WO2021044462A1 - Module d'entraînement et de direction - Google Patents

Module d'entraînement et de direction Download PDF

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Publication number
WO2021044462A1
WO2021044462A1 PCT/JP2019/034360 JP2019034360W WO2021044462A1 WO 2021044462 A1 WO2021044462 A1 WO 2021044462A1 JP 2019034360 W JP2019034360 W JP 2019034360W WO 2021044462 A1 WO2021044462 A1 WO 2021044462A1
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WO
WIPO (PCT)
Prior art keywords
rotating body
drive
motor unit
steering
wheel support
Prior art date
Application number
PCT/JP2019/034360
Other languages
English (en)
Japanese (ja)
Inventor
隆太 輿石
ガヤーン ベラガラ
行正 長田
村松　啓且
Original Assignee
ヤマハ発動機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Priority to PCT/JP2019/034360 priority Critical patent/WO2021044462A1/fr
Priority to PCT/JP2020/033274 priority patent/WO2021045109A1/fr
Publication of WO2021044462A1 publication Critical patent/WO2021044462A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/18—Steering knuckles; King pins
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for

Definitions

  • the present invention relates to a module used in a vehicle, and more particularly to a drive steering module having a steering function for steering wheels and a drive function for driving wheels.
  • Non-Patent Document 1 a vehicle in which each element such as a steering module, a drive module, and a suspension module is modularized has been proposed.
  • Such a vehicle is disclosed in, for example, Non-Patent Document 1 below.
  • the drive module is connected to the steering module.
  • the steering module is attached to the vehicle body via the suspension module in a state of being unitized with the drive module.
  • a drive steering module having a steering function for steering wheels and a drive function for driving wheels, which is a module that can be used for various types of vehicles. Further, in such a drive steering module, it is required to be able to utilize the space above the wheels while being compact.
  • An object of the present invention is a drive steering module used in a vehicle and having a steering function for steering wheels and a drive function for driving wheels, and is a drive steering module that can utilize the space above the wheels while being compact. Is to provide.
  • the drive steering module includes a vehicle body fixing portion, a main body portion, a wheel support portion, a drive motor unit, and a steering motor unit.
  • the vehicle body fixing portion is fixed to the vehicle body.
  • the main body portion is arranged so as to be swingable with respect to the vehicle body fixing portion.
  • the wheel support rotatably supports the wheel.
  • the drive motor unit includes a first fixed body and a first rotating body.
  • the drive motor unit drives the wheels.
  • the steering motor unit includes a second fixed body and a second rotating body.
  • the steering motor unit steers the wheels.
  • the first fixed body of the drive motor unit and the second fixed body of the steering motor unit are fixed to the main body.
  • the first rotating body of the drive motor unit is connected to the wheel support portion so as to rotate integrally with the wheel support portion.
  • the second rotating body of the steering motor unit is connected to the vehicle body fixing portion so that the main body portion swings with respect to the vehicle body fixing portion.
  • the rotation center axis of the first rotating body of the drive motor unit is parallel to the rotation center axis of the wheel support portion.
  • the rotation center axis of the second rotating body of the steering motor unit is parallel to the rotation center axis of the wheel support portion.
  • the wheel support, the first rotating body of the drive motor unit, and the second rotating body of the steering motor unit are the wheel support, the first rotating body of the drive motor unit, and the steering motor in the direction in which the rotation center axis of the wheel support extends.
  • the units are arranged so as to be arranged in the order of the second rotating body of the unit.
  • the drive motor unit is connected to the wheel support portion so as to rotate integrally with the wheel support portion, and has a rotation center axis parallel to the rotation center axis of the wheel support portion.
  • the first rotating body of the steering motor unit which is connected to the vehicle body fixing portion so that the main body portion swings with respect to the vehicle body fixing portion, and has a rotation center axis parallel to the rotation center axis of the wheel support portion.
  • the two rotating bodies are arranged in this order so that the rotation center axis of the wheel support portion extends in the extending direction. Therefore, it is not necessary to arrange the wheel support portion, the first rotating body and the second rotating body on the wheels. As a result, in the drive steering module, the space above the wheels can be utilized while being compact.
  • the mode in which the vehicle body fixing portion is fixed to the vehicle body is not particularly limited.
  • the vehicle body fixing portion may be directly fixed to the vehicle body or indirectly fixed to the vehicle body.
  • the vehicle body fixing portion may have a configuration in which at least a part thereof is fixed to the vehicle body.
  • a shaft portion that cannot rotate with respect to the vehicle body fixing portion may be arranged in the vehicle body fixing portion.
  • the mode in which the main body portion is swingably arranged with respect to the vehicle body fixing portion is not particularly limited.
  • the main body portion is arranged so as to be swingable around the central axis of the shaft portion.
  • the mode in which the main body portion is swingably arranged with respect to the vehicle body fixing portion includes, for example, a mode in which the main body portion is rotatably arranged in a range of less than 360 ° in the circumferential direction around the central axis of the shaft portion.
  • the main body supports, for example, the drive motor unit.
  • the mode in which the main body supports the drive motor unit is not particularly limited.
  • the main body may directly support the drive motor unit or indirectly support the drive motor unit.
  • the main body may have, for example, a storage space that is a space for housing the drive motor unit. In this case, the main body supports the drive motor unit with the drive motor unit housed in the accommodation space.
  • the main body supports, for example, a steering motor unit.
  • the mode in which the main body supports the steering motor unit is not particularly limited.
  • the main body may directly support the steering motor unit or indirectly support the steering motor unit.
  • the main body may have, for example, an accommodation space that is a space for accommodating the steering motor unit. In this case, the main body supports the steering motor unit with the steering motor unit housed in the accommodation space.
  • the mode in which the wheel support portion rotatably supports the wheels is not particularly limited.
  • the mode in which the wheel support portion rotatably supports the wheel includes a mode in which the wheel support portion rotatably arranged is fixed to the wheel.
  • the mode in which the rotatably arranged wheel support portion is fixed to the wheel includes a mode in which the wheel support portion is fixed to the wheel portion of the wheel.
  • the wheel support portion may be rotatably arranged with respect to the main body portion, for example.
  • the mode in which the first fixed body is fixed to the main body is not particularly limited.
  • the first fixed body may be directly fixed to the main body portion or may be indirectly fixed to the main body portion.
  • the first rotating body may be rotatable with respect to the first fixed body, for example.
  • the mode in which the first rotating body is connected to the wheel support portion is not particularly limited as long as the force can be transmitted from the first rotating body to the wheel support portion.
  • the first rotating body may be directly connected to the wheel support portion or may be indirectly connected to the wheel support portion.
  • the mode in which the first rotating body is directly connected to the wheel support portion includes a mode in which the first rotating body is integrally formed with the wheel support portion.
  • the first rotating body is connected via another rotating body that can rotate around the rotation center axis parallel to the rotation center axis of the wheel support portion. Includes aspects of being connected to a wheel support.
  • the rotation center axis of the first rotating body may coincide with the rotation center axis of the wheel support portion. That is, the first rotating body may be arranged coaxially with the wheel support portion.
  • the drive motor unit may include a drive motor capable of outputting torque for rotating the first rotating body with respect to the first fixed body.
  • the drive motor may include, for example, a stator and a rotor that is rotatable relative to the stator.
  • the rotation center axis of the rotor may be, for example, parallel to the rotation center axis of the wheel support portion.
  • the stator is included in the first fixed body, for example.
  • the drive motor may be a radial type electric motor or an axial type electric motor.
  • the rotor and the stator are arranged coaxially, and the gap between the rotor and the stator is formed in a direction orthogonal to the rotation center axis of the rotor.
  • the rotor and the stator are arranged coaxially, and the gap between the rotor and the stator is formed in the direction in which the rotation center axis of the rotor extends.
  • the drive motor unit may include a first reduction gear that decelerates the rotation of the rotor and transmits the rotation to the first rotating body.
  • the first speed reducer is not particularly limited as long as it can reduce the rotation of the rotor and transmit it to the first rotating body.
  • the first speed reducer may have, for example, a planetary gear mechanism or a cycloid mechanism. At least a part of the first speed reducer may overlap the rotor when viewed in the direction in which the rotation center axis of the wheel support portion extends. At least a part of the first speed reducer may overlap the stator when viewed in the direction in which the rotation center axis of the wheel support portion extends.
  • At least a part of the first reduction gear is more than the rotor when viewed in the direction in which the rotation center axis of the wheel support extends. May also be located near the rotation center axis of the wheel support. That is, at least a part of the first speed reducer may be arranged in a space surrounded by the rotor when viewed in the direction in which the rotation center axis of the wheel support portion extends.
  • At least a part of the first reduction gear is more than the stator when viewed in the direction in which the rotation center axis of the wheel support extends. May also be located near the rotation center axis of the wheel support. That is, at least a part of the first speed reducer may be arranged in a space surrounded by the stator when viewed in the direction in which the rotation center axis of the wheel support portion extends.
  • At least a part of the drive motor unit may overlap the wheels when viewed in the direction in which the rotation center axis of the wheel support portion extends. At least a part of the drive motor unit may overlap the wheel portion of the wheel when viewed in the direction in which the rotation center axis of the wheel support portion extends.
  • At least a part of the drive motor unit may overlap the wheels when viewed in a direction orthogonal to the direction in which the rotation center axis of the wheel support portion extends. At least a part of the drive motor unit may overlap the wheel portion of the wheel when viewed in a direction orthogonal to the direction in which the rotation center axis of the wheel support portion extends.
  • the mode in which the second fixed body is fixed to the main body is not particularly limited.
  • the second fixed body may be directly fixed to the main body portion or may be indirectly fixed to the main body portion.
  • the second rotating body may be rotatable with respect to the second fixed body, for example.
  • the mode in which the second rotating body is connected to the vehicle body fixing portion is not particularly limited.
  • the mode in which the second rotating body is connected to the vehicle body fixing portion may be any mode in which the rotation of the second rotating body can be changed to swing with respect to the vehicle body fixing portion of the main body portion.
  • the second rotating body may be directly connected to the vehicle body fixing portion or may be indirectly connected to the vehicle body fixing portion.
  • the mode in which the second rotating body is indirectly connected to the vehicle body fixing portion includes a mode in which the second rotating body is connected to the vehicle body fixing portion via a member arranged so as not to rotate with respect to the vehicle body fixing portion.
  • the second rotating body is made of the vehicle body via a member rotatably arranged around the rotation center axis parallel to the rotation center axis of the second rotating body and a member arranged so as not to rotate with respect to the vehicle body fixing portion. Includes aspects of being connected to a fixed portion.
  • the rotation center axis of the second rotating body may coincide with the rotation center axis of the wheel support portion. That is, the second rotating body may be arranged coaxially with the wheel support portion.
  • the rotation center axis of the second rotating body may be parallel to the rotation center axis of the first rotating body.
  • the rotation center axis of the second rotating body may coincide with the rotation center axis of the first rotating body. That is, the second rotating body may be arranged coaxially with the first rotating body.
  • the steering motor unit may include a steering motor capable of outputting torque for rotating the second rotating body with respect to the second fixed body.
  • the steering motor may include, for example, a stator and a rotor that is rotatable relative to the stator.
  • the rotation center axis of the rotor may be, for example, parallel to the rotation center axis of the wheel support portion.
  • the stator is included, for example, in the second fixed body.
  • the steering motor may be a radial type electric motor or an axial type electric motor.
  • the rotor and the stator are arranged coaxially, and the gap between the rotor and the stator is formed in a direction orthogonal to the rotation center axis of the rotor.
  • the rotor and the stator are arranged coaxially, and the gap between the rotor and the stator is formed in the direction in which the rotation center axis of the rotor extends.
  • the steering motor unit may include a second speed reducer that decelerates the rotation of the rotor and transmits it to the second rotating body.
  • the second speed reducer is not particularly limited as long as it can reduce the rotation of the rotor and transmit it to the second rotating body.
  • the second speed reducer may have, for example, a planetary gear mechanism or a cycloid mechanism. At least a part of the second speed reducer may overlap the rotor when viewed in the direction in which the rotation center axis of the wheel support portion extends. At least a part of the second speed reducer may overlap the stator when viewed in the direction in which the rotation center axis of the wheel support portion extends.
  • At least a part of the second reduction gear is more than the rotor when viewed in the direction in which the rotation center axis of the wheel support extends. May also be located near the rotation center axis of the wheel support. That is, at least a part of the second speed reducer may be arranged in a space surrounded by the rotor when viewed in the direction in which the rotation center axis of the wheel support portion extends.
  • At least a part of the second reduction gear is more than the stator when viewed in the direction in which the rotation center axis of the wheel support extends. May also be located near the rotation center axis of the wheel support. That is, at least a part of the second speed reducer may be arranged in a space surrounded by the stator when viewed in the direction in which the rotation center axis of the wheel support portion extends.
  • At least a part of the steering motor unit may overlap the wheels when viewed in the direction in which the rotation center axis of the wheel support portion extends. At least a part of the steering motor unit may overlap the wheel portion of the wheel when viewed in the direction in which the rotation center axis of the wheel support portion extends.
  • At least a part of the steering motor unit may overlap the wheels when viewed in a direction orthogonal to the direction in which the rotation center axis of the wheel support portion extends. At least a part of the steering motor unit may overlap the wheel portion of the wheel when viewed in a direction orthogonal to the direction in which the rotation center axis of the wheel support portion extends.
  • the embodiment in which the wheel support portion, the first rotating body, and the second rotating body are arranged in this order so as to extend the rotation center axis of the wheel support portion is described.
  • the center of each of the wheel support portion, the first rotating body, and the second rotating body extends in the above order. Includes directional alignment.
  • the drive motor unit preferably includes a drive motor.
  • the drive motor outputs torque for driving the wheels.
  • the first fixed body of the drive motor unit includes the stator of the drive motor.
  • the first rotating body of the drive motor unit includes at least a part of the first reducer that reduces the rotation of the rotor of the drive motor.
  • the mode in which the first rotating body includes at least a part of the first speed reducer is not particularly limited.
  • the mode in which the first rotating body includes at least a part of the first speed reducer includes a mode in which at least a part of the first speed reducer can rotate integrally with the first rotating body.
  • At least a part of the first reduction gear is located on the wheel support portion rather than the stator of the drive motor when viewed in the direction in which the rotation center axis of the wheel support portion extends. It is located near the center axis of rotation.
  • the steering motor unit preferably includes a steering motor.
  • the steering motor outputs torque for steering the wheels.
  • the second fixed body of the steering motor unit includes the stator of the steering motor.
  • the second rotating body of the steering motor unit includes at least a part of the second reducing gear that reduces the rotation of the rotor of the steering motor.
  • the mode in which the second rotating body includes at least a part of the second speed reducer is not particularly limited.
  • a mode in which the second rotating body includes at least a part of the second speed reducer includes a mode in which at least a part of the second speed reducing body can rotate integrally with the second rotating body.
  • At least a part of the second reduction gear is located on the wheel support portion rather than the stator of the steering motor when viewed in the direction in which the rotation center axis of the wheel support portion extends. It is located near the center axis of rotation.
  • the drive steering module according to the embodiment of the present invention preferably further includes a first clutch mechanism.
  • the first clutch mechanism connects / separates the first rotating body of the drive motor unit and the second rotating body of the steering motor unit.
  • the first clutch mechanism is not particularly limited as long as it allows / prevents the first rotating body and the second rotating body from rotating integrally.
  • the first clutch mechanism is not particularly limited as long as it allows / blocks the transmission of force between the first rotating body and the second rotating body.
  • the drive steering module according to the embodiment of the present invention preferably further includes a second clutch mechanism.
  • the second clutch mechanism allows / blocks the torque output by the drive motor unit to drive the wheels to be transmitted to the wheel support portion connected to the first rotating body of the drive motor unit.
  • the second clutch mechanism is not particularly limited as long as it allows / prevents the first rotating body and the wheel support portion from rotating integrally.
  • the second clutch mechanism is not particularly limited as long as it allows / blocks the transmission of force from the first rotating body to the wheel support portion.
  • the second clutch mechanism may connect / separate the wheel support portion and the first rotating body.
  • the second clutch mechanism allows / blocks the transmission of force between, for example, the first portion of the first rotating body connected to the wheel support portion and the second portion connected to the first portion. It may be a thing.
  • the drive steering module preferably further includes a control device.
  • the control device controls each of the drive motor unit and the steering motor unit.
  • the control device is, for example, an ECU (Electronic Control Unit).
  • the ECU is realized by, for example, a combination of an IC (Integrated Circuit), an electronic component, a circuit board, and the like.
  • Control by the control device is realized, for example, by the CPU (Central Processing Unit) reading a program stored in the non-volatile memory and executing a predetermined process according to the program.
  • CPU Central Processing Unit
  • the control device includes, for example, a drive control unit that controls the drive motor unit.
  • the drive control unit is electrically connected to, for example, the stator of the drive motor included in the drive motor unit.
  • the drive control unit includes, for example, a first drive current supply unit and a first drive current control unit.
  • the first drive current supply unit supplies, for example, a drive current for rotating the rotor of the drive motor included in the drive motor unit relative to the stator.
  • the first drive current control unit controls, for example, the supply of the drive current to the stator by the first drive current supply unit according to the rotational state of the rotor.
  • the control device includes, for example, a steering control unit that controls the steering motor unit.
  • the steering control unit is electrically connected to, for example, the stator of the steering motor included in the steering motor unit.
  • the steering control unit includes, for example, a second drive current supply unit and a second drive current control unit.
  • the second drive current supply unit supplies the stator with a drive current for rotating the rotor of the steering motor included in the steering motor unit relative to the stator, for example.
  • the second drive current control unit controls, for example, the supply of the drive current to the stator by the second drive current supply unit according to the rotational state of the rotor.
  • the wheel support portion, the first rotating body of the drive motor unit, the second rotating body of the steering motor unit, and the control device have the rotation center axis of the wheel support portion.
  • the wheel support portion, the first rotating body of the drive motor unit, the second rotating body of the steering motor unit, and the control device are arranged in this order in the extending direction.
  • the wheel support portion, the first rotating body, the second rotating body, and the control device are arranged in this order so that the rotation center axis of the wheel support portion extends.
  • the center of each of the wheel support portion, the first rotating body, the second rotating body, and the control device (for example, the center in the direction in which the rotation center axis of the wheel support portion extends) is the wheel support portion in the above order.
  • the control device is divided into a plurality of control units, at least one of the plurality of control units may be arranged so as to be arranged in the above order.
  • the drive steering module according to the embodiment of the present invention preferably further includes a parking mechanism.
  • the parking mechanism connects the first rotating body of the drive motor unit and the second rotating body of the steering motor unit, and is connected to the vehicle body fixing portion so that the main body portion swings with respect to the vehicle body fixing portion. Prevents the second rotating body of the motor unit from rotating.
  • the parking mechanism may include, for example, a clutch mechanism for connecting / separating the first rotating body and the second rotating body.
  • the present invention is a drive steering module used in a vehicle and having a steering function for steering wheels and a drive function for driving wheels, and is a drive steering module that can utilize the space above the wheels while being compact. Can be provided.
  • FIG. 13 is an explanatory diagram showing the relationship between the lengths of the drive motor and the steering motor in the direction in which the rotation center axes extend. It is explanatory drawing which shows the other variation of the positional relationship of the drive motor, the 1st reduction gear, the steering motor and the 2nd reduction gear in the drive steering module shown in FIG. It is explanatory drawing which shows the further variation of the positional relationship of the drive motor, the 1st reduction gear, the steering motor and the 2nd reduction gear in the drive steering module shown in FIG.
  • FIG. 1 is a schematic view showing a schematic configuration of the drive steering module 10.
  • the direction in which the rotation center axis 40L of the wheel support portion 40, which will be described later, extends is the left-right direction.
  • the direction perpendicular to the rotation center axis 40L of the wheel support portion 40 (left-right direction) and perpendicular to the paper surface is defined as the front-rear direction.
  • the direction orthogonal to each of the left-right direction and the front-back direction is defined as the vertical direction.
  • the axes and members extending in the front-rear direction do not necessarily indicate only the axes and members that are parallel to the front-rear direction.
  • the axis or member extending in the front-rear direction includes an axis or member inclined in a range of ⁇ 45 ° with respect to the front-rear direction.
  • the axis or member extending in the vertical direction includes an axis or member inclined in a range of ⁇ 45 ° with respect to the vertical direction.
  • the axis or member extending in the left-right direction includes an axis or member inclined in a range of ⁇ 45 ° with respect to the left-right direction.
  • first member and second member mean members constituting the drive steering module 10.
  • the fact that the first member is arranged before the second member indicates the following state.
  • the first member is arranged in front of a plane that passes through the front end of the second member and is orthogonal to the front-rear direction.
  • the first member and the second member may or may not be arranged in the front-rear direction.
  • This definition also applies to directions other than the front-back direction.
  • the fact that the first member is arranged in front of the second member indicates the following state. At least a part of the first member is arranged in a region through which the second member translates in the forward direction. Therefore, the first member may be contained in the region through which the second member passes when it is translated in the forward direction, or protrudes from the region through which the second member is translated when it is translated in the forward direction. May be good. In this case, the first member and the second member are arranged in the front-rear direction. This definition also applies to directions other than the front-back direction.
  • the drive steering module 10 includes a vehicle body fixing portion 22, a main body portion 30, a wheel support portion 40, a drive motor unit 50, and a steering motor unit 60. These will be described below.
  • the vehicle body fixing portion 22 is fixed to the vehicle body VB.
  • the mode in which the vehicle body fixing portion 22 is fixed to the vehicle body VB is not particularly limited.
  • the vehicle body fixing portion 22 may be directly fixed to the vehicle body VB, or may be indirectly fixed to the vehicle body VB.
  • the main body portion 30 is arranged so as to be swingable with respect to the vehicle body fixing portion 22.
  • the mode in which the main body portion 30 is swingably arranged with respect to the vehicle body fixing portion 22 is not particularly limited.
  • the main body 30 supports, for example, the drive motor unit 50.
  • the mode in which the main body 30 supports the drive motor unit 50 is not particularly limited.
  • the main body 30 may directly support the drive motor unit 50, or may indirectly support the drive motor unit 50.
  • the main body 30 supports, for example, the steering motor unit 60.
  • the mode in which the main body 30 supports the steering motor unit 60 is not particularly limited.
  • the main body 30 may directly support the steering motor unit 60, or may indirectly support the steering motor unit 60.
  • the wheel support portion 40 rotatably supports the wheel VW.
  • the mode in which the wheel support portion 40 rotatably supports the wheel VW is not particularly limited.
  • the mode in which the wheel support portion 40 rotatably supports the wheel VW includes a mode in which the wheel support portion 40 rotatably arranged around the rotation center axis 40L is fixed to the wheel VW.
  • the mode in which the wheel support portion 40 rotatably arranged around the rotation center axis 40L is fixed to the wheel VW includes a mode in which the wheel support portion 40 is fixed to the wheel portion of the wheel VW.
  • the wheel support portion 40 may be rotatably arranged with respect to the main body portion 30, for example.
  • the drive motor unit 50 includes a first fixed body 52 and a first rotating body 54.
  • the drive motor unit 50 drives the wheels VW.
  • the drive motor unit 50 may include, for example, a drive motor capable of outputting torque for rotating the first rotating body 54 with respect to the first fixed body 52.
  • the first fixed body 52 is fixed to the main body portion 30.
  • the mode in which the first fixed body 52 is fixed to the main body 30 is not particularly limited.
  • the first fixed body 52 may be directly fixed to the main body portion 30, or may be indirectly fixed to the main body portion 30.
  • the first rotating body 54 may be rotatable with respect to the first fixed body 52, for example.
  • the first rotating body 54 is connected to the wheel support portion 40 so as to rotate integrally with the wheel support portion 40.
  • the mode in which the first rotating body 54 is connected to the wheel support portion 40 is not particularly limited as long as the force can be transmitted from the first rotating body 54 to the wheel support portion 40.
  • the first rotating body 54 may be directly connected to the wheel support portion 40, or may be indirectly connected to the wheel support portion 40.
  • the rotation center axis 54L of the first rotating body 54 is parallel to the rotation center axis 40L of the wheel support portion 40.
  • the rotation center axis 54L of the first rotating body 54 may coincide with the rotation center axis 40L of the wheel support portion 40. That is, the first rotating body 54 may be arranged coaxially with the wheel support portion 40.
  • the first rotating body 54 is located to the right of the wheel support portion 40 in the direction in which the rotation center axis 40L of the wheel support portion 40 extends, that is, in the left-right direction.
  • the steering motor unit 60 includes a second fixed body 62 and a second rotating body 64.
  • the steering motor unit 60 steers the wheels VW.
  • the steering motor unit 60 may include, for example, a steering motor capable of outputting torque for rotating the second rotating body 64 with respect to the second fixed body 62.
  • the second fixed body 62 is fixed to the main body portion 30.
  • the mode in which the second fixed body 62 is fixed to the main body portion 30 is not particularly limited.
  • the second fixed body 62 may be directly fixed to the main body portion 30, or may be indirectly fixed to the main body portion 30.
  • the second rotating body 64 may be rotatable with respect to the second fixed body 62, for example.
  • the second rotating body 64 is connected to the vehicle body fixing portion 22 so that the main body portion 30 swings with respect to the vehicle body fixing portion 22.
  • the mode in which the second rotating body 64 is connected to the vehicle body fixing portion 22 is not particularly limited.
  • the mode in which the second rotating body 64 is connected to the vehicle body fixing portion 22 may be any mode in which the rotation of the second rotating body 64 can be changed to swing of the main body portion 30 with respect to the vehicle body fixing portion 22.
  • the second rotating body 64 may be directly connected to the vehicle body fixing portion 22, or may be indirectly connected to the vehicle body fixing portion 22.
  • the rotation center axis 64L of the second rotating body 64 is parallel to the rotation center axis 40L of the wheel support portion 40.
  • the rotation center axis 64L of the second rotating body 64 may coincide with the rotation center axis 40L of the wheel support portion 40. That is, the second rotating body 64 may be arranged coaxially with the wheel support portion 40.
  • the rotation center axis 64L of the second rotating body 64 may be parallel to the rotation center axis 54L of the first rotating body 54.
  • the rotation center axis 64L of the second rotating body 64 may coincide with the rotation center axis 54L of the first rotating body 54. That is, the second rotating body 64 may be arranged coaxially with the first rotating body 54.
  • the second rotating body 64 is located to the right of the first rotating body 54 in the direction in which the rotation center axis 40L of the wheel support portion 40 extends, that is, in the left-right direction.
  • the wheel support portion 40, the first rotating body 54 of the drive motor unit 50, and the second rotating body 64 of the steering motor unit 60 are in the direction in which the rotation center axis 40L of the wheel support portion 40 extends ( That is, the wheel support portion 40, the first rotating body 54 of the drive motor unit 50, and the second rotating body 64 of the steering motor unit 60 are arranged in this order in the left-right direction in FIG.
  • An embodiment in which the wheel support portion 40, the first rotating body 54, and the second rotating body 64 are arranged in this order so that the rotation center axis 40L of the wheel support portion 40 extends in this order is, for example, the wheel support portion 40.
  • the center of each of the first rotating body 54 and the second rotating body 64 (specifically, the center in the direction in which the rotation center axis 40L of the wheel support portion 40 extends) is the rotation center of the wheel support portion 40 in the above order. Includes an aspect in which the axes 40L are arranged in the extending direction.
  • the wheel support portion 40 is connected to the wheel support portion 40 so as to rotate integrally with the wheel support portion 40, and the rotation center axis line parallel to the rotation center axis 40L of the wheel support portion 40.
  • the first rotating body 54 of the drive motor unit 50 having 54L and the vehicle body fixing portion 22 are connected to the vehicle body fixing portion 22 so that the main body portion 30 swings with respect to the vehicle body fixing portion 22, and the rotation center axis 40L of the wheel supporting portion 40 is connected.
  • the second rotating body 64 of the steering motor unit 60 having the rotation center axis 64 parallel to the wheel support portion 40 is arranged in this order in the direction in which the rotation center axis 40L of the wheel support portion 40 extends (that is, the left-right direction in FIG. 1). Is placed in. Therefore, the wheel support portion 40, the first rotating body 54, and the second rotating body 64 do not have to be arranged on the wheel VW. As a result, in the drive steering module 10, the space above the wheel VW can be utilized while being compact.
  • FIG. 2 is a schematic view showing a schematic configuration of the drive steering module 10A.
  • the drive steering module 10A includes a vehicle body mounting portion 20, a main body portion 30, a wheel support portion 40, a drive motor unit 50, and a steering motor unit 60.
  • the vehicle body mounting portion 20 includes a vehicle body fixing portion 22 and a steering shaft portion 24. These will be described below.
  • the vehicle body fixing portion 22 is fixed to the vehicle body VB.
  • the mode in which the vehicle body fixing portion 22 is fixed to the vehicle body VB is not particularly limited.
  • the vehicle body fixing portion 22 may be directly fixed to the vehicle body VB, or may be indirectly fixed to the vehicle body VB.
  • the vehicle body fixing portion 22 is fixed to the vehicle body VB by, for example, bolts and nuts.
  • the steering shaft portion 24 is arranged so as not to rotate with respect to the vehicle body fixing portion 22. That is, the steering shaft portion 24 is arranged so as not to rotate with respect to the vehicle body VB.
  • the mode in which the steering shaft portion 24 is arranged so as not to rotate with respect to the vehicle body fixing portion 22 is, for example, a mode in which the steering shaft portion 24 is fixed to the vehicle body fixing portion 22, or the steering shaft portion 24 is integrated with the vehicle body fixing portion 22. Includes aspects that are formed.
  • the steering shaft portion 24 has a central axis line 24L.
  • the central axis 24L extends in a direction intersecting the rotation central axis 40L of the wheel support portion 40.
  • the central axis 24L of the steering shaft portion 24 extends in a direction orthogonal to the rotation central axis 40L of the wheel support portion 40. That is, the central axis 24L of the steering shaft portion 24 extends in the vertical direction.
  • the steering shaft portion 24 is arranged to the right of the wheel VW.
  • the rotation center axis 40L of the wheel support portion 40 extends (that is, the left-right direction in FIG. 2)
  • at least a part of the steering shaft portion 24 overlaps the wheel VW.
  • the lower end portion of the steering shaft portion 24 overlaps the wheel portion VW1 of the wheel VW.
  • the main body portion 30 is arranged so as to be swingable with respect to the vehicle body fixing portion 22.
  • the mode in which the main body portion 30 is swingably arranged with respect to the vehicle body fixing portion 22 is not particularly limited. In the example shown in FIG. 2, the main body portion 30 is swingably arranged around the central axis 24L of the steering shaft portion 24.
  • the main body 30 supports the drive motor unit 50.
  • the mode in which the main body 30 supports the drive motor unit 50 is not particularly limited.
  • the main body 30 may directly support the drive motor unit 50, or may indirectly support the drive motor unit 50.
  • the main body 30 supports the steering motor unit 60.
  • the mode in which the main body 30 supports the steering motor unit 60 is not particularly limited.
  • the main body 30 may directly support the steering motor unit 60, or may indirectly support the steering motor unit 60.
  • the main body 30 has accommodation spaces 30A and 30B.
  • the accommodation space 30A is located to the right of the accommodation space 30B in the direction in which the rotation center axis 40L of the wheel support portion 40 extends (that is, the left-right direction in FIG. 2).
  • the drive motor unit 50 is accommodated in the accommodation space 30A. That is, the main body 30 supports the drive motor unit 50 in a state where the drive motor unit 50 is housed in the accommodation space 30A.
  • the steering motor unit 60 is accommodated in the accommodation space 30B. That is, the main body 30 supports the steering motor unit 60 in a state where the steering motor unit 60 is accommodated in the accommodation space 30B.
  • At least a part of the main body portion 30 is housed in the wheel portion VW1 of the wheel VW. Specifically, it is as follows.
  • At least a part of the main body portion 30 overlaps the wheel VW when viewed in the direction in which the rotation center axis 40L of the wheel support portion 40 extends (that is, the left-right direction in FIG. 2).
  • the main body portion 30 overlaps the wheel portion VW1 of the wheel VW.
  • the entire main body portion 30 overlaps the wheel portion VW1 of the wheel VW when viewed in the direction in which the rotation center axis 40L of the wheel support portion 40 extends (that is, the left-right direction in FIG. 2).
  • At least a part of the main body 30 is viewed in a direction orthogonal to the direction in which the rotation center axis 40L of the wheel support 40 extends (that is, the left-right direction in FIG. 2) (for example, the vertical direction or the front-rear direction in FIG. 2). And overlaps with the wheel VW.
  • the main body portion 30 when viewed in a direction (for example, the vertical direction or the front-rear direction in FIG. 2) perpendicular to the direction in which the rotation center axis 40L of the wheel support portion 40 extends (that is, the left-right direction in FIG. 2).
  • At least a part of the main body portion 30 overlaps the wheel portion VW1 of the wheel VW.
  • the wheel support portion 40 rotatably supports the wheel VW.
  • the mode in which the wheel support portion 40 rotatably supports the wheel VW is not particularly limited.
  • the mode in which the wheel support portion 40 rotatably supports the wheel VW includes a mode in which the wheel support portion 40 rotatably arranged around the rotation center axis 40L is fixed to the wheel VW.
  • the mode in which the wheel support portion 40 rotatably arranged around the rotation center axis 40L is fixed to the wheel VW includes a mode in which the wheel support portion 40 is fixed to the wheel portion VW1 of the wheel VW.
  • the wheel support portion 40 is fixed to the wheel portion VW1 of the wheel VW.
  • the wheel support portion 40 is fixed to the wheel portion VW1 of the wheel VW by, for example, bolts and nuts (not shown).
  • the bolt may be a stud bolt fixed to the wheel support portion 40.
  • the wheel support portion 40 is rotatably arranged with respect to the main body portion 30. Specifically, the wheel support portion 40 is rotatably arranged with respect to the main body portion 30 via the first rotating body 54 described later.
  • the drive motor unit 50 includes a first fixed body 52 and a first rotating body 54.
  • the drive motor unit 50 drives the wheels VW.
  • the first fixed body 52 is fixed to the main body portion 30.
  • the mode in which the first fixed body 52 is fixed to the main body 30 is not particularly limited.
  • the first fixed body 52 may be directly fixed to the main body portion 30, or may be indirectly fixed to the main body portion 30.
  • the first rotating body 54 is rotatably arranged with respect to the first fixed body 52.
  • the first rotating body 54 is connected to the wheel support portion 40 so as to rotate integrally with the wheel support portion 40.
  • the mode in which the first rotating body 54 is connected to the wheel support portion 40 is not particularly limited as long as the force can be transmitted from the first rotating body 54 to the wheel support portion 40.
  • the first rotating body 54 may be directly connected to the wheel support portion 40, or may be indirectly connected to the wheel support portion 40.
  • the mode in which the first rotating body 54 is connected to the wheel support portion 40 includes a mode in which the first rotating body 54 is integrally formed with the wheel support portion 40.
  • the rotation center axis 54L of the first rotating body 54 is parallel to the rotation center axis 40L of the wheel support portion 40.
  • the rotation center axis 54L of the first rotating body 54 coincides with the rotation center axis 40L of the wheel support portion 40. That is, the first rotating body 54 is arranged coaxially with the wheel support portion 40.
  • the first rotating body 54 is, for example, an output shaft portion.
  • the first rotating body 54 is located to the right of the wheel support portion 40 in the direction in which the rotation center axis 40L of the wheel support portion 40 extends, that is, in the left-right direction.
  • the rotation center axis 54L of the first rotating body 54 extends in a direction intersecting the center axis 24L of the steering shaft portion 24. In the example shown in FIG. 2, the rotation center axis 54L of the first rotating body 54 extends in a direction orthogonal to the center axis 24L of the steering shaft portion 24.
  • the drive motor unit 50 includes a drive motor 56.
  • the drive motor 56 outputs torque for driving the wheel VW.
  • the drive motor 56 may be a radial type electric motor or an axial type electric motor. In the example shown in FIG. 2, the drive motor 56 is a radial type electric motor.
  • the drive motor 56 includes a rotor 561 and a stator 562.
  • the rotor 561 is rotatably arranged with respect to the stator 562.
  • the rotor 561 and the stator 562 each have an annular shape as a whole.
  • the rotor 561 is arranged in a space surrounded by the stator 562 when viewed in the direction in which the rotation center axis 40L of the wheel support portion 40 extends. That is, the rotor 561 is arranged inside the stator 562.
  • the drive motor 56 is a so-called inner rotor type electric motor.
  • the drive motor unit 50 includes the first speed reducer 58.
  • the first speed reducer 58 reduces the rotation of the rotor 561 of the drive motor 56.
  • the first speed reducer 58 may have, for example, a planetary gear mechanism or a cycloid mechanism. At least a part of the first speed reducer 58 is arranged closer to the rotation center axis 40L of the wheel support portion 40 than the stator 562 of the drive motor 56 when viewed in the direction in which the rotation center axis 40L of the wheel support portion 40 extends. ..
  • At least a part of the first speed reducer 58 is arranged inside the stator 562 of the drive motor 56 when viewed in the direction in which the rotation center axis 40L of the wheel support portion 40 extends.
  • at least a part of the first speed reducer 58 is arranged in the space surrounded by the stator 562 of the drive motor 56 when viewed in the direction in which the rotation center axis 40L of the wheel support portion 40 extends.
  • the first fixed body 52 of the drive motor unit 50 includes the stator 562 of the drive motor 56.
  • the first rotating body 54 of the drive motor unit 50 includes at least a part of the first speed reducer 58 that reduces the rotation of the rotor 561 of the drive motor 56.
  • a mode in which the first rotating body 54 includes at least a part of the first speed reducer 58 includes, for example, a mode in which the final gear of the first speed reducer 58 can rotate integrally with the first rotating body 54.
  • the final gear of the first speed reducer 58 is the last gear arranged on the power transmission path of the first speed reducer 58.
  • the mode in which the final gear of the first speed reducer 58 can rotate integrally with the first rotating body 54 is a mode in which the final gear of the first speed reducer 58 is fixed to the first rotating body 54, or the first speed reducer. Includes an embodiment in which the final gear of 58 is integrally formed with the first rotating body 54.
  • At least a part of the drive motor unit 50 overlaps the wheel VW when viewed in the direction in which the rotation center axis 40L of the wheel support portion 40 extends (that is, the left-right direction in FIG. 2).
  • the drive motor unit 50 overlaps the wheel portion VW1 of the wheel VW.
  • the entire drive motor unit 50 overlaps the wheel portion VW1 of the wheel VW when viewed in the direction in which the rotation center axis 40L of the wheel support portion 40 extends (that is, the left-right direction in FIG. 2).
  • At least a part of the drive motor unit 50 is in a direction (for example, the vertical direction or the front-rear direction in FIG. 2) orthogonal to the direction in which the rotation center axis 40L of the wheel support portion 40 extends (that is, the left-right direction in FIG. 2). Look, it overlaps the wheel VW.
  • a direction for example, the vertical direction or the front-rear direction in FIG. 2 perpendicular to the direction in which the rotation center axis 40L of the wheel support portion 40 extends (that is, the left-right direction in FIG. 2).
  • At least a part of the drive motor unit 50 overlaps the wheel portion VW1 of the wheel VW.
  • the steering motor unit 60 includes a second fixed body 62 and a second rotating body 64.
  • the steering motor unit 60 steers the wheels VW.
  • the second fixed body 62 is fixed to the main body portion 30.
  • the mode in which the second fixed body 62 is fixed to the main body portion 30 is not particularly limited.
  • the second fixed body 62 may be directly fixed to the main body portion 30, or may be indirectly fixed to the main body portion 30.
  • the second rotating body 64 is rotatably arranged with respect to the second fixed body 62.
  • the second rotating body 64 is connected to the vehicle body fixing portion 22 so that the main body portion 30 swings with respect to the vehicle body fixing portion 22.
  • the mode in which the second rotating body 64 is connected to the vehicle body fixing portion 22 is not particularly limited.
  • the mode in which the second rotating body 64 is connected to the vehicle body fixing portion 22 may be any mode in which the rotation of the second rotating body 64 can be changed to swing of the main body portion 30 with respect to the vehicle body fixing portion 22.
  • the second rotating body 64 may be directly connected to the vehicle body fixing portion 22, or may be indirectly connected to the vehicle body fixing portion 22. In the example shown in FIG. 2, the second rotating body 64 is connected to the vehicle body fixing portion 22 via the steering shaft portion 24.
  • the bevel gear 640 formed on the second rotating body 64 meshes with the bevel gear 240 formed on the steering shaft portion 24 which is arranged so as not to rotate with respect to the vehicle body fixing portion 22.
  • the second rotating body 64 is connected to the vehicle body fixing portion 22 via the steering shaft portion 24.
  • the rotation center axis 64L of the second rotating body 64 is parallel to the rotation center axis 40L of the wheel support portion 40.
  • the rotation center axis 64L of the second rotating body 64 coincides with the rotation center axis 40L of the wheel support portion 40. That is, the second rotating body 64 is arranged coaxially with the wheel support portion 40.
  • the rotation center axis 64L of the second rotating body 64 may be parallel to the rotation center axis 54L of the first rotating body 54.
  • the rotation center axis 64L of the second rotating body 64 may coincide with the rotation center axis 54L of the first rotating body 54. That is, the second rotating body 64 may be arranged coaxially with the first rotating body 54.
  • the rotation center axis 64L of the second rotating body 64 coincides with the rotation center axis 54L of the first rotating body 54. That is, the second rotating body 64 is arranged coaxially with the first rotating body 54.
  • the second rotating body 64 is located to the right of the first rotating body 54 in the direction in which the rotation center axis 40L of the wheel support portion 40 extends, that is, in the left-right direction.
  • the rotation center axis 64L of the second rotating body 64 extends in a direction intersecting the center axis 24L of the steering shaft portion 24. In the example shown in FIG. 2, the rotation center axis 64L of the second rotating body 64 extends in a direction orthogonal to the center axis 24L of the steering shaft portion 24.
  • the second rotating body 64 is, for example, an output shaft portion.
  • the steering motor unit 60 includes a steering motor 66.
  • the steering motor 66 outputs torque for steering the wheels VW.
  • the steering motor 66 may be a radial type electric motor or an axial type electric motor. In the example shown in FIG. 2, the steering motor 66 is a radial type electric motor.
  • the steering motor 66 includes a rotor 661 and a stator 662.
  • the rotor 661 is rotatably arranged with respect to the stator 662.
  • the rotor 661 and the stator 662 each have an annular shape as a whole.
  • the rotor 661 is arranged in a space surrounded by the stator 662 when viewed in the direction in which the rotation center axis 40L of the wheel support portion 40 extends. That is, the rotor 661 is arranged inside the stator 662.
  • the steering motor 66 is a so-called inner rotor type electric motor.
  • the steering motor unit 60 includes the second speed reducer 68.
  • the second speed reducer 68 reduces the rotation of the rotor 661 of the steering motor 66.
  • the second speed reducer 68 may have, for example, a planetary gear mechanism or a cycloid mechanism. At least a part of the second speed reducer 68 is arranged closer to the rotation center axis 40L of the wheel support portion 40 than the stator 662 of the steering motor 66 when viewed in the direction in which the rotation center axis 40L of the wheel support portion 40 extends. ..
  • At least a part of the second speed reducer 68 is arranged inside the stator 662 of the steering motor 66 when viewed in the direction in which the rotation center axis 40L of the wheel support portion 40 extends.
  • at least a part of the second speed reducer 68 is arranged in the space surrounded by the stator 662 of the steering motor 66 when viewed in the direction in which the rotation center axis 40L of the wheel support portion 40 extends.
  • the second fixed body 62 of the steering motor unit 60 includes the stator 662 of the steering motor 66.
  • the second rotating body 64 of the steering motor unit 60 includes at least a part of the second speed reducer 68 that reduces the rotation of the rotor 661 of the steering motor 66.
  • a mode in which the second rotating body 64 includes at least a part of the second speed reducer 68 includes, for example, a mode in which the final gear of the second speed reducer 68 can rotate integrally with the second rotating body 64.
  • the final gear of the second speed reducer 68 is the last gear arranged on the power transmission path of the second speed reducer 68.
  • the mode in which the final gear of the second speed reducer 68 can rotate integrally with the second rotating body 64 includes a mode in which the final gear of the second speed reducer 68 is fixed to the second rotating body 64 and the second speed reducer. Includes an embodiment in which the final gear of 68 is integrally formed with the second rotating body 64.
  • At least a part of the steering motor unit 60 overlaps the wheel VW when viewed in the direction in which the rotation center axis 40L of the wheel support portion 40 extends (that is, the left-right direction in FIG. 2).
  • at least a part of the steering motor unit 60 overlaps the wheel portion VW1 of the wheel VW when viewed in the direction in which the rotation center axis 40L of the wheel support portion 40 extends (that is, the left-right direction in FIG. 2).
  • At least a part of the steering motor unit 60 is in a direction (for example, the vertical direction or the front-rear direction in FIG. 2) orthogonal to the direction in which the rotation center axis 40L of the wheel support portion 40 extends (that is, the left-right direction in FIG. 2). Look, it overlaps the wheel VW.
  • a direction for example, the vertical direction or the front-rear direction in FIG. 2 perpendicular to the direction in which the rotation center axis 40L of the wheel support portion 40 extends (that is, the left-right direction in FIG. 2).
  • At least a part of the steering motor unit 60 overlaps the wheel portion VW1 of the wheel VW.
  • the wheel support portion 40, the first rotating body 54 of the drive motor unit 50, and the second rotating body 64 of the steering motor unit 60 are in the direction in which the rotation center axis 40L of the wheel support portion 40 extends ( That is, the wheel support portion 40, the first rotating body 54 of the drive motor unit 50, and the second rotating body 64 of the steering motor unit 60 are arranged in this order in the left-right direction in FIG.
  • An embodiment in which the wheel support portion 40, the first rotating body 54, and the second rotating body 64 are arranged in this order so that the rotation center axis 40L of the wheel support portion 40 extends in this order is, for example, the wheel support portion 40.
  • Each center of the first rotating body 54 and the second rotating body 64 (specifically, the center in the direction in which the respective rotation center axes 40L, 54L, 64L extend) rotates the wheel support portion 40 in the above order. It includes a mode in which the central axis 40L is arranged in the extending direction.
  • the space above the wheel VW can be utilized while being compact, as in the drive steering module 10.
  • FIG. 3 is a schematic view showing a schematic configuration of the drive steering module 10A1.
  • the drive steering module 10A1 is different from the drive steering module 10A in that it further includes a control device 70.
  • the control device 70 controls each of the drive motor unit 50 and the steering motor unit 60.
  • the control device 70 is, for example, an ECU (Electronic Control Unit).
  • the ECU is realized by, for example, a combination of an IC (Integrated Circuit), an electronic component, a circuit board, and the like.
  • the control by the control device 70 is realized, for example, by the CPU (Central Processing Unit) reading a program stored in the non-volatile memory and executing a predetermined process according to the program.
  • CPU Central Processing Unit
  • the control device 70 is supported by the main body 30.
  • the control device 70 is supported by the main body 30 in a state of being accommodated in an accommodation space different from the accommodation space 30A in which the drive motor unit 50 and the steering motor unit 60 are accommodated.
  • the direction (that is, the horizontal direction) in which the rotation center axis 40L of the wheel support portion 40 extends and the direction (that is, the vertical direction) in which the central axis 24L of the steering shaft portion 24 extends are orthogonal to each other (that is, the vertical direction). That is, when viewed in the front-rear direction), the control device 70 is arranged so as to overlap the central axis 24L of the steering shaft portion 24.
  • the control device 70 is arranged to the right of the steering motor 66 in the direction in which the rotation center axis 40L of the wheel support portion 40 extends (that is, in the left-right direction).
  • control device 70 is directed to the wheel VW (specifically, the wheel portion) when viewed in the direction in which the rotation center axis 40L of the wheel support portion 40 extends (that is, in the left-right direction). Overlap. In the example shown in FIG. 3, the control device 70 overlaps the steering motor unit 60 when viewed in the direction in which the rotation center axis 40L of the wheel support portion 40 extends (that is, in the left-right direction).
  • the wheel support portion 40, the first rotating body 54 of the drive motor unit 50, the second rotating body 64 of the steering motor unit 60, and the control device 70 support the wheels.
  • the wheel support portion 40, the first rotating body 54 of the drive motor unit 50, the second rotating body 64 of the steering motor unit 60, and the control device 70 are arranged in this order in the direction in which the rotation center axis 40L of the unit 40 extends.
  • An embodiment in which the wheel support portion 40, the first rotating body 54, the second rotating body 64, and the control device 70 are arranged in this order so that the rotation center axis 40L of the wheel support portion 40 extends in this order is, for example, an embodiment.
  • the centers of the wheel support portion 40, the first rotating body 54, the second rotating body 64, and the control device 70 are in the above order. Including a mode in which the rotation center axis 40L of the wheel support portion 40 is arranged in the extending direction.
  • the control device 70 includes, for example, a drive control unit that controls the drive motor unit 50.
  • the drive control unit is electrically connected to, for example, the stator 562.
  • the drive control unit includes, for example, a first drive current supply unit and a first drive current control unit.
  • the first drive current supply unit supplies, for example, a drive current for rotating the rotor 561 relative to the stator 562 to the stator 562.
  • the first drive current control unit controls, for example, the supply of the drive current to the stator 562 by the first drive current supply unit according to the rotational state of the rotor 561.
  • the control device 70 includes, for example, a steering control unit that controls the steering motor unit 60.
  • the steering control unit is electrically connected to, for example, the stator 662.
  • the steering control unit includes, for example, a second drive current supply unit and a second drive current control unit.
  • the second drive current supply unit supplies, for example, a drive current for rotating the rotor 661 relative to the stator 662 to the stator 662.
  • the second drive current control unit controls, for example, the supply of the drive current to the stator 662 by the second drive current supply unit according to the rotational state of the rotor 661.
  • the space above the wheel VW can be utilized while being compact, as in the drive steering module 10.
  • FIG. 4 is a schematic view showing a schematic configuration of the drive steering module 10B.
  • the drive steering module 10B is different from the drive steering module 10A in that the operation switching mechanism 80 is further provided.
  • the operation switching mechanism 80 is in a state where the first rotating body 54 and the second rotating body 64 can rotate separately, the first rotating body 54 and the second rotating body 64 are connected, and the second rotating body 64 is the main body.
  • the state of not rotating with respect to the unit 30 that is, the state of the first rotating body 54 and the second rotating body 64 not rotating with respect to the main body 30
  • the operation switching mechanism 80 includes a first clutch mechanism 891 that connects / separates the first rotating body 54 of the drive motor unit 50 and the second rotating body 64 of the steering motor unit 60.
  • the operation switching mechanism 80 connects the first rotating body 54 of the drive motor unit 50 and the second rotating body 64 of the steering motor unit 60, and causes the main body 30 to swing with respect to the vehicle body fixing portion 22.
  • a parking mechanism 89P that prevents the second rotating body 64 of the steering motor unit 60 connected to the vehicle body fixing portion 22 from rotating is realized.
  • the operation switching mechanism 80 includes a clutch member 81, a clutch member 82, a rod 87, and an actuator 88. These will be described below.
  • the clutch member 81 has an annular shape or a cylindrical shape as a whole.
  • a rod 87 is inserted into the central hole of the clutch member 81.
  • the clutch member 81 is restricted from moving in the axial direction of the rod 87 with respect to the rod 87 by the pair of circlips 84.
  • the clutch member 81 is rotatable with respect to the rod 87 around the central axis of the rod 87. That is, the clutch member 81 is arranged on the rod 87 in a state in which the clutch member 81 can rotate with respect to the rod 87 around the central axis of the rod 87 and can move in the axial direction of the rod 87 together with the rod 87. There is.
  • the clutch member 82 has an annular shape or a cylindrical shape as a whole.
  • a rod 87 is inserted into the central hole of the clutch member 82.
  • the clutch member 82 is restricted from moving in the axial direction of the rod 87 with respect to the rod 87 by the pair of circlips 85.
  • the clutch member 82 is rotatable with respect to the rod 87 around the central axis of the rod 87. That is, the clutch member 82 is arranged on the rod 87 in a state in which the clutch member 82 can rotate with respect to the rod 87 around the central axis of the rod 87 and can move in the axial direction of the rod 87 together with the rod 87.
  • the clutch member 82 is arranged to the right of the clutch member 82 in the direction in which the central axis of the rod 87 extends (that is, the left-right direction in the drawing).
  • the rod 87 has a central axis parallel to the rotation center axis 40L of the wheel support portion 40. That is, the rod 87 is arranged in parallel with the rotation center axis 40L of the wheel support portion 40. The rod 87 is arranged so as to penetrate the second rotating body 64 in the direction in which the rotation center axis 64L of the second rotating body 64 extends.
  • the actuator 88 moves the rod 87 in the axial direction of the rod 87.
  • the actuator 88 is, for example, a solenoid.
  • the actuator 88 is arranged in the main body 30.
  • the actuator 88 is driven by, for example, a control device.
  • the control device controls, for example, the drive motor unit 50 and the steering motor unit 60.
  • the clutch member 81 is movably arranged in the recess 541 formed in the first rotating body 54 and in the recess 641 formed in the second rotating body 64.
  • the recess 541 is formed so as to extend in the axial direction of the first rotating body 54 and open at the right end of the first rotating body 54.
  • the recess 641 is formed so as to extend in the axial direction of the second rotating body 64 and open at the left end of the second rotating body 64.
  • a plurality of teeth are formed on the outer peripheral surface of the clutch member 81.
  • Each of the plurality of teeth extends in the axial direction of the clutch member 81.
  • a plurality of grooves that fit with the plurality of teeth formed on the outer peripheral surface of the clutch member 81 are formed on the inner peripheral surfaces of each of the recess 541 of the first rotating body 54 and the recess 641 of the second rotating body 64.
  • the plurality of grooves formed on the inner peripheral surface of the recess 541 of the first rotating body 54 extend in the axial direction of the first rotating body 54, respectively.
  • the plurality of grooves formed on the inner peripheral surface of the recess 641 of the second rotating body 64 extend in the axial direction of the second rotating body 64, respectively.
  • the clutch member 82 is movably arranged in the recess 642 formed in the second rotating body 64 and in the recess 301 formed in the main body 30.
  • the recess 642 extends in the axial direction of the second rotating body 64 and is formed so as to open at the right end of the second rotating body 64.
  • the recess 301 is formed so as to extend in the axial direction of the second rotating body 64 and open toward the recess 642 of the second rotating body 64.
  • a plurality of teeth are formed on the outer peripheral surface of the clutch member 82.
  • Each of the plurality of teeth extends in the axial direction of the clutch member 82.
  • each of the recess 642 of the second rotating body 64 and the recess 301 of the main body 30 a plurality of grooves that fit with the plurality of teeth formed on the outer peripheral surface of the clutch member 82 are formed. ..
  • the plurality of grooves formed on the inner peripheral surface of the recess 642 of the second rotating body 64 extend in the axial direction of the second rotating body 64, respectively.
  • the plurality of grooves formed on the inner peripheral surface of the recess 301 of the main body 30 extend in the axial direction of the second rotating body 64, respectively.
  • the first The two-rotating body 64 does not rotate with respect to the main body 30.
  • the second rotating body 64 rotates with respect to the main body 30 in a state where the plurality of teeth formed in the main body 30 are fitted only into the plurality of grooves formed on the inner peripheral surface of the recess 301 of the main body 30.
  • FIG. 5 is an explanatory diagram illustrating the operation of the operation switching mechanism 80.
  • the operation switching mechanism 80 is in a state where the first rotating body 54 and the second rotating body 64 can rotate separately, the first rotating body 54 and the second rotating body 64 are connected, and the second rotating body 64 is the main body.
  • the state of not rotating with respect to the unit 30 is switched. Specifically, it is as follows.
  • a plurality of teeth formed on the outer peripheral surface of the clutch member 81 are formed on the inner peripheral surface of the recess 641 of the second rotating body 64. It fits only in the plurality of grooves, and the plurality of teeth formed on the outer peripheral surface of the clutch member 82 fit only in the plurality of grooves formed on the inner peripheral surface of the recess 301 of the main body portion 30.
  • the actuator 88 is operated to move the rod 87 to the left.
  • the plurality of teeth formed on the outer peripheral surface of the clutch member 81 fit into the plurality of grooves formed on the inner peripheral surfaces of the recess 541 of the first rotating body 54 and the recess 641 of the second rotating body 64.
  • the plurality of teeth formed on the outer peripheral surface of the clutch member 82 fit into the plurality of grooves formed on the inner peripheral surfaces of the recess 642 of the second rotating body 64 and the recess 301 of the main body 30.
  • the first rotating body 54 and the second rotating body 64 are connected, and the second rotating body 64 does not rotate with respect to the main body portion 30.
  • FIG. 6 is a schematic view showing a schematic configuration of the drive steering module 10B1.
  • the drive steering module 10B1 is different from the drive steering module 10B in that the operation switching mechanism 80B1 is provided instead of the operation switching mechanism 80.
  • the operation switching mechanism 80B1 switches between a state in which the first rotating body 54 and the second rotating body 64 can rotate separately and a state in which the first rotating body 54 and the second rotating body 64 can rotate integrally.
  • the operation switching mechanism 80B1 further includes a clutch member 83 as compared with the operation switching mechanism 80.
  • the clutch member 83 has an annular shape or a cylindrical shape as a whole.
  • a rod 87 is inserted into the central hole of the clutch member 83.
  • the clutch member 83 is arranged between the clutch member 81 and the clutch member 82 in the axial direction of the rod 87.
  • the clutch member 83 is restricted from moving in the axial direction of the rod 87 with respect to the rod 87 by the pair of circlips 86. In this state, the clutch member 83 is rotatable with respect to the rod 87 around the central axis of the rod 87.
  • the clutch member 83 is arranged on the rod 87 in a state in which the clutch member 83 can rotate with respect to the rod 87 around the central axis of the rod 87 and can move in the axial direction of the rod 87 together with the rod 87. There is.
  • the drive steering module 10B1 is different from the drive steering module 10B in that the third rotating body 65 is further included.
  • the rotation center axis 65L of the third rotating body 65 coincides with the rotation center axis 64L of the second rotating body 64. That is, the third rotating body 65 is arranged coaxially with the second rotating body 64.
  • the bevel gear 640 is not formed at the right end of the second rotating body 64. Instead, in the example shown in FIG. 6, a bevel gear 650 is formed at the right end of the third rotating body 65.
  • the third rotating body 65 is arranged to the right of the second rotating body 64 in the direction in which the rotation center axis 40L of the wheel support portion 40 extends (that is, in the left-right direction).
  • the third rotating body 65 is arranged between the second rotating body 64 and the recess 301 formed in the main body 30 in the direction in which the rotation center axis 40L of the wheel support portion 40 extends.
  • the clutch member 83 is movably arranged in the recess 643 formed in the second rotating body 64 and in the recess 651 formed in the third rotating body 65.
  • the recess 643 is formed so as to extend in the axial direction of the second rotating body 64 and open at the right end of the second rotating body 64.
  • the recess 651 is formed so as to extend in the axial direction of the third rotating body 65 and open at the left end of the third rotating body 65.
  • a plurality of teeth are formed on the outer peripheral surface of the clutch member 83.
  • Each of the plurality of teeth extends in the axial direction of the clutch member 83.
  • a plurality of grooves that fit with the plurality of teeth formed on the outer peripheral surface of the clutch member 83 are formed on the inner peripheral surfaces of each of the recess 643 of the second rotating body 64 and the recess 651 of the third rotating body 65. ing.
  • the plurality of grooves formed on the inner peripheral surface of the recess 643 of the second rotating body 64 extend in the axial direction of the second rotating body 64, respectively.
  • the plurality of grooves formed on the inner peripheral surface of the recess 651 of the third rotating body 65 extend in the axial direction of the third rotating body 65, respectively.
  • the clutch member 82 is movably arranged in the recess 652 formed in the third rotating body 65 and in the recess 301 formed in the main body 30.
  • the recess 652 is formed so as to extend in the axial direction of the third rotating body 65 and open at the right end of the third rotating body 65.
  • the recess 301 is formed so as to extend in the axial direction of the third rotating body 65 and open toward the recess 652 of the third rotating body 65.
  • a plurality of teeth are formed on the outer peripheral surface of the clutch member 82.
  • Each of the plurality of teeth extends in the axial direction of the clutch member 82.
  • a plurality of grooves are formed on the inner peripheral surfaces of the recess 652 of the third rotating body 65 and the recess 301 of the main body 30 so as to fit with the plurality of teeth formed on the outer peripheral surface of the clutch member 82. ..
  • the plurality of grooves formed on the inner peripheral surface of the recess 652 of the third rotating body 65 extend in the axial direction of the third rotating body 65, respectively.
  • the plurality of grooves formed on the inner peripheral surface of the recess 301 of the main body 30 extend in the axial direction of the third rotating body 65, respectively.
  • the first 3 The rotating body 65 does not rotate with respect to the main body 30.
  • the third rotating body 65 rotates with respect to the main body 30 in a state where the plurality of teeth formed in the main body 30 are fitted only into the plurality of grooves formed on the inner peripheral surface of the recess 301 of the main body 30.
  • FIG. 7 is an explanatory diagram illustrating the operation of the operation switching mechanism 80B1.
  • the operation switching mechanism 80B1 switches between a state in which the first rotating body 54 and the second rotating body 64 can rotate separately and a state in which the first rotating body 54 and the second rotating body 64 can rotate integrally. Specifically, it is as follows.
  • a plurality of teeth formed on the outer peripheral surface of the clutch member 81 are formed on the inner peripheral surface of the recess 641 of the second rotating body 64.
  • a plurality of teeth formed on the outer peripheral surface of the clutch member 83 are formed on the inner peripheral surfaces of the recess 643 of the second rotating body 64 and the recess 651 of the third rotating body 65 while being fitted only in the plurality of grooves.
  • the plurality of teeth formed on the outer peripheral surface of the clutch member 82 are fitted only to the plurality of grooves formed on the inner peripheral surface of the recess 301 of the main body 30. ..
  • the actuator 88 is operated to move the rod 87 to the left.
  • the plurality of teeth formed on the outer peripheral surface of the clutch member 81 fit into the plurality of grooves formed on the inner peripheral surfaces of the recess 541 of the first rotating body 54 and the recess 641 of the second rotating body 64.
  • the plurality of teeth formed on the outer peripheral surface of the clutch member 83 fit only into the plurality of grooves formed on the inner peripheral surface of the recess 643 of the second rotating body 64, and further formed on the outer peripheral surface of the clutch member 82.
  • the plurality of teeth are fitted into the plurality of grooves formed on the inner peripheral surfaces of the recess 652 of the third rotating body 65 and the recess 301 of the main body 30.
  • the first rotating body 54 and the second rotating body 64 are connected, the second rotating body 64 and the third rotating body 65 are separated, and the third rotating body 65 is in a state where it does not rotate with respect to the main body portion 30. .. Therefore, the torque output by the steering motor 66 can be used to drive the wheels VW.
  • FIG. 8 is a schematic view showing a schematic configuration of the drive steering module 10B2.
  • the drive steering module 10B2 is different from the drive steering module 10B1 in that the operation switching mechanism 80B2 is provided instead of the operation switching mechanism 80B1.
  • the motion switching mechanism 80B2 has a larger movable range of the rod 87 than the motion switching mechanism 80B1.
  • FIG. 9 is an explanatory diagram illustrating the operation of the operation switching mechanism 80B2.
  • the operation switching mechanism 80B2 has a state in which the first rotating body 54 and the second rotating body 64 can be rotated separately, a state in which the first rotating body 54 and the second rotating body 64 can be integrally rotated, and a first rotation.
  • a plurality of teeth formed on the outer peripheral surface of the clutch member 81 are formed on the inner peripheral surface of the recess 641 of the second rotating body 64.
  • a plurality of teeth formed on the outer peripheral surface of the clutch member 83 are formed on the inner peripheral surfaces of the recess 643 of the second rotating body 64 and the recess 651 of the third rotating body 65 while being fitted only in the plurality of grooves.
  • the plurality of teeth formed on the outer peripheral surface of the clutch member 82 are fitted only to the plurality of grooves formed on the inner peripheral surface of the recess 301 of the main body 30. ..
  • the actuator 88 is operated to move the rod 87 to the left.
  • the plurality of teeth formed on the outer peripheral surface of the clutch member 81 fit into the plurality of grooves formed on the inner peripheral surfaces of the recess 541 of the first rotating body 54 and the recess 641 of the second rotating body 64.
  • a plurality of teeth formed on the outer peripheral surface of the clutch member 83 are fitted into a plurality of grooves formed on the inner peripheral surfaces of the recess 643 of the second rotating body 64 and the recess 651 of the third rotating body 65.
  • the actuator 88 is operated to further move the rod 87 to the left.
  • the plurality of teeth formed on the outer peripheral surface of the clutch member 81 fit into the plurality of grooves formed on the inner peripheral surfaces of the recess 541 of the first rotating body 54 and the recess 641 of the second rotating body 64.
  • the plurality of teeth formed on the outer peripheral surface of the clutch member 83 fit only into the plurality of grooves formed on the inner peripheral surface of the recess 643 of the second rotating body 64, and further, the clutch member 82 A state in which the plurality of teeth formed on the outer peripheral surface of the third rotating body 65 are fitted into the plurality of grooves formed on the inner peripheral surfaces of the recess 652 of the third rotating body 65 and the recess 301 of the main body 30 is maintained.
  • the first rotating body 54 and the second rotating body 64 are connected, the second rotating body 64 and the third rotating body 65 are separated, and the third rotating body 65 does not rotate with respect to the main body 30 (that is,).
  • the first rotating body 54 and the second rotating body 64 can rotate integrally). Therefore, the torque output by the steering motor 66 can be used to drive the wheels VW.
  • FIG. 10 is a schematic view showing a schematic configuration of the drive steering module 10C.
  • the drive steering module 10C is different from the drive steering module 10A in that it further includes an operation switching mechanism 90.
  • the operation switching mechanism 90 switches between a state in which the wheel support portion 40 and the first rotating body 54 can rotate integrally and a state in which the wheel support portion 40 and the first rotating body 54 can rotate separately. That is, the operation switching mechanism 90 transmits the torque output by the drive motor unit 50 to drive the wheel VW to the wheel support portion 40 connected to the first rotating body 54 of the drive motor unit 50.
  • a second clutch mechanism 99 that allows / disengages is realized.
  • the operation switching mechanism 90 includes a clutch member 92, a rod 94, a double nut 96, and a cap 98. These will be described below.
  • the clutch member 92 has an annular shape or a cylindrical shape as a whole.
  • a rod 94 is inserted into the central hole of the clutch member 92.
  • the clutch member 92 is restricted from moving in the axial direction of the rod 94 with respect to the rod 94 by the pair of circlips 93.
  • the clutch member 92 is rotatable with respect to the rod 94 around the central axis of the rod 94. That is, the clutch member 92 is arranged on the rod 94 in a state in which the clutch member 92 can rotate with respect to the rod 94 around the central axis of the rod 94 and can move together with the rod 94 in the axial direction of the rod 94.
  • the rod 94 has a central axis parallel to the rotation center axis 40L of the wheel support portion 40. That is, the rod 94 is arranged in parallel with the rotation center axis 40L of the wheel support portion 40. The rod 94 is arranged so as to penetrate the wheel support portion 40 in the direction in which the rotation center axis 40L of the wheel support portion 40 extends.
  • the double nut 96 is attached to the rod 94.
  • the double nut can move in the axial direction of the rod 94 with respect to the rod 94.
  • the double nut is tightened, the double nut 96 is prevented from moving in the axial direction of the rod 94 with respect to the rod 94.
  • the cap 98 is detachably attached to the wheel support portion 40. With the cap 98 fixed to the wheel support 40, the cap 98 comes into contact with the rod 94. That is, the cap 98 prevents the rod 94 from moving to the left.
  • the clutch member 92 is movably arranged in the recess 401 formed in the wheel support portion 40 and in the recess 540 formed in the first rotating body 54.
  • the recess 401 is formed so as to extend in the axial direction of the wheel support portion 40 and open to the right end of the wheel support portion 40.
  • the recess 540 is formed so as to extend in the axial direction of the first rotating body 54 and open at the left end of the first rotating body 54.
  • a plurality of teeth are formed on the outer peripheral surface of the clutch member 92.
  • Each of the plurality of teeth extends in the axial direction of the clutch member 92.
  • a plurality of grooves fitting with a plurality of teeth formed on the outer peripheral surface of the clutch member 92 are formed on the inner peripheral surfaces of the recess 401 of the wheel support portion 40 and the recess 540 of the first rotating body 54.
  • the plurality of grooves formed on the inner peripheral surface of the recess 401 of the wheel support portion 40 extend in the axial direction of the wheel support portion 40, respectively.
  • the plurality of grooves formed on the inner peripheral surface of the recess 540 of the first rotating body 54 extend in the axial direction of the first rotating body 54, respectively.
  • FIG. 11 is an explanatory diagram illustrating the operation of the operation switching mechanism 90.
  • the operation switching mechanism 90 switches between a state in which the wheel support portion 40 and the first rotating body 54 can rotate integrally and a state in which the wheel support portion 40 and the first rotating body 54 can rotate separately. Specifically, it is as follows.
  • a plurality of teeth formed on the outer peripheral surface of the clutch member 92 form a recess 401 of the wheel support portion 40 and a recess 540 of the first rotating body 54. It fits into a plurality of grooves formed on the inner peripheral surface of each of the above.
  • the double nut 96 is loosened and the rod 94 is moved to the left.
  • the plurality of teeth formed on the outer peripheral surface of the clutch member 92 fit only into the plurality of grooves formed on the inner peripheral surface of the recess 401 of the wheel support portion 40.
  • FIG. 12 is an explanatory diagram showing the positional relationship between the drive motor 56, the first reduction gear 58, the steering motor 66, and the second reduction gear 68 in the drive steering module 10A.
  • the first speed reducer 58 is arranged inside the drive motor 56
  • the second speed reducer 68 is arranged inside the steering motor 66.
  • the first speed reducer 58 is arranged inside the steering motor 66.
  • the speed reducer 58 may be placed to the left of the drive motor 56
  • the second speed reducer 68 may be placed to the right of the steering motor 66.
  • an axial type electric motor can be adopted as the drive motor 56 and the steering motor 66.
  • the drive motor 56 may have a larger size in the direction in which the rotation center axis 40L extends (left-right direction in the figure) than the steering motor 66.
  • the steering motor 66 may have a larger size in the direction in which the rotation center axis 40L extends (left-right direction in the drawing) than the drive motor 56.
  • the first reduction gear 58 may be arranged inside the drive motor 56, and the second reduction gear 68 may be arranged to the right of the steering motor 66.
  • an axial type electric motor can be adopted as the steering motor 66.
  • the first reduction gear 58 may be arranged to the left of the drive motor 56, and the second reduction gear 68 may be arranged inside the steering motor 66.
  • an axial type electric motor can be adopted as the drive motor 56.
  • control device 70 may be arranged on a plane orthogonal to the rotation center axis 64L of the second rotating body 64.
  • control device 70 may be arranged between the drive motor unit 50 and the steering motor unit 60.
  • control device 70 may be arranged between the wheel support portion 40 and the drive motor unit 50.
  • the gist is an equal element, modification, deletion, combination (eg, combination of features across embodiments and variants), improvement, modification that can be recognized by one of ordinary skill in the art based on the embodiments disclosed herein. Including.
  • the limitations of the claims should be broadly construed based on the terms used in the claims and are limited to the embodiments and variations described herein or in the process of the present application. Should not be done.
  • Such embodiments and variations should be construed as non-exclusive.
  • the terms "preferably” and "good” are non-exclusive and are “preferable but not limited to” and “good but not limited thereto”. It means "no".
  • the state switching by the operation switching mechanisms 80, 80B1 and 80B2 is realized by the actuator 88, but for example, the state switching by the operation switching mechanisms 80, 80B1 and 80B2 may be realized manually. ..

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

La présente invention concerne un module d'entraînement et de direction qui est utilisé dans un véhicule et qui est doté d'une fonction de direction destinée à diriger une roue et d'une fonction d'entraînement destinée à entraîner la roue, le module d'entraînement et de direction étant compact et apte à utiliser un espace au-dessus de la roue. Un premier corps fixe d'une unité de moteur d'entraînement et un second corps fixe d'une unité de moteur de direction sont fixés à une partie de corps principal. Un premier corps rotatif de l'unité de moteur d'entraînement est raccordé à une partie de support de roue de manière à tourner d'un seul tenant avec la partie de support de roue. Un second corps rotatif de l'unité de moteur de direction est raccordé à une section fixe de carrosserie de véhicule de manière à permettre à la partie de corps principal de pivoter par rapport à la section fixe de carrosserie de véhicule. Des axes de centre de rotation respectifs du premier corps rotatif de l'unité de moteur d'entraînement et du second corps rotatif de l'unité de moteur de direction sont parallèles à l'axe de centre de rotation de la partie de support de roue. La partie de support de roue, le premier corps rotatif de l'unité de moteur d'entraînement et le second corps rotatif de l'unité de moteur de direction sont disposés de manière à être alignés dans ledit ordre dans la direction d'extension de l'axe de centre de rotation de la partie de support de roue.
PCT/JP2019/034360 2019-09-02 2019-09-02 Module d'entraînement et de direction WO2021044462A1 (fr)

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PCT/JP2019/034360 WO2021044462A1 (fr) 2019-09-02 2019-09-02 Module d'entraînement et de direction
PCT/JP2020/033274 WO2021045109A1 (fr) 2019-09-02 2020-09-02 Module d'entraînement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/034360 WO2021044462A1 (fr) 2019-09-02 2019-09-02 Module d'entraînement et de direction

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Publication Number Publication Date
WO2021044462A1 true WO2021044462A1 (fr) 2021-03-11

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5239582B2 (fr) * 1972-12-28 1977-10-06
JP2012006580A (ja) * 2010-05-21 2012-01-12 Nsk Ltd インホイールモータ
JP2013032094A (ja) * 2011-08-02 2013-02-14 Nsk Ltd ハブベアリング、減速機構およびインホイールモータ
JP2017081247A (ja) * 2015-10-23 2017-05-18 株式会社ジェイテクト 車両用操舵装置
JP2019075974A (ja) * 2017-10-16 2019-05-16 株式会社ミツバ 駆動装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5239582B2 (fr) * 1972-12-28 1977-10-06
JP2012006580A (ja) * 2010-05-21 2012-01-12 Nsk Ltd インホイールモータ
JP2013032094A (ja) * 2011-08-02 2013-02-14 Nsk Ltd ハブベアリング、減速機構およびインホイールモータ
JP2017081247A (ja) * 2015-10-23 2017-05-18 株式会社ジェイテクト 車両用操舵装置
JP2019075974A (ja) * 2017-10-16 2019-05-16 株式会社ミツバ 駆動装置

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