and 7b of the electric motors 3a and 3b, respectively.

The second gear 12b meshes with the first gear 12a. The second gear 12b has a number of teeth _{N 2} that is larger than the _{number of teeth N 1} of the first gear 12a (N ₂ > N ₁ ). In this example, the second gear 12b is supported and fixed to the intermediate shaft 11.

The third gear 12c rotates in synchronization with the second gear 12b. The third gear 12c has a number of teeth _{N 3} that is smaller than the _{number of teeth N 2} of the second gear 12b (N ₃ <N ₂ ). In this example, the third gear 12c is supported and fixed to a portion of the intermediate shaft 11 that is axially deviated from the portion where the second gear 12b is supported and fixed.

The fourth gear 12d meshes with the third gear 12c and rotates together with the drive shafts 4a and 4b, respectively. The fourth gear 12d has a number of teeth _{N 4} that is larger than the _{number of teeth N 3} of the third gear 12c (N ₄ > N ₃ ). In this example, the fourth gear 12d is supported and fixed to the respective base ends (ends close to each other) of the drive shafts 4a and 4b.

When the output shafts 7a and 7b are rotationally driven by energizing the electric motors 3a and 3b, the rotation of the output shafts 7a and 7b causes the first gear 12a and the second gear 12b to mesh with each other. It is transmitted to the intermediate shaft 11 via the portion. Further, the rotation of the intermediate shaft 11 is transmitted to each of the drive shafts 4a and 4b via the meshing portion between the third gear 12c and the fourth gear 12d. In this way, the rotational torque of the output shafts 7a and 7b of the pair of electric motors 3a and 3b is increased by each of the torque transmission devices 5a and 5b, and then transmitted to each of the pair of drive shafts 4a and 4b. Will be done.

Each of the pair of torque transmission devices that transmits the rotational torque of each output shaft of the pair of electric motors to each of the pair of drive shafts is not limited to the gear type reducer as in this example, but also belts and chains. It can be configured by the speed reducer used or can be configured by a worm reducer. When each of the pair of torque transmission devices is configured by a worm reducer, the output shafts of the pair of electric motors and the drive shafts of the pair of drive shafts can be arranged at twisted positions. .. Alternatively, each of the pair of torque transmission devices is composed of a continuously variable transmission or a stepped transmission capable of adjusting the reduction ratio between each output shaft of the pair of electric motors and each of the pair of drive shafts. You can also do it.

The reduction ratio between the output shafts 7a and 7b of the pair of electric motors 3a and 3b and each of the pair of drive shafts 4a and 4b is not particularly limited, but is, for example, 6.0 or more and 8 It is preferably 0.0 or less.

As shown in FIGS. 8 to 10, each of the pair of drive shafts 4a and 4b of the electric vehicle drive device 1 has a braking rotating body 15 constituting the braking device 14 via hub unit bearings 13a and 13b, respectively. And the wheels 17 constituting the wheels 16a and 16b are supported.

In this example, the entire drive device 1 for an electric vehicle is arranged between the wheels 16a and 16b with the wheels 16a and 16b supported by the pair of drive shafts 4a and 4b, respectively. Therefore, in this example, each of the pair of electric motors 3a and 3b is arranged between the wheels 16a and 16b. Further, as shown in FIG. 10, when viewed from the axial direction of the drive shafts 4a and 4b, the drive device 1 for an electric vehicle fits inside the outer peripheral edge of the tire 33 constituting the wheels 16a and 16b in the radial direction. (It does not have a portion that protrudes radially outward from the outer peripheral edge of the tire 33).

Each of the hub unit bearings 13a and 13b includes an outer ring 18, a hub 19, and a plurality of rolling elements 20.

The outer ring 18 has a double-row outer ring track on the inner peripheral surface, and has a stationary flange 21 protruding outward in the radial direction. The outer ring 18 is supported and fixed to the housing 2 by support members 49 inserted or screwed into support holes provided at a plurality of locations in the circumferential direction of the stationary flange 21.

The hub 19 is arranged inside the outer ring 18 coaxially with the outer ring 18. The hub 19 has a double-row inner ring track on the outer peripheral surface. Further, the hub 19 has a spline hole 22 penetrating in the axial direction at the center thereof, and a rotating flange 23 protruding outward in the radial direction.

Spline shafts 24 provided at the tips of the pair of drive shafts 4a and 4b are spline-engaged with the spline holes 22.

The rotary flange 23 has mounting holes 25 penetrating in the axial direction at a plurality of positions in the circumferential direction. The braking rotating body 15 and the wheel 17 are supported by the rotating flange 23 by screwing hub bolts 26 through which through holes provided at a plurality of locations in the circumferential direction are inserted into the mounting holes 25, respectively. ..

In this example, the braking device 14 is composed of a disc brake device. That is, the braking rotating body 15 is composed of a disk-shaped brake rotor. The brake caliper 28 constituting the braking device 14 is supported and fixed to the housing 2. However, the braking device may also be configured by a drum brake.

The drive device 1 for an electric vehicle is supported on the lower surfaces of the vehicle bodies 32a, 32b, 32c constituting the electric vehicles 50a, 50b, 50c via a support device 29, a turning device 30, and a vehicle height adjusting device 31.

The support device 29 is arranged between the drive device 1 for an electric vehicle and the vehicle bodies 32a, 32b, 32c, and while pressing the outer peripheral surface (tread) of the tire 33 constituting each of the wheels 16a, 16b against the road surface, the wheels It has a function of alleviating vibration transmitted from the road surface to the vehicle bodies 32a, 32b, 32c via each of the 16a and 16b. In this example, the support device 29 includes a mount member 34, a damper 35, and a connecting member 36.

The mount member 34 is arranged on the upper side of the electric vehicle drive device 1 substantially parallel to the road surface. The mount member 34 is supported on the lower surfaces of the vehicle bodies 32a, 32b, and 32c via the turning device 30 and the vehicle height adjusting device 31.

The damper 35 is configured so that the entire length can be expanded and contracted. The damper 35 rotatably supports (centers) the upper end portion on one side (left side in FIGS. 8 to 10) of the mount member 34 in the traveling direction, and supports the lower end portion on the lower end portion. It is rotatably supported by the arm portion 37 of the housing 2.

The connecting member 36 is formed of a leaf spring having a substantially arc shape or a substantially U shape. The connecting member 36 is elastically deformed so that the curvature of the curved portion becomes large (the radius of curvature becomes small), and the connecting member 36 is formed with the end portion on the other side (right side of FIGS. 8 to 10) of the mounting member 34 in the traveling direction. It is laid between the lower end of the housing 2. That is, the connecting member 36 connects and fixes the upper end portion to the end portion on the other side (right side in FIGS. 8 to 10) of the mount member 34 in the traveling direction, and the lower end portion is the lower side of the housing 2. The ends of the are bonded and fixed.

The support device 29 configured as described above presses the outer peripheral surface of the tire 33 against the road surface by the force that the connecting member 36 tries to elastically restore. Further, the support device 29 absorbs and relaxes the vibration transmitted from the road surface to the vehicle bodies 32a, 32b, 32c by elastically deforming the connecting member 36 and contracting the damper 35 to generate a damping force.

The turning device 30 enables the driving device 1 for an electric vehicle to rotate about a turning axis C (see FIG. 10) orthogonal to the road surface, via a vehicle height adjusting device 31 with respect to the vehicle bodies 32a, 32b, and 32c. To support. That is, by making the rotation speeds and / or rotation directions of the output shafts 7a and 7b of the pair of electric motors 3a and 3b different from each other, the rotation speeds and / or rotation directions of the pair of wheels 16a and 16b are set to each other. Differently, the drive device 1 for an electric vehicle turns (rotates) with respect to the vehicle bodies 32a, 32b, and 32c about the turning shaft C.

In this example, the swivel device 30 is a fixing member 38 supported and fixed to the lower surface of the lower support member 40 constituting the vehicle height adjusting device 31, and a rotating member supported and fixed to the upper surface of the mount member 34 of the support device 29. 39 is a combination of coaxial with each other and possible relative rotation about the swivel axis C. Specifically, the swivel device 30 rotatably supports the rotating member 39 inside the fixing member 38 in the radial direction via a plurality of rolling elements.

The fixing member 38 has a fixing flange 84 protruding outward in the radial direction about the swivel shaft C at the upper end portion or the vertical intermediate portion. Each of the fixed flanges 84 has a fixed side support hole 85 penetrating in the vertical direction, and includes a plurality of (four in the illustrated example) fixed flange pieces 86 arranged apart from each other in the circumferential direction. .. Specifically, each of the fixed flange pieces 86 is provided with one fixed side support hole 85. The fixing member 38 is supported and fixed to the lower support member 40 by bolts 87 inserted or screwed into the fixing side support hole 85 (see FIG. 8).

The rotating member 39 has a rotating flange 88 at a lower end that projects outward in the radial direction about the swivel shaft C. Each of the rotary flanges 88 has a rotary side support hole (not shown) that penetrates in the vertical direction, and a plurality of (four in the illustrated example) rotary flange pieces that are arranged apart from each other in the circumferential direction. It is equipped with 89. Specifically, each of the rotary flange pieces 89 is provided with one rotary support hole. The fixing member 38 is supported and fixed to the mount member 34 by a bolt 90 inserted or screwed into the rotation side support hole.

The swivel device can also be configured by rotatably supporting the fixing member inside the rotating member in the radial direction.

In this example, the swivel shaft C is arranged at a twisted position with respect to each of the pair of drive shafts 4a and 4b. Specifically, as shown in FIG. 10, the swivel shaft C is arranged offset to the other side with respect to the pair of drive shafts 4a and 4b in the traveling direction. As a result, the turning shaft C is positioned on the other side of the contact point of the tire 33 with respect to the road surface in the traveling direction to secure the caster trail.

The vehicle height adjusting device 31 has a function of adjusting the heights of the vehicle bodies 32a, 32b, and 32c with respect to the road surface. For this purpose, the vehicle height adjusting device 31 includes a support frame 41, an adjusting mechanism 42, and a height adjusting motor 43.

The support frame 41 includes a lower support member 40, an upper support member 44, a pair of lower link members 45, a pair of upper link members 46, and a pair of pivots 47. The lower support member 40 is supported and fixed on the upper surface of the fixing member 38 of the swivel device 30. The upper support member 44 is supported and fixed to the lower surfaces of the vehicle bodies 32a, 32b, and 32c. Each of the pair of lower link members 45 swingably supports the lower end portion of the lower support member 40 with respect to both end portions in the traveling direction. Each of the pair of upper link members 46 supports the upper end portion of the upper support member 44 so as to be swingable with respect to both end portions in the traveling direction. Each of the pair of pivots 47 swingably connects the upper ends of the pair of lower link members 45 and the lower ends of the pair of upper link members 46 to each other. ..

The adjusting mechanism 42 uses the height adjusting motor 43 as a drive source to expand or contract the distance between the pair of pivots 47, and expands or contracts the distance between the lower support member 40 and the upper support member 44 with respect to the road surface. The heights of the vehicle bodies 32a, 32b, and 32c are adjusted. For this purpose, the adjusting mechanism 42 includes a telescopic shaft formed by a stretchable combination of a pair of shaft members and a linear motion mechanism.

The linear motion mechanism is composed of, for example, a ball screw mechanism. That is, the linear motion mechanism includes a ball screw shaft which is one of the pair of shaft members and a ball nut which is supported and fixed to the other shaft member of the pair of shaft members.

The adjusting mechanism 42 rotationally drives the ball screw shaft by the height adjusting motor 43 to displaced the ball nut relative to the axial direction. As a result, the other shaft member is displaced in the axial direction, and the telescopic shaft is expanded and contracted to expand or contract the distance between the pair of pivots 47, and the heights of the vehicle bodies 32a, 32b, and 32c with respect to the road surface are adjusted.

As shown in FIG. 8, the drive device 1 for an electric vehicle of this example includes hub unit bearings 13a and 13b, braking devices 14 and wheels 16a and 16b, a support device 29, a swivel device 30, and a vehicle height adjusting device 31. In combination with, it can be handled integrally as a drive unit 48. The drive unit 48 includes a weight sensor for measuring the weight to be supported and an angle sensor for measuring the steering angles of the wheels 16a and 16b. The mounting positions of the weight sensor and the angle sensor are not particularly limited, and can be mounted on, for example, the swivel device 30.

The drive device 1 for an electric vehicle of this example is used as a drive source for an electric vehicle. Specifically, the drive units 48 including the drive device 1 for the electric vehicle of this example are mounted on the electric vehicle in an appropriate number according to the gross vehicle weight. The weight supported by each drive unit 48 is not particularly limited, but may be, for example, 300 kg or more and 650 kg or less.

An example of an electric vehicle using the drive device 1 for an electric vehicle as a drive source will be described with reference to FIGS. 11 (A) to 13 (C).

11 (A) to 11 (C) show a first example of an electric vehicle using the electric vehicle drive device 1 as a drive source. The electric vehicle 50a has a seating capacity of about 4 to 5 people. The electric vehicle 50a includes a vehicle body 32a and four drive units 48.

The vehicle body 32a includes a rectangular box-shaped vehicle body body 51a and a pair of eaves-shaped supported portions 52a1 and 52a2 protruding from the lower portion of both side surfaces of the vehicle body body 51a in the traveling direction.

Two of the drive units 48 are supported on the lower surfaces of the pair of supported portions 52a1 and 52a2 so that they all face the same direction. That is, the upper support member 44 of the vehicle height adjusting device 31 constituting each of the drive units 48 is supported and fixed at two positions in the width direction of the lower surfaces of the pair of supported portions 52a1 and 52a2. Therefore, a wide space (vehicle interior space) in the vehicle body body 51a can be secured.

The drive device 1 for an electric vehicle can rotate each of the wheels 16a and 16b in any direction. However, the swivel shaft C of the drive unit 48 is arranged so as to be offset to the other side in the traveling direction with respect to the pair of drive shafts 4a and 4b. Therefore, in the electric vehicle 50a, the other side in the traveling direction of the electric vehicle drive device 1 (the right side in FIG. 11B) usually faces forward except when the electric vehicle is parked in the parking space or when the direction is changed. It is preferable to drive in a straight line from the viewpoint of ensuring the stability of straight running.

Further, a connecting member 36 of the support device 29 is arranged on the other side of the drive device 1 for an electric vehicle in the traveling direction. Therefore, if the vehicle travels with the other side in the traveling direction facing forward, even if the tires of the vehicle traveling in front wind up the pebbles, the pebbles directly collide with the drive device 1 for the electric vehicle. It can be prevented by the member 36.

The electric vehicle 50a controls the traveling direction and the traveling speed by controlling the rotation speed and the rotation direction of the wheels 16a and 16b of the four drive units 48 by a control device (not shown). For example, the electric vehicle 50a can travel straight by making the rotation speeds and rotation directions of all the wheels 16a and 16b the same. On the other hand, the electric vehicle 50a can rotate by adjusting the rotation speeds of the wheels 16a and 16b to appropriate values. Specifically, during turning, the number of rotations of the wheels 16a and 16b is reduced toward the wheels located inside in the radial direction of the turning locus. Further, if the rotation direction of one wheel 16a and the rotation direction of the other wheel 16b are opposite to each other for each of the drive units 48, only the direction of the drive unit 48 is changed (steered) on the spot. be able to.

In this example, since the pair of drive shafts 4a and 4b are arranged coaxially with each other, the drive unit 48 can be moved to the drive shafts 4a and 4b by controlling the rotation direction and the rotation speed of the pair of drive shafts 4a and 4b. The vehicle can be steered by rotating around a turning axis C orthogonal to the road surface parallel to the road surface.

When the electric vehicle 50a stops, it drives the braking device 14 and presses a pair of pads supported by the brake caliper 28 against the braking rotating body 15 to perform braking. However, regenerative braking can also be performed by using each of the pair of electric motors 3a and 3b constituting the drive device 1 for an electric vehicle as a generator.

Each of the drive units 48 includes a vehicle height adjusting device 31. Therefore, the vehicle height of the electric vehicle 50a can be adjusted by adjusting the vertical dimension of each vehicle height adjusting device 31 of the drive unit 48. In particular, if the vertical dimensions of each vehicle height adjusting device 31 are adjusted based on the values measured by the respective weight sensors of the drive unit 48, the weight of the vehicle body 32a can be increased by four regardless of the weight balance of the vehicle interior space. It can be supported in a well-balanced manner by the drive unit 48 of. Further, when the occupant gets on and off and the cargo is loaded and unloaded, the boarding / alighting port side of the vehicle body 32a can be lowered to facilitate the boarding / alighting operation and the loading / unloading work.

12 (A) to 12 (C) show a second example of an electric vehicle using the electric vehicle drive device 1 as a drive source. The electric vehicle 50b has a seating capacity of about 8 to 10 people. The electric vehicle 50b includes a vehicle body 32b and eight drive units 48.

The vehicle body 32b includes a rectangular box-shaped vehicle body body 51b and a pair of eaves-shaped supported portions 52b1 and 52b2 protruding from the lower portion of both side surfaces of the vehicle body body 51b in the traveling direction.

Each of the drive units 48 is supported by four on the lower surfaces of the pair of supported portions 52b1 and 52b2. That is, the upper support member 44 of the vehicle height adjusting device 31 constituting each of the drive units 48 is divided into two rows on the lower surfaces of the pair of supported portions 52b1 and 52b2, and each row has two locations in the width direction. It is supported and fixed one by one. The composition and action / effect of other parts are the same as those of the first example shown in FIGS. 11 (A) to 11 (C).

13 (A) to 13 (C) show a third example of an electric vehicle using the electric vehicle drive device 1 as a drive source. The electric vehicle 50c has a passenger capacity of about 20 to 30 people. The electric vehicle 50c includes a vehicle body 32c and 16 drive units 48.

The vehicle body 32c includes a rectangular box-shaped vehicle body 51c and a pair of eaves-shaped supported portions 52c1 and 52c2 protruding from the lower portion of both side surfaces of the vehicle body 51c in the traveling direction.

Eight of each of the drive units 48 are supported on the lower surfaces of the pair of supported portions 52c1 and 52c2. That is, the upper support member 44 of the vehicle height adjusting device 31 constituting each of the drive units 48 is divided into two rows on the lower surfaces of the pair of supported portions 52c1 and 52c2, and each row has four locations in the width direction. It is supported and fixed one by one. The composition and action / effect of other parts are the same as those of the first example shown in FIGS. 11 (A) to 11 (C).

As described above, the drive device 1 for an electric vehicle of this example can be commonly used as a drive device for an electric vehicle regardless of the gross vehicle weight. Therefore, it is not necessary to specially design the drive device for the electric vehicle for each gross vehicle weight, and the manufacturing cost of the electric vehicle can be reduced. In particular, when the drive device 1 for an electric vehicle of this example is applied to an autonomous vehicle provided with a large number of expensive sensors, the cost reduction effect due to the common use of the drive device 1 for an electric vehicle can be remarkably obtained.

In this example, the pair of electric motors 3a and 3b are configured to be able to independently control the rotation speed and rotation direction of the output shafts 7a and 7b, respectively. Therefore, the rotation speed and the rotation direction of the wheels 16a and 16b supported by the pair of drive shafts 4a and 4b can be adjusted independently. Therefore, even if an actuator for steering the drive unit 48 is not separately provided, the rotation direction of the drive unit 48 can be rotated by making the rotation direction of one wheel 16a and the rotation direction of the other wheel 16b opposite to each other. Can steer. However, each of the drive units 48 may be separately provided with an actuator for steering around the turning shaft C.

Further, in the drive device 1 for an electric vehicle of this example, the drive units 53a and 53b constituting the pair of electric motors 3a and 3b are positioned at the same position in the directions orthogonal to the output shafts 7a and 7b, respectively. .. Therefore, the dimension of the drive device 1 for an electric vehicle in the width direction can be suppressed.

In the electric vehicle drive device 1 of this example, each of the pair of drive shafts 4a and 4b is driven by each of the pair of electric motors 3a and 3b via the pair of torque transmission devices 5a and 5b. Although it is configured, when the present invention is carried out, each of the drive shafts may be configured to be driven by two or more electric motors.

The drive unit 48 including the drive device 1 for an electric vehicle, the hub unit bearings 13a and 13b, the braking device 14 and the wheels 16a and 16b, the support device 29, the turning device 30, and the vehicle height adjusting device 31 is an electric vehicle. The functions of traveling, turning and stopping of 50a, 50b and 50c can be realized. Further, the electric vehicles 50a, 50b, and 50c include a plurality of such drive units 48. Therefore, the electric vehicles 50a, 50b, and 50c use the remaining drive units 48 to some extent (for example, evacuate to the shoulder) even if some of the drive units 48 of the plurality of drive units 48 fail. You can continue to run on your own (if it is about). Further, the electric vehicles 50a, 50b, and 50c can be easily repaired by replacing the failed drive unit 48 together, and are excellent in maintainability.

[Second Example of Embodiment]
A second example of the embodiment will be described with reference to FIGS. 14 (A) to 26. This example is an example in which the drive device for an electric vehicle of the present invention is applied to the drive device of an automatic guided vehicle (AGV), which is a kind of electric vehicle. The automatic guided vehicle transports the vehicle to a predetermined position. In the following, first, the overall structure of the automatic guided vehicle will be described, and then the structure of the drive unit of this example will be described.

The automatic guided vehicle 55 includes a vehicle body 56, a pair of drive units 48a, and a pair of driven wheels 57.

The vehicle body 56 includes a rectangular box-shaped traction portion 58 and a mounting portion 59 for mounting an automobile. The mounting portion 59 has a substantially U-shaped (U-shaped) planar shape when viewed from the vertical direction. That is, the mounting portion 59 is in the width direction of the rectangular plate-shaped base portion 60 extending from the lower end portion of the rear side surface of the traction portion 58 toward the rear side and the rear end portion of the base portion 60. It has a rectangular plate-shaped extending portion 61 extending toward the rear side from two separated positions. The front wheels and the rear wheels of the automobile are mounted on each of the extension portions 61.

Each of the drive units 48a is supported at two positions separated in the width direction from the lower surface of the traction portion 58 so as to be able to rotate around a swivel axis C (see FIG. 16) orthogonal to the road surface. ..

Each of the driven wheels 57 has a support shaft 62 supported by a rear portion of the extension portion 61 and a pair of tires 63 rotatably supported by the support shaft 62.

Next, the structure of the drive unit 48a mounted on the automatic guided vehicle 55 of this example will be described. In the drive unit 48a of this example, the installation location of the pair of electric motors 3c and 3d is different from that of the drive unit 48 of the first example of the embodiment. That is, in the drive unit 48a of this example, the pair of electric motors 3c and 3d are arranged at positions that are radially outwardly separated from the wheels 16c and 16d, respectively. More specifically, the pair of electric motors 3c and 3d are arranged at positions off the wheels 16c and 16d, respectively.

Further, in each of the pair of electric motors 3c and 3d, the drive units 53c and 53d are arranged so as to overlap each other in the direction orthogonal to the output shafts 7c and 7d, respectively. Specifically, in this example, the positions of the drive units 53c and 53d in the width direction are the same as each other.

The drive unit 48a includes a drive device 1a for an electric vehicle, wheels 16c and 16d, a braking device 14, and a turning device 30a.

The electric vehicle drive device 1a includes a housing 2a, a pair of electric motors 3c and 3d, a pair of drive shafts 4c and 4d, and a pair of torque transmission devices 5c and 5d.

The housing 2a is provided on the cylindrical portion 6d and the portion above the cylindrical portion 6d, and is a pair of rectangular plate-shaped motor mounting portions 64a and 64b arranged parallel to each other and separated from each other in the traveling direction and the width direction. And a pair of transmission device accommodating portions 65a and 65b spanned between the cylindrical portion 6d and the motor mounting portions 64a and 64b, respectively.

Each of the pair of electric motors 3c and 3d has output shafts 7c and 7d, and is supported and fixed to the housing 2a. Specifically, in each of the pair of electric motors 3c and 3d, the output shafts 7c and 7d are non-coaxial with each other and each other with the tips of the output shafts 7c and 7d facing in opposite directions. It is supported and fixed to the motor mounting portions 64a and 64b of the housing 2a so as to be parallel to each other.

For this purpose, specifically, the first electric motor 3c, which is one of the pair of electric motors 3c and 3d, has the tip end portion of the output shaft 7c directed to one side (left side in FIG. 26) in the width direction. In this state, of the pair of motor mounting portions 64a and 64b of the housing 2a, one side of the motor mounting portion 64a in the width direction is supported and fixed to the other side surface in the width direction.

On the other hand, of the pair of electric motors 3c and 3d, the second electric motor 3d, which is the other, has the tip of the output shaft 7d facing the other side (right side in FIG. 26) in the width direction. Of the pair of motor mounting portions 64a and 64b of the housing 2a, the motor mounting portions 64b on the other side in the width direction are supported and fixed to one side surface in the width direction.

In this example, as each of the pair of electric motors 3c and 3d, the rated voltage is lower than that of the electric motors 3a and 3b of the electric vehicle drive device 1 according to the first example of the embodiment, and a large motor is used. Has been done. Specifically, for example, a motor having a rated voltage of 48 [V] is used as each of the electric motors 3c and 3d.

Each of the pair of drive shafts 4c and 4d is coaxial with each other, and the base end portion (end portion on the side close to each other) is set to the cylindrical portion 6d of the housing 2a with the tip portions facing each other. Supports rotatably. Further, as shown in FIGS. 23 and 24, each of the pair of drive shafts 4c and 4d has a back surface combination (DB) type in which the intermediate portion is supported and fixed to the housing 2a inside the tubular member 76. It is rotatably supported via a pair of tapered roller bearings 77 having a contact angle. In this example, the pair of drive shafts 4c and 4d are arranged non-coaxially and parallel to the output shafts 7c and 7d of the pair of electric motors 3c and 3d, respectively.

For this purpose, specifically, the first drive shaft 4c, which is one of the pair of drive shafts 4c and 4d, has a base end portion with the tip end facing the other side in the width direction. It is rotatably supported on the other end of the cylindrical portion 6d of the housing 2a in the width direction. On the other hand, of the pair of drive shafts 4c and 4d, the second drive shaft 4d, which is the other, has the tip end facing one side in the width direction and the base end portion in the width direction of the cylindrical portion 6d. It is rotatably supported at one end.

In this example, as shown in FIG. 16, the electric motor 3c is viewed from the width direction (axial direction of the drive shafts 4c and 4d) with the wheels 16c and 16d supported on the drive shafts 4c and 4d, respectively. The positional relationship between the cylindrical portion 6d constituting the housing 2a and the motor mounting portions 64a and 64b is regulated so that each of the 3d and 3d is located above the tires 33 constituting the wheels 16c and 16d. That is, the positional relationship between the cylindrical portion 6d and the motor mounting portions 64a and 64b in the vertical direction is regulated based on the size of the electric motors 3c and 3d and the outer diameter dimension of the tire 33.

Further, in this example, as shown in FIG. 18, all the members constituting the drive unit 48a form a swivel circle of a pair of wheels 16c and 16d (centered on a swivel shaft C described later, and form the wheels 16c and 16d). The distance between the pair of electric motors 3c and 3d in the traveling direction is regulated so as to be located inside the (circle) α of the outer peripheral surface of the tire 33 that passes through the outer end in the width direction. That is, the positional relationship regarding the traveling direction of the motor mounting portions 64a and 64b is regulated based on the size of the electric motors 3c and 3d and the width dimension of the tire 33.

Each of the pair of torque transmission devices 5c and 5d transmits the rotational torque of the output shafts 7c and 7d of the pair of electric motors 3c and 3d to the pair of drive shafts 4c and 4d, respectively. In this example, each of the pair of torque transmission devices 5c and 5d is composed of a gear type speed reducer. That is, the first torque transmission device 5c, which is one of the pair of torque transmission devices 5c and 5d, attaches to the first drive shaft 4c while increasing the rotational torque of the output shaft 7c of the first electric motor 3c. introduce. On the other hand, the second torque transmission device 5d, which is the other of the pair of torque transmission devices 5c and 5d, increases the rotational torque of the output shaft 7d of the second electric motor 3d and the second drive shaft. Communicate to 4d.

For this purpose, each of the pair of torque transmission devices 5c and 5d includes four intermediate shafts 66a to 66d and eight gears 67a to 67h, each of which is composed of spur gears.

The intermediate shafts 66a to 66d are rotatably supported inside the transmission device accommodating portions 65a and 65b of the housing 2a in a non-coaxial and parallel manner, respectively.

The first intermediate shaft 66a can rotate to a position closer to the drive shafts 4c and 4d than the output shafts 7c and 7d of the electric motors 3c and 3d in the traveling direction in the inner portions of the transmission device accommodating portions 65a and 65b. Is supported by. The second intermediate shaft 66b is located on the inner portion of the transmission device accommodating portions 65a and 65b, which is closer to the drive shafts 4c and 4d than the first intermediate shaft 66a in the traveling direction, and is closer to the first intermediate shaft 66a. It is rotatably supported above. The third intermediate shaft 66c is located below the second intermediate shaft 66b and on the drive shafts 4c and 4d from the first intermediate shaft 66a in the traveling direction in the inner portions of the transmission device accommodating portions 65a and 65b. It is rotatably supported at a position closer to it. The fourth intermediate shaft 66d is located below the third intermediate shaft 66c and from the drive shafts 4c and 4d below the third intermediate shaft 66c in the traveling direction in the inner portions of the transmission device accommodating portions 65a and 65b. It is rotatably supported at a position on the far side.

The first gear 67a rotates together with the output shafts 7c and 7d of the electric motors 3c and 3d, respectively. In this example, the first gear 67a is externally fitted and fixed to the tip ends of the output shafts 7c and 7d of the electric motors 3c and 3d, respectively.

The second gear 67b meshes with the first gear 67a and is provided around the first intermediate shaft 66a. In this example, the second gear 67b is integrally formed with the first intermediate shaft 66a. The second gear 67b has a larger number of teeth than the first gear 67a.

The third gear 67c meshes with the second gear 67b and is supported and fixed to the second intermediate shaft 66b. In this example, the third gear 67c has a larger number of teeth than the second gear 67b.

The fourth gear 67d is provided around the portion of the second intermediate shaft 66b that is axially deviated from the portion where the third gear 67c is supported and fixed, and rotates in synchronization with the third gear 67c. do. In this example, the fourth gear 67d is integrally formed with the second intermediate shaft 66b. The fourth gear 67d has a smaller number of teeth than the third gear 67c.

The fifth gear 67e meshes with the fourth gear 67d and is supported and fixed to the third intermediate shaft 66c. In this example, the fifth gear 67e has a larger number of teeth than the fourth gear 67d.

The sixth gear 67f is provided around a portion of the third intermediate shaft 66c where the fifth gear 67e is axially deviated from the portion supported and fixed, and rotates in synchronization with the fifth gear 67e. do. In this example, the sixth gear 67f is integrally formed with the third intermediate shaft 66c. The sixth gear 67f has a smaller number of teeth than the fifth gear 67e.

The seventh gear 67g meshes with the sixth gear 67f and is provided around the fourth intermediate shaft 66d. In this example, the seventh gear 67g is integrally formed with the fourth intermediate shaft 66d. The seventh gear 67g has a larger number of teeth than the number of teeth of the sixth gear 67f.

The eighth gear 67h meshes with the seventh gear 67g and rotates together with the drive shafts 4c and 4d, respectively. The eighth gear 67h has a larger number of teeth than the number of teeth of the seventh gear 67g. In this example, the eighth gear 67h is supported and fixed to the respective base ends (ends close to each other) of the drive shafts 4c and 4d.

Each of the pair of torque transmission devices 5c and 5d is not limited to the above configuration, and can transmit the rotational torque of the output shafts 7c and 7d of the electric motors 3c and 3d while increasing them to the drive shafts 4c and 4d, respectively. As long as it can be changed as appropriate. Specifically, for example, the relationship of the number of teeth of the gears 67a to 67h can be changed from the above relationship, or the number of gears (and the intermediate shaft) can be changed. In this example, the gears 67a to 67h are all composed of spur gears, but a part or all of the gears may be composed of a helical gear. It is also possible to incorporate a worm reducer in the torque transmission device in which the central shafts of the worms that mesh with each other and the central shafts of the worm wheels are in a twisted position. Further, the torque transmission device can be configured by a speed reducer using a belt or a chain.

As shown in FIGS. 23 and 24, the pair of drive shafts 4c and 4d each have a braking rotating body 15 constituting the braking device 14 and wheels 16c and 16d constituting the braking device 14 via mounting members 78, respectively. 17 is supported.

The mounting member 78 has a spline hole 79 penetrating in the axial direction at the center thereof, and has a rotary flange 80 protruding outward in the radial direction.

Spline shafts 24 provided at the tips of the pair of drive shafts 4c and 4d are spline-engaged in the spline holes 79.

The rotary flange 80 has mounting holes 81 at a plurality of positions in the circumferential direction. The braking rotating body 15 and the wheel 17 are supported by the rotating flange 80 by screwing hub bolts 26 through which through holes provided at a plurality of locations in the circumferential direction are inserted into the mounting holes 81. ..

The mounting member 78 is prevented from falling off from the drive shafts 4c and 4d by the nuts 82 screwed into the tips of the pair of drive shafts 4c and 4d.

The drive device 1a for an electric vehicle is supported on the lower surface of the traction portion 58 of the vehicle body 56 via the turning device 30a.

The swivel device 30a has a fixing member 38a supported and fixed to the lower surface of the traction portion 58 of the vehicle body 56 and a rotating member 39a supported and fixed to the upper end of the housing 2a so as to be coaxial with each other and the swivel shaft C. It consists of a possible combination of relative rotations centered on. Specifically, the swivel device 30a rotatably supports the rotating member 39a inside the fixing member 38a in the radial direction via a plurality of rolling elements 91.

The fixing member 38a has a double-row fixed-side track 92 on the inner peripheral surface, and has a fixing flange 84 protruding outward in the radial direction about the swivel shaft C at the intermediate portion in the vertical direction. .. Each of the fixed flanges 84 has a fixed side support hole 85 penetrating in the vertical direction, and includes a plurality of (four in the illustrated example) fixed flange pieces 86 arranged apart from each other in the circumferential direction. .. That is, each of the fixed flange pieces 86 is provided with one fixed side support hole 85. The fixing member 38 is supported and fixed to the traction portion 58 by a bolt inserted or screwed into the fixing side support hole 85.

The rotating member 39a has a double row of rotating side orbits 93 on the outer peripheral surface, and has a rotating flange 88 protruding outward in the radial direction about the swivel shaft C at the lower end. .. Each of the rotary flanges 88 has a rotary side support hole (not shown) that penetrates in the vertical direction, and a plurality of (four in the illustrated example) rotary flange pieces that are arranged apart from each other in the circumferential direction. It is equipped with 89. Specifically, each of the rotating flange pieces 89 is provided with one rotating side support hole. The rotating member 39a is supported and fixed to the upper end of the housing 2a by a bolt 90 inserted or screwed into the rotating side support hole.

Each of the rolling elements 91 is rotatably arranged between the fixed-side orbits 92 in the double row and the rotating orbits 93 in the double-row while being held by a cage, and is a back-combination type contact. The horns are given. In this example, a ball is used as the rolling element 91, but a tapered roller can also be used.

In the drive unit 48a of this example, the wheels 16c and 16d (and the electric vehicle drive device 1a) are rotated around the turning shaft C by controlling the rotation direction and the number of rotations of the drive shafts 4c and 4d. Can be done.

In this example, as shown in FIG. 24, a double-row fixed-side track 92 is provided on the inner peripheral surface of the fixed member 38a via the outer ring 94, and the double-row rotation is provided on the outer peripheral surface of the rotating member 39a. The side track 93 is provided via the inner ring 95. In other words, the rotating member 39a is rotatably supported inside the fixing member 38a in the radial direction via a pair of angular contact ball bearings provided with a back surface combination type contact angle. However, when the present invention is carried out, one or both of the fixed side trajectories of the double row are directly provided on the inner peripheral surface of the fixing member, and / or one of the rotating side trajectories of the double row is provided on the outer peripheral surface of the rotating member. Alternatively, both can be provided directly.

In this example, the swivel shaft C, which is the central shaft of the rotating member 39a, is orthogonal to the central shafts of the pair of drive shafts 4c and 4d. However, the caster trail can also be secured by offsetting the swivel shaft C in the traveling direction (arranging it at a twisted position) with respect to the central axes of the pair of drive shafts 4c and 4d.

The automatic guided vehicle 55 of this example controls each of the pair of drive units 48a by a control device mounted on the traction unit 58 based on signals from various sensors and the like. That is, the control device controls the rotation direction and rotation speed (rotation speed) of the drive shafts 4c and 4d of the pair of drive units 48a, respectively, and the rotation directions of the wheels 16c and 16d supported by the drive shafts 4c and 4d. By controlling the number of rotations and the number of rotations, the traveling direction and traveling speed of the unmanned transport vehicle 55 can be controlled.

For example, the automatic guided vehicle 55 can be driven straight by making the rotation speeds and rotation directions of all the wheels 16c and 16d the same. Further, by reducing the number of rotations of the wheels 16c and 16d toward the wheels located inside in the radial direction of the turning locus, the automatic guided vehicle 55 can be turned. Further, if the rotation direction of one wheel 16c and the rotation direction of the other wheel 16d are opposite to each other for each of the drive units 48a, only the direction of the drive unit 48a is changed (steered) on the spot. be able to.

In this example, the pair of electric motors 3c and 3d are arranged at positions that are radially outwardly separated from the wheels 16c and 16d (the tires 33 that constitute the wheels), respectively. Therefore, as compared with the structure in which the pair of electric motors 3a and 3b are arranged between the pair of wheels 16a and 16b as in the first example of the embodiment, the distance between the wheels 16c and 16d is increased. It is easy to shorten (the distance between the wheels 16c and 16d in the axial direction). In other words, it is easy to keep the width dimension of the entire drive unit 48a small. In short, even when a general-purpose and large motor is used as the electric motors 3c and 3d without using a specially designed small motor, the width dimension of the ground contact surface (tread) of the tire 33 is sufficiently secured. , It is possible to suppress an increase in the widthwise dimension of the entire drive unit 48a.

Therefore, the drive unit 48a of this example can be easily incorporated into a vehicle in which the installation space in the width direction is limited. Alternatively, since the distance between the wheels 16c and 16d can be suppressed, the pair of electric motors 3c and 3d can be enlarged (sized up), so that the rated output of the electric motors 3c and 3d can be increased to increase the rated output of the electric motor (3c). The number of drive units 48a mounted on the automatic guided vehicle 55) can be reduced. Further, it is possible to improve the degree of freedom in the layout of the parts arranged between the wheels 16c and 16d. Specifically, for example, it is easy to make changes such as increasing the size of the braking device 14 in order to obtain a large braking force, or increasing the width dimension of the tire 33 in order to increase the load capacity.

Further, even when a large electric motor 3c or 3d is used, all the members constituting the drive unit 48a can be easily accommodated inside the turning circle α of the pair of wheels 16c and 16d. Further, since the electric motors 3c and 3d can be replaced without removing the wheels 16c and 16d, the maintainability can be improved.
The composition and action of other parts are the same as those of the first example of the embodiment.

[Third example of the embodiment]
27 (A) to 27 (C) show a third example of the embodiment. The automatic guided vehicle 55a of this example includes only one drive unit 48a. Specifically, the drive unit 48a is supported at the center position in the width direction of the lower surface of the traction portion 58 of the vehicle body 56 so as to be able to rotate about a turning axis C (see FIG. 16) orthogonal to the road surface. ing.

According to the automatic guided vehicle 55a of this example, the cost can be suppressed by minimizing the number of drive units 48a. The composition and action of other parts are the same as those of the first and second examples of the embodiment.

[Fourth Example of Embodiment]
FIG. 28 shows a fourth example of the embodiment. The drive unit 48b of this example has a function of alleviating vibration transmitted from the road surface to the vehicle body 56 (see FIGS. 14A to 14C) via the wheels 16c and 16d, respectively.

For this purpose, the fixing member 38b of the swivel device 30b has cylindrical portions 68 at two positions opposite to each other in the traveling direction. In this example, the central axis of the cylindrical portion 68 is arranged in the width direction. That is, the central axis of the cylindrical portion 68 is arranged in parallel with the output shafts 7c and 7d of the electric motors 3c and 3d and the drive shafts 4c and 4d (see FIGS. 23, 24 and 26). Further, the fixing member 38b has a sleeve 70 supported by an elastic member 69 made of an elastomer such as rubber inside each of the cylindrical portions 68, and has a sleeve 70 and an inner peripheral surface of the cylindrical portion 68. It has a hollow circular plate-shaped lid 83 that closes an opening on one side (left side of FIGS. 29 (A) and 29 (B)) of the cylindrical space between the sleeve 70 and the outer peripheral surface in the axial direction.

The fixing member 38b is attached to a mounted portion provided on the lower surface of the traction portion 58 of the vehicle body 56 by, for example, screwing a nut into a bolt through which the sleeve 70 and the lid 83 are inserted from the other side in the axial direction. It is supported and fixed. That is, in a state where the fixing member 38b is supported and fixed to the vehicle body 56, both sides in the axial direction of the cylindrical space between the inner peripheral surface of the cylindrical portion 68 and the outer peripheral surface of the sleeve 70 by the lid 83 and the attached portion. The opening is closed.

According to this example, even when the wheels 16c and 16d vibrate in the axial direction (width direction) and the radial direction (traveling direction and / or vertical direction) of the wheels 16c and 16d due to the unevenness of the road surface and the like. This vibration can be absorbed by the elastic member 69 of the swivel device 30b being elastically deformed. That is, the vibration transmitted from the road surface to the vehicle body 56 via the wheels 16c and 16d can be alleviated. In particular, in this example, since the central axis of the cylindrical portion 68 is arranged in the width direction, the absorption performance of vibration in the vertical direction from the wheels 16c and 16d can be improved.

Further, in this example, since the lid 83 and the attached portion block the openings on both sides in the axial direction of the cylindrical space between the inner peripheral surface of the cylindrical portion 68 and the outer peripheral surface of the sleeve 70, the wheels 16c, It is possible to prevent excessive deformation of the elastic member 69 due to the vibration of 16d. The pair of lids can close the openings on both sides of the cylindrical space between the inner peripheral surface of the cylindrical portion 68 and the outer peripheral surface of the sleeve 70 in the axial direction, and one end of the cylindrical portion 68 in the axial direction. A flange portion that faces inward in the radial direction is provided in the portion, and the flange portion can prevent the elastic member 69 from being excessively deformed to one side in the axial direction.

In the case of carrying out the present invention, as in this example, the drive unit 48b is supported on the vehicle body 56 via the elastic member 69, or the drive unit 48b is supported on the vehicle body 56 via the elastic member 69. In addition to the configuration supported by 56, the drive unit can also be supported with respect to the vehicle body via a buffer mechanism such as a gas damper or an air spring.
Other configurations and effects are similar to those of the first and second embodiments of the embodiment.

[Fifth Example of Embodiment]
FIG. 30 shows a fifth example of the embodiment. Similarly to the drive unit 48b according to the fourth example of the embodiment shown in FIG. 29, the drive unit 48c of this example also has a vehicle body 56 (FIGS. 14 (A) to 14) from the road surface via the wheels 16c and 16d, respectively. It has a function of alleviating the vibration transmitted to (C)).

For this purpose, the fixing member 38c of the swivel device 30c has cylindrical portions 68a at a plurality of positions in the circumferential direction. In this example, each of the cylindrical portions 68a is provided at four positions of the fixing member 38c at equal intervals in the circumferential direction. The central axis of the cylindrical portion 68a is arranged in the vertical direction. The fixing member 38c has a sleeve 70a supported inside each of the cylindrical portions 68a via an elastic member 69a made of an elastomer such as rubber. Further, the fixing member 38c is a hollow circular plate-shaped lid 83 (a hollow circular plate-shaped lid 83) that closes an opening (lower opening) on one side in the axial direction of the cylindrical space between the inner peripheral surface of the cylindrical portion 68a and the outer peripheral surface of the sleeve 70a. 29 (A) and 29 (B)).

The fixing member 38c is a mounted portion provided on the lower surface of the traction portion 58 of the vehicle body 56, for example, by screwing a nut into a bolt through which the sleeve 70a and the lid 83 are inserted from the other side (upper side) in the axial direction. It is supported and fixed to. That is, in a state where the fixing member 38c is supported and fixed to the vehicle body 56, both sides in the axial direction of the cylindrical space between the inner peripheral surface of the cylindrical portion 68a and the outer peripheral surface of the sleeve 70a are provided by the lid 83 and the attached portion. (Openings on both sides in the vertical direction) are closed.

According to this example, even when the wheels 16c and 16d vibrate in the axial direction (width direction) and the radial direction (traveling direction and / or width direction) of the wheels 16c and 16d due to the unevenness of the road surface and the like. This vibration can be absorbed by elastically deforming the elastic member 69a of the swivel device 30c. That is, the vibration transmitted from the road surface to the vehicle body 56 via the wheels 16c and 16d can be alleviated. In particular, in this example, since the central axis of the cylindrical portion 68a is arranged in the vertical direction, the vibration absorption performance in the width direction from the wheels 16c and 16d can be improved.

Further, in this example, since the lid 83 and the attached portion block the openings on both sides in the axial direction of the cylindrical space between the inner peripheral surface of the cylindrical portion 68a and the outer peripheral surface of the sleeve 70a, the wheels 16c, It is possible to prevent excessive deformation of the elastic member 69a due to the vibration of 16d.

Also in the case of this example, it is possible to adopt a configuration in which the drive unit is supported with respect to the vehicle body via a buffer mechanism such as a gas damper or an air spring.
Other configurations and effects are similar to those of the first, second and fourth embodiments of the embodiment.

[6th Example of Embodiment]
FIG. 31 shows a sixth example of the embodiment. The automatic guided vehicle 55b of this example includes a rectangular box-shaped vehicle body 71, a drive unit 48a, a plurality of (four in the illustrated example) auxiliary wheels 72, and a fork 73.

The drive unit 48a is supported at the center of the lower surface of the vehicle body 71 so as to be rotatable about a turning axis C (see FIG. 16) orthogonal to the road surface.

The training wheels 72 are supported at the corners of the lower surface of the vehicle body 71 so as to be rotatable about a central axis orthogonal to the road surface.

The fork 73 is supported on the front surface of the vehicle body 71 so as to be displaced in the vertical direction.

When the vehicle 74 is transported using the automatic guided vehicle 55b of this example, the vehicle 74 is transported by using a plurality of automatic guided vehicles 55b as a set. Specifically, each of the wheels 75 of the automobile 74 is lifted and conveyed by the forks 73 of one automatic guided vehicle 55b. In the illustrated example, each of the four wheels 75 is transported by a total of four automatic guided vehicles 55b.

According to the automatic guided vehicle 55b of this example, it is possible to transport the automobile 74 of many vehicle types. That is, in the automatic guided vehicle 55 according to the second embodiment and the automatic guided vehicle 55a according to the third embodiment, the width dimension of the mounting portion 59 is determined according to the vehicle width and the total length of the vehicle to be transported. Or the total length may need to be changed. On the other hand, in the automatic guided vehicle 55b of this example, each of the wheels 75 of the automobile 74 is lifted and transported by the fork 73 of the automatic guided vehicle 55b, so that the vehicle 74 is transported regardless of the vehicle width and the total length. , The automobile 74 can be transported.
The composition and action of other parts are the same as in the second example of the embodiment.

[7th example of the embodiment]
32 to 37 show a seventh example of the embodiment. The swivel device 30d constituting the drive unit 48d of this example has a stopper mechanism 96 that regulates the rotatable range of the drive device 1a for an electric vehicle centered on the swivel shaft C. That is, the swivel device 30d of this example has a mechanical stopper. The stopper mechanism 96 faces the circumferential direction and faces the pair of fixed side stopper surfaces 97 provided on the fixing member 38d and the pair of fixed side stopper surfaces 97 which faces the circumferential direction and faces the rotating member 39a. It has a pair of rotating side stopper surfaces 98 provided. Regarding the swivel device 30d, the circumferential direction, the radial direction, and the axial direction mean the circumferential direction, the radial direction, and the axial direction about the swivel axis C.

The fixing member 38d has a fixing flange 84 protruding outward in the radial direction at an intermediate portion in the axial direction. The fixed flange 84 has substantially triangular fixed flange pieces 86 that project radially outward from the portions adjacent to both sides in the circumferential direction at four locations separated in the circumferential direction. The fixing member 38d is bent downward from the ends of a pair of fixed flange pieces 86 adjacent to each other in the circumferential direction among the four fixed flange pieces 86 constituting the fixed flange 84, which are far from each other in the circumferential direction. It has a pair of bent plate portions 99. In other words, each of the two fixed flange pieces 86 adjacent to each other in the circumferential direction has a bent plate portion 99. Each radial inner end of the bent plate portion 99 is connected to a portion of the outer peripheral surface of the fixing member 38d adjacent to the lower side of the fixing flange 84. That is, the fixing member 38d is integrally formed as a whole, including the fixing flange 84 having the four fixing flange pieces 86 and the pair of bent plate portions 99. The pair of fixed-side stopper surfaces 97 are provided on the side surfaces of the pair of bent plate portions 99 that are far from each other in the circumferential direction.

The rotating member 39a is formed by connecting and fixing the rotating member main body 100 and the rotating side stopper member 101 with bolts 102.

The rotating member main body 100 has a double row of rotating side orbits 93 on the outer peripheral surface, and has a circular ring-shaped rotating flange 88a protruding outward in the radial direction at the lower end. The rotary flange 88a has a rectangular notch 103 at one position in the circumferential direction. The notch 103 has a screw hole 104 that opens to the bottom surface, and has a pair of main body-side facing surfaces 105 that are parallel to each other on both inner side surfaces in the circumferential direction.

The rotation side stopper member 101 has a rectangular plate-shaped engaging plate portion 106 and a columnar portion 107 projecting upward from the upper surface of the engaging plate portion 106. The engaging plate portion 106 has a through hole 108 penetrating in the radial direction, and has a pair of stopper member side facing surfaces 109 parallel to each other on both side surfaces in the circumferential direction. A pair of rotating side stopper surfaces 98 are provided on both side surfaces in the circumferential direction of the columnar portion 107. The pair of rotation-side stopper surfaces 98 are inclined in a direction closer to each other toward the inner side in the radial direction.

The rotating member 39a engages the engaging plate portion 106 with the notch 103, and the bolt 102 through which the through hole 108 is inserted is screwed into the screw hole 104 and further tightened to further tighten the rotating member main body 100 and the rotating side stopper member. It is configured by binding and fixing to 101. In a state where the rotating member main body 100 and the rotating side stopper member 101 are coupled and fixed, the pair of main body side facing surfaces 105 and the pair of stopper member side facing surfaces 109 are in contact with each other or are in close contact with each other.

As shown in FIG. 33, the rotating side stopper member 101 is located at the center position in the circumferential direction between the pair of fixed side stopper surfaces 97 in a neutral state with the wheels 16c and 16d facing in the straight direction. The phase of the rotating member 39a with respect to the fixing member 38d in the circumferential direction is regulated. In the neutral state, the allowable limit turning angle θ (see FIG. 33), which is the angle formed by the fixed side stopper surface 97 and the rotating side stopper surface 98 facing each other in the circumferential direction, is the angle formed by the electric vehicle to which the drive unit 48d is attached. It can be set as appropriate according to the application. However, the permissible limit turning angle θ is set to the vehicle bodies 32a, 32b, 32c (see FIGS. 11A to 13C) of the electric vehicle driving device 1a centering on the turning shaft C according to the instruction from the control device. On the other hand, it shall be equal to or greater than the control limit angle, which is the maximum value of the turning angle when turning. A maximum control limit angle of about 135 degrees is sufficient. Therefore, for example, the permissible limit turning angle θ can be 90 degrees or more and less than 180 degrees, preferably larger than 90 degrees and 150 degrees or less, and in the illustrated example, it is about 120 degrees.

According to the drive unit 48d of this example, it is possible to prevent the drive device 1a for an electric vehicle from excessively turning with respect to the vehicle bodies 32a, 32b, and 32c about the turning shaft C. That is, when the electric vehicle drive device 1a turns to the vicinity of the control limit angle and travels on a rough road or rides on a curb, the electric vehicle drive device 1a is based on the external force applied to the wheels 16c and 16d. There is a possibility that a force for turning beyond the control limit angle is applied to 1a.

In the drive unit 48d of this example, when the drive device 1a for an electric vehicle tries to turn beyond the control limit angle, one of the pair of rotation-side stopper surfaces 98, one of the rotation-side stopper surfaces 98, becomes the one rotation-side. It abuts (collides) with one fixed side stopper surface 97 facing the stopper surface 98. This makes it possible to prevent the rotating member 39a from rotating further with respect to the fixing member 38d. Therefore, it is possible to prevent the drive device 1a for an electric vehicle centering on the turning shaft C from turning excessively, and prevent the drive unit 48a from breaking down or causing poor control.

Further, in this example, in a state where the rotating member main body 100 and the rotating side stopper member 101 are coupled and fixed to form the rotating member 39a, the pair of main body side facing surfaces 105 of the rotating member main body 100 and the rotating side stopper member 101 The pair of stopper member side facing surfaces 109 are in contact with each other or are in close contact with each other. Therefore, when a reaction force is applied to the rotation side stopper member 101 as the rotation side stopper surface 98 comes into contact with the fixed side stopper surface 97, this reaction force is applied from the stopper member side facing surface 109 to the main body side facing surface 105. Is transmitted to. Therefore, even when the fixed side stopper surface 97 and the rotating side stopper surface 98 come into contact with each other, it is possible to prevent a large load from being applied to the bolt 102 for coupling and fixing the rotating side stopper member 101 to the rotating member main body 100. Therefore, it is not necessary to use a bolt 102 having an excessively large diameter.

Further, according to this example, by engaging the engaging plate portion 106 with the notch 103, the rotating side stopper member 101 can be positioned in the circumferential direction with respect to the rotating member main body 100. Therefore, it is not necessary to prepare a separate component only for positioning the rotary side stopper member 101 in the circumferential direction with respect to the rotary member main body 100, and it is possible to prevent an unnecessarily increase in the number of components.

Further, the rotation side stopper member 101 is connected to the outside of the rotation member main body 100 in the radial direction by screwing a bolt 102 through which the through hole 108 is inserted into the screw hole 104 and further tightening the bolt 102. Therefore, even if the pair of rotating side stopper surfaces 98 are worn, only the rotating side stopper member 101 can be easily replaced, which is excellent in maintainability.

Further, in this example, the pair of fixed side stopper surfaces 97 are provided on the circumferential direction side surfaces of the pair of bent plate portions 99. The bent plate portion 99 is bent downward from the circumferential end portion of the fixed flange piece 86, and the radially inner end portion is a portion of the outer peripheral surface of the fixing member 38d that is adjacent to the lower side of the fixed flange 84. Is connected to. In short, the fixing member 38d is integrally formed as a whole, including the fixing flange 84 having the four fixing flange pieces 86 and the pair of bent plate portions 99. Therefore, the force applied to the bent plate portion 99 as the rotating side stopper surface 98 abuts on the fixed side stopper surface 97 can be effectively dispersed and supported in the radial inner portion of the fixing member 38d.

Further, in this example, the pair of fixing side stopper surfaces 97 are provided on the circumferential side surfaces of the pair of bent plate portions 99 provided on the radial outer portion of the fixing member 38d. Therefore, even if the pair of fixed-side stopper surfaces 97 are worn, maintenance of the fixed-side stopper surfaces 97 can be easily performed. The composition and action of other parts are the same as those of the first and second examples of the embodiment.

[8th example of the embodiment]
38 and 39 show an eighth example of an embodiment of the present invention. In this example, each of the pair of fixed side stopper surfaces 97a constituting the stopper mechanism 96a is supported and fixed to each of the pair of bent plate portions 99a, and the tip of an elastic member 110 made of an elastic material such as an elastomer such as rubber. It is provided on the surface. For this reason, each of the bent plate portions 99a has a through hole 111 penetrating in the plate thickness direction at the central portion. The elastic member 110 is formed in a columnar shape, has a fixed-side stopper surface 97a on the tip surface, and has a screw hole that opens on the base end surface. The elastic member 110 is supported and fixed to the bent plate portion 99a by inserting a bolt (not shown) into the through hole 111 of the bent plate portion 99a, screwing it into the screw hole of the elastic member 110, and further tightening the bolt.

In this example, a fixed-side stopper surface 97a that abuts (collides) with the rotation-side stopper surface 98 is provided on the tip surface of the elastic member 110 made of an elastic material. Therefore, the impact when the fixed side stopper surface 97a and the rotating side stopper surface 98 come into contact with each other can be alleviated, and abnormal noise can be suppressed to be small.

By sandwiching the shim plate between the bent plate portion 99a and the base end surface of the elastic member 110, the distance between the fixed side stopper surface 97a and the rotating side stopper surface 98 in the neutral state is adjusted. You can do it. The composition and action of other parts are the same as those of the first, second and seventh examples of the embodiment.

[9th example of the embodiment]
40 and 41 show a ninth example of an embodiment of the present invention. The fixing member 38e constituting the swivel device 30e of this example has a plurality of fixing member main bodies 112 supported and fixed to the vehicle body and a pair of fixing side stopper members 113 for each of the fixing side stopper members 113 ( In the illustrated example, two bolts each, for a total of four bolts 114) are used to connect and fix the bolts.

The fixing member main body 112 has a double-row fixed-side track 92 (see FIGS. 36 and 37) on the inner peripheral surface, and has a fixing flange 84a protruding outward in the radial direction at an axial intermediate portion. Have. The fixed flange 84a has a plurality of fixed flange pieces 86 arranged apart from each other in the circumferential direction, and has screw holes 115 penetrating in the vertical direction at a plurality of locations at equal intervals in the circumferential direction of the inner portion in the radial direction. Have. In other words, the fixed flange 84a is composed of a ring-shaped flange base portion 127 and a substantially triangular fixed-side flange piece 86 protruding outward in the radial direction from a plurality of circumferential directions of the outer peripheral surface of the flange base portion 127. , Of these, screw holes 115 are provided at a plurality of positions in the circumferential direction of the flange base portion 127.

The pair of fixed-side stopper members 113 have a partially cylindrical shape. Further, each of the fixed-side stopper members 113 has a fixed-side stopper surface 97 on one side surface of both side surfaces in the circumferential direction, and has a pair of through holes 116 penetrating in the vertical direction.

The fixing member 38e has a pair of bolts 114 through which each pair of through holes 116 of the fixing side stopper member 113 are inserted, and any one pair of screw holes adjacent to each other in the circumferential direction among the screw holes 115 of the fixing member main body 112. It is configured by connecting the fixing member main body 112 and the pair of fixing side stopper members 113 by screwing and further tightening the 115. That is, in the swivel device 30e of this example, the pair of fixed-side stopper members 113 are supported and fixed to the fixing member main body 112 in a stepwise adjustable mounting position in the circumferential direction about the swivel shaft C. ing. Therefore, according to the turning device 30e of this example, the allowable limit turning angle, which is the angle formed by the fixed side stopper surface 97 and the rotating side stopper surface 98 in the neutral state, is gradually set according to the application of the electric vehicle or the like. Can be adjusted to.

In the illustrated example, each of the pair of fixing side stopper members 113 is coupled and fixed to the fixing member main body 112 by a pair of bolts 114, but the fixing side stopper member is coupled and fixed to the fixing member main body. The number of bolts for this purpose may be one, or three or more. The composition and action of other parts are the same as those of the first, second and seventh examples of the embodiment.

[10th Example of Embodiment]
42 to 44 show a tenth example of the embodiment of the present invention. The fixing member 38f constituting the swivel device 30f of this example is formed by connecting and fixing the fixing member main body 112a and the pair of fixing side stopper members 113a with a pair of nuts 124 and bolts 125.

The fixing member main body 112a includes a mount portion 117 and a guide rail 118.

The mount portion 117 has a double-row fixed-side track 92 (see FIGS. 36 and 37) on the inner peripheral surface, and has a fixed flange 84 protruding outward in the radial direction at the intermediate portion in the vertical direction. ..

The guide rail 118 is provided with a rail groove 119 having a T-shaped cross-sectional shape on the outer peripheral surface over the entire circumference, and is externally fitted and fixed around the lower portion of the mount portion 117 so as not to rotate relative to each other.

Each of the pair of fixed-side stopper members 113a has a flat plate-shaped or partially cylindrical base portion 120, a bent plate portion 121 bent outward in the radial direction from one end in the circumferential direction of the base portion 120, and the base portion 120. It is provided with an engaging convex portion 122 that protrudes inward in the radial direction from an intermediate portion in the vertical direction of the inner side surface in the radial direction and extends in the circumferential direction, and a through hole 123 that penetrates the base portion 120 in the radial direction. Each of the pair of fixed side stopper surfaces 97 is provided on one side surface in the circumferential direction of the bent plate portion 121.

Each of the pair of nuts 124 is partially cylindrical and has a screw hole 126 penetrating in the radial direction at the center, and the ends on both sides in the vertical direction are displaced relative to the rail groove 119 of the guide rail 118 in the circumferential direction. (Sliding) is engaged as possible.

The fixing member 38f engages each engaging convex portion 122 of the pair of fixing side stopper members 113a with the rail groove 119 of the guide rail 118, and makes each through hole 123 of the pair of fixing side stopper members 113a. The inserted bolt 125 is screwed into each screw hole 126 of the pair of nuts 124 and further tightened to connect the fixing member main body 112a and the pair of fixing side stopper members 113a. That is, in the swivel device 30f of this example, the pair of fixing side stopper members 113a are supported and fixed to the fixing member main body 112a so that the mounting position in the circumferential direction can be adjusted steplessly (continuously). .. Therefore, according to the swivel device 30f of this example, the permissible limit swivel angle, which is the angle formed by the fixed side stopper surface 97 and the rotating side stopper surface 98 in the neutral state, can be adjusted steplessly. The composition and action of other parts are the same as those of the first, second, seventh and ninth examples of the embodiment.

[Eleventh Example of Embodiment]
45 to 47 show an eleventh example of the embodiment of the present invention. Similarly to the fixing member 38f according to the tenth embodiment, the fixing member 38g constituting the swivel device 30g of this example also has a fixing member main body 112b and a pair of fixing side stopper members 113b, and a pair of nuts 124. And it is connected and fixed by bolts 125.

The fixing member main body 112b includes a mount portion 117 and a guide rail 118a.

The guide rail 118a is provided with rail grooves 119 having a T-shaped cross-sectional shape on the outer peripheral surface over the entire circumference, and extends axially across the rail grooves 119 at a plurality of locations on the outer peripheral surface at equal intervals in the circumferential direction. It has an engaging recess 127 formed so as to.

Each of the pair of fixed-side stopper members 113b has a flat plate-shaped or partially cylindrical base portion 120, a bent plate portion 121 bent outward in the radial direction from one end in the circumferential direction of the base portion 120, and the base portion 120. It includes an engaging convex portion 122a that protrudes in the radial direction from one end of the inner side surface in the radial direction in the circumferential direction, and a through hole 123 that penetrates the base portion 120 in the radial direction. Each of the fixed side stopper surfaces 97 is provided on one side surface in the circumferential direction of the bent plate portion 121.

The fixing member 38g engages each engaging protrusion 122a of the pair of fixing side stopper members 113b with the engaging recess 127 of any one of the plurality of engaging recesses 127 of the guide rail 118. Further, the bolt 125 through which the respective through holes 123 of the pair of fixed side stopper members 113b is inserted is screwed into the respective screw holes 126 of the pair of nuts 124 and further tightened, whereby the fixed member main body 112b and the pair of fixed sides are fixed. It is configured by connecting with the stopper member 113b. That is, in the swivel device 30g of this example, the pair of fixing side stopper members 113a are supported and fixed to the fixing member main body 112a so that the mounting position in the circumferential direction can be adjusted stepwise. Therefore, according to the swivel device 30g of this example, the permissible limit swivel angle, which is the angle formed by the fixed side stopper surface 97 and the rotating side stopper surface 98 in the neutral state, can be adjusted stepwise.

Further, in this example, the engaging convex portions 122a of the pair of fixed-side stopper members 113b are engaged with the engaging concave portions 127 formed so as to extend in the axial direction on the outer peripheral surface of the guide rail 118a. .. Therefore, when the fixed side stopper surface 97 and the rotating side stopper surface 98 collide, it is possible to prevent the fixed side stopper member 113b from rotating relative to the fixed member main body 112b. The composition and action of other parts are the same as those of the first, second, seventh, ninth and tenth examples of the embodiment.

The first to eleventh examples of the above-described embodiments can be carried out in appropriate combinations as long as there is no contradiction.

1, 1a Drive device for electric vehicle 2, 2a Housing 3a, 3c First electric motor 3b, 3d Second electric motor 4a, 4c First drive shaft 4b, 4d Second drive shaft 5a, 5c First Torque transmission device 5b, 5d Second torque transmission device 6a, 6b, 6c, 6d Cylindrical part 7a, 7b, 7c, 7d Output shaft 8a, 8b Stator 9a, 9b Rotor 10a, 10b Rotation sensor 11 Intermediate shaft 12a First Gear 12b Second gear 12c Third gear 12d Fourth gear 13a, 13b, 13c, 13d Hub unit bearing 14 Braking device 15 Braking rotating body 16a, 16b, 16c, 16d Wheel 17 Wheel 18 Outer ring 19 Hub 20 Roll Moving body 21 Static flange 22 Spline hole 23 Rotating flange 24 Spline shaft 25 Mounting hole 26 Hub bolt 28 Brake caliper 29 Support device 30, 30a, 30b, 30c, 30d, 30e, 30f, 30g Swivel device 31 Vehicle height adjustment device 32a, 32b , 32c Body 33 Tire 34 Mount member 35 Damper 36 Connecting member 37 Arm part 38, 38a, 38b, 38c, 38d, 38e, 38f, 38g Fixing member 39, 39a, 39b Rotating member 40 Lower support member 41 Support frame 42 Adjustment Mechanism 43 Height adjustment motor 44 Upper support member 45 Lower link member 46 Upper link member 47 Axle 48, 48a, 48b, 48c, 48d Drive unit 49 Support member 50a, 50b, 50c Electric vehicle 51a, 51b, 51c Body body 52a1, 52a2, 52b1, 52b2, 52c1, 52c2 Supported parts 53a, 53b, 53c, 53d Drive part 54 Connector part 55, 55a, 55b Unmanned transport vehicle 56 Body 57 Drive wheel 58 Tow part 59 Mounting part 60 Base 61 Extension Protrusion 62 Support shaft 63 Tire 64a, 64b Motor mounting part 65a, 65b Transmission device accommodating part 66a First intermediate shaft 66b Second intermediate shaft 66c Third intermediate shaft 66d Fourth intermediate shaft 67a First gear 67b 2nd wheel 67c 3rd gear 67d 4th gear 67e 5th gear 67f 6th gear 67g 7th gear 67h 8th gear 68, 68a Cylindrical part 69 , 69a Elastic member 70, 70a Sleeve 71 Body body 72 Auxiliary wheel 73 Fork 74 Automobile 75 Wheel 76 Cylindrical member 77 Conical roller bearing 78 Mounting member 79 Spline hole 80 Rotating flange 81 Mounting hole 82 Nut 83 Lid 84 Fixed flange 85 Fixed side Support hole 86 Fixed flange piece 87 Bolt 88 Rotating flange 89 Rotating flange piece 90 Bolt 91 Rolling body 92 Fixed side orbit 93 Rotating side orbit 94 Outer ring 95 Inner ring 96 Stopper mechanism 97 Fixed side stopper surface 98 Rotating side stopper surface 99 Bent plate part 100 Rotating member Main body 101 Rotating side stopper member 102 Bolt 103 Notch 104 Screw hole 105 Main body side facing surface 106 Engagement plate part 107 Columnar part 108 Through hole 109 Stopper member side facing surface 110 Elastic member 111 Through holes 112, 112a, 112b Fixing member Main body 113, 113a, 113b Fixed side stopper member 114 Bolt 115 Screw hole 116 Through hole 117 Mount part 118 Guide rail 119 Rail groove 120 Base 121 Bent plate part 122 Engagement convex part 123 Through hole 124 Nut 125 Bolt 126 Screw hole 127 Flange base

Claims (14)

With the housing
A pair of electric motors, each having an output shaft and supported against the housing,
A pair of drive shafts that are rotatably supported with respect to the housing, coaxially with each other and with their tips on which the wheels are supported facing in opposite directions.
A pair of torque transmission devices that transmit the rotational torque of each of the output shafts of the pair of electric motors to each of the pair of drive shafts.
A drive device for electric vehicles. The output shafts of the pair of electric motors and the pair of drive shafts are arranged in parallel.
The drive device for an electric vehicle according to claim 1. The output shafts of the pair of electric motors are arranged non-coaxially with each other and parallel to each other.
The drive device for an electric vehicle according to claim 2. Each of the pair of electric motors is arranged so as to overlap each other in a direction orthogonal to each of the output axes.
The drive device for an electric vehicle according to claim 3. Each of the pair of electric motors is arranged at a position radially outwardly separated from the wheel.
The drive device for an electric vehicle according to any one of claims 1 to 4. Each of the pair of torque transmission devices is composed of a gear type speed reducer including a plurality of gears.
The drive device for an electric vehicle according to any one of claims 1 to 5. A drive device for an electric vehicle having a pair of drive shafts,
A pair of wheels supported by each of the pair of drive shafts,
A swivel device that supports the drive device for an electric vehicle with respect to a vehicle body so as to be able to rotate around a swivel axis orthogonal to the road surface.
With
A drive unit in which the drive device for an electric vehicle is the drive device for an electric vehicle according to any one of claims 1 to 6. The swivel device has a stopper mechanism that regulates a rotatable range of the drive device for an electric vehicle centered on the swivel shaft.
The drive unit according to claim 7. The swivel device is a fixing member that is supported and fixed to the vehicle body, and is coaxially arranged with the fixing member so as to be rotatable with respect to the fixing member, and the swivel shaft is arranged with respect to the drive device for an electric vehicle. It has a rotating member, which is supported so that it cannot rotate around the center.
The stopper mechanism faces the circumferential direction centered on the swivel shaft, faces the fixed side stopper surface provided on the fixing member, and faces the circumferential direction centered on the swivel shaft, and the fixed side stopper. It has a rotating side stopper surface facing the surface and provided on the rotating member.
The drive unit according to claim 8. The rotating member
2.
It has a stopper member side facing surface that faces in the circumferential direction about the swivel axis and is in contact with or close to the main body side facing surface, and the rotating side stopper surface, and is supported by the rotating member main body. With the fixed rotating side stopper member,
To prepare
The drive unit according to claim 9. The fixing member is
A fixing member body that is supported and fixed to the vehicle body,
A fixed-side stopper member having the fixed-side stopper surface and being supported and fixed to the fixing member main body so as to be able to adjust the mounting position in the circumferential direction about the swivel axis.
To prepare
The drive unit according to claim 9 or 10. A support device is provided that reduces vibrations transmitted from the road surface to the vehicle body via each of the wheels while pressing each of the outer peripheral surfaces of the tires constituting the wheels against the road surface.
The drive unit according to any one of claims 7 to 11. A vehicle height adjusting device is provided, which is arranged between each of the driving devices for an electric vehicle and the vehicle body and adjusts the height of the vehicle body with respect to the road surface.
The drive unit according to any one of claims 7 to 12. With the car body
With at least one drive unit
With
An electric vehicle, wherein each of the drive units is the drive unit according to any one of claims 7 to 13.

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