JP5741128B2 - In-wheel motor drive device - Google Patents

Description

  The present invention relates to an in-wheel motor driving device that is built in a wheel of a vehicle and rotates the wheel.

  For example, Patent Document 1 includes a motor, a cycloid reduction gear interposed between the motor and the wheel bearing, a control device that controls driving of the motor, and a temperature sensor attached to the motor. An in-wheel motor drive is disclosed. When a vehicle equipped with an in-wheel motor drive device travels at a low speed, a large torque is required. However, when the motor or reduction gear is overloaded, the temperature of the motor or the like tends to rise excessively. Therefore, the control device limits the driving current of the motor in accordance with the temperature information measured by the temperature sensor to prevent an excessive temperature rise of the motor or the like.

  Patent Document 2 discloses an inverter device that drives a motor having two rotors and two stators having different outputs on the same output shaft. This inverter device is provided with an inverter circuit dedicated to each rotor. Further, the amount of heat generated by the motor is suppressed by controlling the inverter circuit of the rotor having a small output among the two rotors at a high frequency and controlling the inverter circuit of the rotor having a large output at a low frequency.

  Patent Document 3 discloses a motor control device that controls driving of two motors. This motor control device determines the load distribution ratio that minimizes the total loss of the two motors based on the required output of the motor and the detected temperature, and controls the driving of the two motors, thereby controlling the two motors. Temperature rise is suppressed.

JP 2008-168790 A JP-A-6-327294 JP-A-6-284788

  A pivot and other parts provided at the tip of the lower arm that supports the steering knuckle are disposed in the wheel of the vehicle. For this reason, the arrangement space of the in-wheel motor drive device is limited, and it is necessary to reduce the size of the in-wheel motor drive device. In addition, when a vehicle equipped with an in-wheel motor drive device travels at a low speed, the in-wheel motor drive device needs to exhibit a large torque, and it is necessary to suppress heat generation of the in-wheel motor drive device.

  In the inventions described in Patent Documents 1 to 3, heat generation of the motor can be suppressed. However, the cycloid reduction gear cannot receive a large torque when it is downsized. For this reason, in the in-wheel motor drive device of patent document 1 provided with the cycloid reduction gear, the vehicle type which can be used is restrict | limited. Moreover, the in-wheel motor drive device which attached the reduction gear to the motor of patent document 2 will enlarge in a rotating shaft direction. Moreover, the in-wheel motor drive device which attached the reduction gear to the two separate motors described in Patent Document 3 will be further increased in size. For this reason, it is difficult to store the enlarged motor in a wheel having a limited storage space for the motor.

  The present invention has been made in view of such circumstances, and an object thereof is to provide a small in-wheel motor drive device having a large torque capacity and capable of suppressing heat generation.

(Invention 1) An in-wheel motor driving apparatus according to the present invention is an in-wheel motor including a motor unit built in a wheel of a vehicle and provided with a motor and a speed reducer, and a control device for controlling driving of the motor. A stepped cylindrical rotor in which a large-diameter rotor and a small-diameter rotor are integrated while being displaced in the rotational axis direction, and a cylinder disposed opposite to the radially outer side of the large-diameter rotor. A first stator having a shape and a second stator having a cylindrical shape opposed to the inner side in the radial direction of the small-diameter rotor and shifted in the rotational axis direction with respect to the first stator. Arranged radially inward of the large-diameter rotor and radially inward of the first stator.

(Claim 2) A mechanism for connecting the steering wheel of the vehicle and the wheel is disposed inside the wheel of the vehicle and radially outside the small-diameter rotor and radially outside the second stator. Good.

  (Claim 3) The speed reducer may include an involute gear that inputs the rotational force of the motor from the outer peripheral side and outputs it from the inner peripheral side.

  (Claim 4) The control device may control driving of the motor by alternately switching power supply to the first stator and power supply to the second stator.

  According to the present invention, the motor unit includes the first stator and the second stator. That is, the motor unit is substantially configured to have two motors. However, the two motors share the rotor. Accordingly, the outputs of the two motors are output from the same rotor. And by setting it as the structure provided with two motors which are a common rotor, the heat_generation | fever of a 1st stator and a 2nd stator can be suppressed by using properly the output and usage time of two motors.

  Furthermore, according to the present invention, since the first stator is disposed to face the outer side in the radial direction of the rotor, it is easy to dissipate heat generated in the first stator. A space is formed on the radially inner side of the rotor by disposing the first stator on the radially outer side of the rotor. A reduction gear is disposed in a space formed on the radially inner side of the first stator and on the radially inner side of the rotor. That is, the first stator and the speed reducer are arranged at the same position in the axial direction. With such an arrangement, it is possible to reduce the axial size while improving the heat dissipation of the first stator. Here, the axial length of the wheel cannot be secured so long. That is, the motor unit can be reliably accommodated in the wheel by adopting the above configuration.

  Here, it is desirable to increase the diameter of the rotor in order to ensure a large torque capacity. Therefore, the diameter of the portion of the rotor that faces the second stator in the radial direction is preferably as large as possible. Further, as described above, the speed reducer has already been arranged radially inside the rotor and inside the first stator. Therefore, it is not necessary to arrange a reduction gear on the radially inner side of the portion of the rotor that faces the second stator in the radial direction. That is, the larger the diameter of the rotor is, the more space is provided on the radially inner side of the rotor in order to ensure a large torque capacity. Therefore, the second stator is arranged in the space. Therefore, the torque capacity by the second stator can be increased, and the size in the radial direction can be reduced.

  (Claim 2) A mechanism for connecting the steering and the wheel is required in the wheel of the steered wheel. That is, it is necessary to secure a space for arranging the mechanism in the wheel. In an in-wheel motor, since the motor unit is arranged in the wheel, it is not easy to arrange the mechanism.

  Here, according to the present invention, the outer diameter of the inner rotor type motor having the first stator is the outer diameter of the first stator. On the other hand, the outer diameter of the outer rotor type motor having the second stator is the outer diameter of the portion of the rotor. That is, in the outer rotor type motor having the second stator, even if the diameter of the rotor for securing the necessary torque capacity is secured, a space can be formed inside the wheel in the radial direction of the motor. Then, by arranging a mechanism for connecting to the steering in the space, the motor unit and the connection mechanism are arranged in the wheel, and the motor unit is composed of two motors, and both the two motors are necessary. Torque capacity can be ensured.

  (Claim 3) According to the present invention, an involute reduction device that can be miniaturized can be arranged inside the rotor of an inner rotor type motor, so that the size in the rotational axis direction can be reduced.

  (Claim 4) According to the present invention, when one of the inner rotor type motor and the outer rotor type motor is used, the other can be stopped, so that the heat generation of the motor can be suppressed.

It is the partial sectional view showing the schematic structure in the wheel provided with the in-wheel motor drive of this embodiment. It is sectional drawing which shows the in-wheel motor drive device of FIG. It is the figure which looked at the principal part of the in-wheel motor drive device of FIG. 2 from the AA line direction. It is a figure which shows the relationship between the electric current A (motor torque) supplied to a motor, and the limit use time H when the temperature of a motor reaches predetermined temperature and becomes a use limit.

(Schematic configuration inside a wheel equipped with an in-wheel motor drive device)
A schematic configuration in the wheel 2 provided with the in-wheel motor drive device 1 of the present embodiment will be described with reference to FIG. The in-wheel motor drive device 1 is disposed at the center of the wheel 2. A steering knuckle 3 is fixed to the housing 10 of the in-wheel motor drive device 1. The wheel 2 and the brake disc 4 are fixed to the output member 22 of the in-wheel motor drive device 1. The steering knuckle 3 is supported by the lower arm 5 via a pivot 6 provided at the tip of the lower arm 5. The steering knuckle 3, the lower arm 5 and the pivot 6 are mechanisms for connecting a steering wheel (not shown) and the wheel 2.

(Configuration of in-wheel motor drive device)
The configuration of the in-wheel motor drive device 1 will be described with reference to FIGS. The in-wheel motor drive device 1 includes a housing 10, a motor 11, an involute reducer 20, and a control device 40. The motor 11 includes an inner rotor type motor 11a and an outer rotor type motor 11b arranged in parallel in the rotation axis direction. The involute reducer 20 is a small tooth number difference involute reducer, and is disposed inside the inner rotor type motor 11a. A motor unit including the motor 11 and the involute reducer 20 is built in the wheel 2 of the vehicle. Although details will be described later, the rotational driving force of one or both of the inner rotor type motor 11a and the outer rotor type 11b motor is transmitted to the involute reducer 20 to be decelerated.

(Motor configuration)
The housing 10 is configured by integrally forming a large-diameter cylindrical housing 10a that houses an inner rotor type motor 11a and a small-diameter cylindrical housing 10b that houses an outer rotor type motor 11b.

  In the motor 11, a large-diameter rotor 12a and a small-diameter rotor 12b are integrally formed side by side coaxially in the rotation axis direction, that is, the rotor 12 formed in a stepped cylindrical shape is opposed to the radially outer side of the large-diameter rotor 12a. The cylindrical first stator 13 and the cylindrical second stator 14 arranged to face the inner side in the radial direction of the small-diameter rotor 12b. That is, the large rotor 12a and the first stator 13 constitute an inner rotor type motor 11a, and the small diameter rotor 12b and the second stator 14 constitute an outer rotor type motor 11b.

  The cylindrical large-diameter rotor 12a and the small-diameter rotor 12b are configured by including, for example, a rotor yoke and a magnet, respectively. Moreover, the 1st stator 13 and the 2nd stator 14 are each provided with the stator core and the coil wound around the said stator core. The first stator 13 is fixed to the inner peripheral surface of the large-diameter housing 10a. The second stator 14 is fixed to the bottom surface of the small diameter housing 10b.

  According to such a configuration, the small tooth number difference involute speed reducer 20 that can be reduced in size can be arranged inside the inner rotor type motor 11a, so that the size in the rotation axis direction can be reduced. Furthermore, in the inner rotor type motor 11a, since the first stator 13 is disposed to face the radially outer side of the large-diameter rotor 12a, it is easy to dissipate heat generated by the first stator 13. On the other hand, in the outer rotor type motor 11b, since the second stator 14 is arranged facing the inner side in the radial direction of the small-diameter rotor 12b, the torque radius of the small-diameter rotor 12b can be increased, and a large torque capacity can be secured. For this reason, the outer rotor type motor 11 b can be configured to have a smaller diameter than the inner rotor type motor 11 a, and a large space can be secured in the wheel 2. Therefore, the pivot 5 provided at the tip of the lower arm 4 that supports the steering knuckle 3, other unillustrated parts, and the like can be disposed in the wheel 2.

(Motor operation)
The control device 40 controls the rotation of the motor 11 by controlling the current supplied to the first stator 13 and the second stator 14. Here, as shown in FIG. 4, when the current A (torque of the motor 11) supplied to the motor 11 increases, the temperature of the motor 11 reaches a predetermined temperature (for example, 200 ° C.) and becomes a use limit. The usage time H decreases exponentially. Therefore, for example, the control device 40 first supplies the current A only to the first stator 13, stops the current supply to the first stator 13 before reaching the limit usage time H corresponding to the current A, and then In addition, the control of supplying the current A only to the second stator 14 and stopping the current supply to the second stator 14 before reaching the limit use time H corresponding to the current A is repeated. As described above, when one of the inner rotor type motor 11a and the outer rotor type motor 11b is used by alternately switching the current (electric power) supplied to the first stator 13 and the second stator 14. Since the other can be stopped, the heat generation of the motor 11 can be suppressed. Further, the control device 40 can exert a large torque by simultaneously supplying current (electric power) to the first stator 13 and the second stator 14.

(Configuration of involute reducer)
The involute speed reducer 20 mainly includes an input member 21, an output member 22, a fixed shaft member 23, a gear shaft 24, a first swing member 25, a second swing member 26, and a pin support member 27. Consists of The housing 10 supports the input member 21 and the output member 22 so as to be directly or indirectly rotatable about a common input / output axis Lo.

  The input member 21 is a member that rotates around the input / output axis Lo when the motor 11 is driven. The input member 21 is formed in a cylindrical shape and is integrated with the inner peripheral portion of the tip of the large-diameter rotor 12a. The input member 21 has a first eccentric portion 21a and a second eccentric portion 21b formed on the inner peripheral surface. The first eccentric portion 21a is an annular portion having a cylindrical inner surface 211a so as to be centered on the first eccentric axis La that is an eccentric axis that is eccentric with respect to the input / output axis Lo. The second eccentric portion 21b is an eccentric portion that is eccentric with respect to the input / output axis Lo, and is an annular portion having a cylindrical inner surface 211b that is centered on a second eccentric axis Lb that is different from the first eccentric axis La.

  The first eccentric portion 21a and the second eccentric portion 21b are formed so that the eccentric directions with respect to the input / output axis Lo are opposite to each other. Thereby, the cylindrical inner surface 211a of the first eccentric portion 21a and the cylindrical inner surface 211b of the second eccentric portion 21b are spaced at 180 (deg) intervals so as to be equally spaced in the rotation direction about the input / output axis Lo. Is formed.

  The output member 22 is a member that rotates around the input / output axis Lo when the motor 11 is driven. The output member 22 is formed in a disk shape, the rotation shaft 22a is rotatably supported on the inner periphery of the gear shaft 24, and the outer periphery is connected to the wheel 2 (see FIG. 1). A detailed description of the output member 22 will be described later. The fixed shaft member 23 is a fixed member that does not rotate even when the speed reducer 20 is driven. The fixed shaft member 23 is formed in a cylindrical shape and is integrated with the tip of the second stator 14. The gear shaft 24 is a sun gear in which outer teeth 24 a of involute teeth are formed on a cylindrical outer periphery, and is integrated with the tip of the fixed shaft member 23.

  The first oscillating member 25 is formed in an annular shape, has an involute internal gear 25a and an insertion hole 25b, and has an outer peripheral surface rotatably supported by the cylindrical inner surface 211a of the first eccentric portion 21a. It is a gear. The internal gear 25 a is a gear that is formed on the inner peripheral surface of the first swing member 25 and can mesh with the external teeth 24 a of the gear shaft 24. Accordingly, the first swing member 25 swings and rotates with respect to the input / output axis Lo while meshing the internal gear 25a with the external teeth 24a of the gear shaft 24 as the input member 21 rotates. .

  The insertion hole 25b is a pin hole formed so as to penetrate both end surfaces of the first swing member 25 in the direction of the input / output axis Lo, and a pin 28 supported by a pin support member 27 described later is inserted therein. In the present embodiment, as shown in FIG. 3, the insertion holes 25 b formed at six places are arranged at equal intervals in the circumferential direction of the first swing member 25. The inner diameter of the insertion hole 25b of the first swing member 25 is the diameter of the pin 28 to be inserted and the amount of eccentricity of the first swing member 25 (the distance between the input / output axis Lo and the first eccentric axis La). It is set to be approximately equal to the sum. However, in this embodiment, since the rolling bearing 29 is extrapolated to the pin 28, the diameter of the pin 28 corresponds to the diameter of the rolling bearing 29.

  The second oscillating member 26 is formed in an annular shape, has an involute internal gear 26a and an insertion hole 26b, and has an outer peripheral surface rotatably supported by the cylindrical inner surface 211b of the second eccentric portion 21b. It is a gear. The internal gear 26 a is a gear that is formed on the inner peripheral surface of the second swing member 26 and can mesh with the external teeth 24 a of the gear shaft 24. As a result, the second swinging member 26 swings and rotates with respect to the input / output axis Lo while meshing the internal gear 26a with the external teeth 24a of the gear shaft 24 as the input member 21 rotates. .

  The insertion hole 26 b is a pin hole formed so as to penetrate both end faces of the second swing member 26 in the direction of the input / output axis Lo, and the pin 28 supported by the pin support member 27 is inserted into the rolling bearing 29. It engages with the pin 28 via. In the present embodiment, as shown in FIG. 3, the insertion holes 26 b formed at six locations are arranged at equal intervals in the circumferential direction of the second swing member 26. The inner diameter of the insertion hole 26b of the second rocking member 26 is the diameter of the pin 28 to be inserted and the amount of eccentricity of the second rocking member 26 (the distance between the input / output axis Lo and the second eccentric axis Lb). It is set to be approximately equal to the sum. However, in this embodiment, since the rolling bearing 29 is extrapolated to the pin 28, the diameter of the pin 28 corresponds to the diameter of the rolling bearing 29.

  Thus, the 1st rocking member 25 and the 2nd rocking member 26 which consist of the same type planetary gear are each supported by the 1st eccentric part 21a and the 2nd eccentric part 21b. The cylindrical inner surface 211a of the first eccentric portion 21a and the cylindrical inner surface 211b of the second eccentric portion 21b are formed at an interval of 180 (deg) so as to be equally spaced in the rotation direction around the input / output axis Lo. Has been. As a result, the first swing member 25 and the second swing member 26 are positioned at equal intervals in the circumferential direction of rotation about the input / output axis Lo. Here, it is assumed that the first and second eccentric portions 21a and 21b are rotated by the rotation of the input member 21, and the first and second swing members 25 and 26 are swung and rotated along with the rotation. In this case, the rotation shafts (the first eccentric axis La and the second eccentric axis Lb) of the first and second swinging members 25 and 26 maintain the target position on the input / output axis Lo according to the positional relationship described above. However, it rotates around the input / output axis Lo.

  The pin support member 27 is a disk-shaped member that is supported by the fixed shaft member 23 via the bearing 30 and is disposed so as to be rotatable about the input / output axis Lo. The pin support member 27 is located in the protruding direction of the pin 28 with respect to the first and second swing members 25 and 26. The pin support member 27 is formed with the same number of pin holes as the plurality of pins 28, and is press-fitted or spaced from the end portions of the pins 28 that pass through the insertion holes 25 b and 26 b of the first and second swing members 25 and 26. Connected by fitting. Accordingly, the pin support member 27 supports the six pins 28 fixed to the output member 22 and rotates at the same rotational speed as the output member 22 as the output member 22 rotates.

  The output member 22 is located in the protruding direction of the pin 28 with respect to the first and second swinging members 25 and 26. The output member 22 is formed with the same number of pin holes as the plurality of pins 28, and is press-fitted or fitted into the ends of the pins 28 passing through the insertion holes 25b, 26b of the first and second swing members 25, 26. It is connected by. The output member 22 has inner peripheries of the insertion holes 25b and 26b of the first and second swing members 25 and 26 along with the swing rotation of the first and second swing members 25 and 26 due to the rotation of the input member 21. A driving force is transmitted from the surface via the pin 28 and the rolling bearing 29. At this time, due to the dimensional relationship of the outer diameter of the rolling bearing 29 with respect to the insertion holes 25b and 26b, only the rotation component of the swinging rotation of the first and second swinging members 25 and 26 is transmitted. That is, the output member 22 is connected to the first and second swing members 25 and 26 so as to be interlocked with the rotation component of the swing rotation of the first and second swing members 25 and 26.

(Operation of involute reducer)
Next, the operation of the involute reducer 20 will be described. First, when the motor 11 is operated, the first eccentric portion 21a and the second eccentric portion 21b of the input member 21 integrated with the large-diameter rotor 12a of the motor 11 rotate. And the 1st rocking | fluctuation member 25 supported by the inner peripheral side of the 1st eccentric part 21a rocks | fluctuates and rotates with rotation of the 1st eccentric part 21a. Similarly, the second swing member 26 supported on the inner peripheral side of the second eccentric portion 21b swings and rotates as the second eccentric portion 21b rotates. As a result, the first and second swinging members 25 and 26 revolve around the input / output axis Lo at the rotational speed of the input member 21 as the input member 21 rotates.

  Here, the internal gears 25 a and 26 a of the first and second swing members 25 and 26 are meshed with the external teeth 24 a of the gear shaft 24 only on a part of their circumferences. Since the gear shaft 24 is fixed by the fixed shaft member 23, the first and second swing members 25 and 26 revolve while the teeth of the internal gears 25a and 26a and the external teeth 24a of the gear shaft 24 are rotated. The rotation is performed around the first and second eccentric axes La and Lb, respectively, at the rotation speed based on the number difference. The rotation direction at this time is the direction opposite to the rotation direction of the input material 21 (counterclockwise if the input member 21 is clockwise).

  Here, the pin 28 is inserted into the insertion holes 25 b and 26 b of the first and second swinging members 25 and 26. And only the outer peripheral surface of the rolling bearing 29 extrapolated by the pin 28 is in contact with the inner peripheral surface of each insertion hole 25b, 26b, and transmits driving force. Thereby, when the first and second swinging members 25 and 26 swing and rotate, the rotation component is transmitted to the pin 28. Then, the output member 22 rotates at the rotation speed of the first and second swinging members 25 and 26. In this way, the output member 22 extracts the rotation component from the swinging rotation of the first and second swinging members 25 and 26 via the pin 28 and the rolling bearing 29, and decelerates the rotation input from the input member 21. And output from the output member 22.

(Operation effect of in-wheel motor drive)
The motor unit of the in-wheel motor drive device 1 includes a first stator 13 and a second stator 14, and substantially has two motors 11a and 11b. However, since the two motors 11a and 11b share the rotor 12 (the large-diameter rotor 12a and the small-diameter rotor 12b), the outputs of the two motors 11a and 11b are output from the same rotor 12. And the heat_generation | fever of the 1st stator 13 and the 2nd stator 14 can be suppressed by using properly the output and usage time of two motor 11a, 11b.

  Furthermore, since the first stator 13 is disposed to face the outer side in the radial direction of the large-diameter rotor 12a, the heat generated in the first stator 13 can be easily radiated. By arranging the first stator 13 on the radially outer side of the rotor 12, a space is formed on the radially inner side of the large diameter rotor 12a. An involute speed reducer 20 is disposed in a space formed on the radially inner side of the first stator 13 and on the radially inner side of the large-diameter rotor 12a. That is, the first stator 13 and the involute reducer 20 are arranged at the same position in the axial direction. With such an arrangement, it is possible to reduce the axial size while improving the heat dissipation of the first stator 13. Here, the axial direction length of the wheel 2 cannot be secured so long. That is, the motor unit can be reliably accommodated in the wheel 2 by adopting the above configuration.

  Further, it is desirable that the diameter of the small-diameter rotor 12b be increased in order to ensure a large torque capacity. Therefore, the diameter of the portion of the small-diameter rotor 12b that faces the second stator 14 in the radial direction is preferably as large as possible. As described above, the involute speed reducer 20 is disposed on the radially inner side of the large rotor 12a and on the radially inner side of the first stator. Therefore, it is not necessary to arrange the involute reduction gear 20 on the radially inner side of the portion of the small-diameter rotor 12b that faces the second stator 14 in the radial direction. That is, as the diameter of the small-diameter rotor 12b is increased in order to ensure a large torque capacity, a space is formed on the radially inner side of the rotor 12. Therefore, the second stator 14 is disposed in the space. Therefore, the torque capacity by the second stator 14 can be increased, and the size in the radial direction can be reduced.

  The outer diameter of the inner rotor type motor having the first stator 13 is the outer diameter of the first stator 13. On the other hand, the outer diameter of the outer rotor type motor having the second stator 14 is the outer diameter of the portion of the small-diameter rotor 12b. That is, the outer rotor type motor having the second stator 14 forms a space on the outer side in the radial direction of the motor in the wheel 2 even if the diameter of the small-diameter rotor 12b for securing the necessary torque capacity is secured. be able to. Then, by arranging a mechanism for connecting to the steering in the space, the motor unit is constituted by two motors 11a and 11b while arranging the motor unit and the connection mechanism in the wheel 2, and 2 The two motors 11a and 11b can secure the necessary torque capacity.

(Modification)
Although the inner rotor type motor 11a has a large diameter and the outer rotor type motor 11b has a small diameter, the inner rotor type motor 11a and the outer rotor type motor 11b may have the same diameter. Further, the present invention can be similarly applied to a speed reducer having a configuration other than the involute speed reducer 20.

1: In-wheel motor drive device, 2: Wheel, 3: Steering knuckle 5: Lower arm, 6: Pivot 10, 10a, 10b: Housing, 11: Motor 11, 11a: Inner rotor type motor, 11b: Outer rotor type Motor: 12: Rotor 12a: Large-diameter rotor, 12b: Small-diameter rotor, 13: First stator 14: Second stator 20: Involute reducer, 21: Input member, 22: Output member 23: Fixed shaft member, 24: Gear Shaft 25: First swing member 26: Second swing member 27: Pin support member 40: Control device

Claims (4)

A motor unit built in a wheel of the vehicle and including a motor and a speed reducer;
A control device for controlling the driving of the motor;
An in-wheel motor drive device comprising:
The motor is
A stepped cylindrical rotor in which a large-diameter rotor and a small-diameter rotor are integrated in a rotational axis direction ;
A cylindrical first stator disposed opposite to the radially outer side of the large-diameter rotor;
A cylindrical second stator disposed opposite to the radially inner side of the small-diameter rotor and displaced in the rotational axis direction with respect to the first stator;
With
The speed reducer is an in-wheel motor drive device that is disposed radially inward of the large-diameter rotor and radially inward of the first stator. In claim 1,
An in-wheel motor drive device in which a mechanism for connecting a steering wheel of the vehicle and the wheel is disposed in a wheel of the vehicle, on a radially outer side of the small-diameter rotor and on a radially outer side of the second stator. . In claim 1 or 2,
The speed reducer is an in-wheel motor drive device including an involute gear that inputs the rotational force of the motor from the outer peripheral side and outputs the rotational force from the inner peripheral side. In any one of Claims 1-3,
The control device is an in-wheel motor drive device that controls driving of the motor by alternately switching power supply to the first stator and power supply to the second stator.

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