JP7362240B2 - wheel drive device - Google Patents

wheel drive device Download PDF

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JP7362240B2
JP7362240B2 JP2018196339A JP2018196339A JP7362240B2 JP 7362240 B2 JP7362240 B2 JP 7362240B2 JP 2018196339 A JP2018196339 A JP 2018196339A JP 2018196339 A JP2018196339 A JP 2018196339A JP 7362240 B2 JP7362240 B2 JP 7362240B2
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wheel
carrier
extending portion
drive device
wheel drive
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JP2020063795A (en
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光拡 田村
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Sumitomo Heavy Industries Ltd
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Sumitomo Heavy Industries Ltd
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Priority to JP2018196339A priority Critical patent/JP7362240B2/en
Priority to CN201910688612.7A priority patent/CN111071030B/en
Priority to DE102019123061.6A priority patent/DE102019123061A1/en
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    • 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
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • 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
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
    • 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
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
    • B60K17/046—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel with planetary gearing having orbital motion
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
    • 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
    • B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
    • 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
    • B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/60—Industrial applications, e.g. pipe inspection vehicles
    • B60Y2200/62—Conveyors, floor conveyors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Retarders (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Motor Power Transmission Devices (AREA)

Description

本発明は、車輪駆動装置に関する。 The present invention relates to a wheel drive device.

特許文献１の第１図には、無人搬送車の車輪に減速機を内蔵した車輪駆動装置が開示されている。この車輪駆動装置は、偏心体（１９）の回転により揺動する外歯歯車（２０）と、車輪（１２）に連結された内歯歯車（２３）と、フレーム（１３）と車輪（１２）との間に配置された主軸受（１５、１６）とを備える。主軸受（１５、１６）は、外歯歯車（２０）を挟んで軸方向の一方と他方とに設けられている。 FIG. 1 of Patent Document 1 discloses a wheel drive device in which a reduction gear is built into the wheels of an automatic guided vehicle. This wheel drive device includes an external gear (20) that swings due to rotation of an eccentric body (19), an internal gear (23) connected to a wheel (12), a frame (13), and a wheel (12). and main bearings (15, 16) disposed between. The main bearings (15, 16) are provided on one side and the other side in the axial direction with the external gear (20) in between.

特開昭６２－８０３２４号公報Japanese Unexamined Patent Publication No. 62-80324

上記従来の減速機を内蔵した車輪駆動装置は、軸方向の寸法が大きいという課題がある。 The conventional wheel drive device incorporating a built-in speed reducer has a problem in that the size in the axial direction is large.

本発明は、軸方向の寸法を短縮化できる車輪駆動装置を提供することを目的とする。 An object of the present invention is to provide a wheel drive device whose axial dimension can be reduced.

本発明に係る一つの車輪駆動装置は、
内歯歯車を有する内歯部材と、外歯歯車と、前記外歯歯車の自転成分又は公転成分と同期するキャリアと、前記内歯部材と前記キャリアとの間に配置される主軸受と、前記内歯部材と一体的に回転するホイールと、を備える車輪駆動装置であって、
前記キャリアは、前記内歯部材の径方向外方に配置された延在部を有し、
前記主軸受は、前記延在部と前記内歯部材との間に配置され、
前記ホイールの外周部が、前記延在部の径方向外方に配置されている構成とした。 One wheel drive device according to the present invention includes:
an internally toothed member having an internally toothed gear; an externally toothed gear; a carrier that synchronizes with an autorotation component or a revolution component of the externally toothed gear; a main bearing disposed between the internally toothed member and the carrier; A wheel drive device comprising a wheel that rotates integrally with an internal tooth member,
The carrier has an extension portion disposed radially outward of the internal tooth member,
The main bearing is arranged between the extension part and the internal tooth member,
The outer circumferential portion of the wheel is arranged radially outward of the extending portion.

本発明に係るもう一つの車輪駆動装置は、
内歯歯車を有する内歯部材と、外歯歯車と、前記外歯歯車の自転成分又は公転成分と同期するキャリアと、前記内歯部材と前記キャリアとの間に配置される主軸受と、前記キャリアと一体的に回転するホイールと、を備える車輪駆動装置であって、
前記キャリアは、前記内歯部材の径方向外方に配置された延在部を有し、
前記主軸受は、前記延在部と前記内歯部材との間に配置され、
前記ホイールの外周部が、前記延在部の径方向外方に配置され、
前記キャリアは、前記外歯歯車の軸方向の一方である第１方向側において径方向に延在する第１径方向延在部と、前記第１径方向延在部から軸方向に延在して前記内歯部材の径方向外方に配置される第１軸方向延在部とを有し、
前記第１軸方向延在部が前記延在部を構成し、
前記ホイールは、タイヤ部と、前記タイヤ部が取り付けられるリム部と、前記リム部から径方向内側に延設されるディスク部と、を有し、前記ディスク部が前記内歯歯車よりも径方向外側において前記第１径方向延在部に連結され、
前記主軸受として、軸方向において、前記キャリアの前記第１径方向延在部と前記内歯部材又は前記内歯部材と一体化された部材との間に配置された一対の軸受を有する構成とした。 Another wheel drive device according to the present invention is
an internally toothed member having an internally toothed gear; an externally toothed gear; a carrier that synchronizes with an autorotation component or a revolution component of the externally toothed gear; a main bearing disposed between the internally toothed member and the carrier; A wheel drive device comprising a carrier and a wheel that rotates integrally with the carrier,
The carrier has an extension portion disposed radially outward of the internal tooth member,
The main bearing is arranged between the extension part and the internal tooth member,
An outer peripheral portion of the wheel is arranged radially outward of the extension portion,
The carrier includes a first radially extending portion extending radially on a first direction side, which is one axial direction of the external gear, and an axially extending portion extending from the first radially extending portion. and a first axially extending portion disposed radially outward of the internal tooth member;
the first axially extending portion constitutes the extending portion;
The wheel includes a tire portion, a rim portion to which the tire portion is attached, and a disk portion extending radially inward from the rim portion, the disk portion being radially more inward than the internal gear. connected to the first radially extending portion on the outside ;
The main bearings include a pair of bearings arranged in the axial direction between the first radially extending portion of the carrier and the internally toothed member or a member integrated with the internally toothed member. The structure is as follows.

本発明によれば、軸方向の寸法が短縮化された車輪駆動装置を提供できる。 According to the present invention, it is possible to provide a wheel drive device with a reduced axial dimension.

本発明の実施形態１に係る車輪駆動装置を示す一部破断の側面図である。1 is a partially cutaway side view showing a wheel drive device according to Embodiment 1 of the present invention. 実施形態１の車輪駆動装置を軸方向の反モータ側から見た図である。FIG. 2 is a diagram of the wheel drive device of Embodiment 1 viewed from the side opposite to the motor in the axial direction. 実施形態１の車輪駆動装置を軸方向のモータ側から見た図である。FIG. 2 is a diagram of the wheel drive device of Embodiment 1 viewed from the motor side in the axial direction. 本発明の実施形態２に係る車輪駆動装置を示す断面図である。It is a sectional view showing a wheel drive device concerning Embodiment 2 of the present invention.

以下、本発明の各実施形態について図面を参照して詳細に説明する。 Hereinafter, each embodiment of the present invention will be described in detail with reference to the drawings.

（実施形態１）
図１は、本発明の実施形態１に係る車輪駆動装置を示す一部破断の側面図である。図２は、実施形態１の車輪駆動装置を軸方向の反モータ側から見た図である。図３は、実施形態１の車輪駆動装置を軸方向のモータ側から見た図である。図１の破断部分は、図２の矢印Ａ－Ａ線断面を示している。図２及び図３において、ホイール１１は二点鎖線により示している。本明細書においては、回転軸Ｏ１に沿った方向を軸方向、回転軸Ｏ１から垂直な方向を径方向、回転軸Ｏ１を中心に回転する方向を周方向と定義する。 (Embodiment 1)
FIG. 1 is a partially cutaway side view showing a wheel drive device according to Embodiment 1 of the present invention. FIG. 2 is a diagram of the wheel drive device of Embodiment 1 viewed from the side opposite to the motor in the axial direction. FIG. 3 is a diagram of the wheel drive device of Embodiment 1 viewed from the motor side in the axial direction. The broken part in FIG. 1 shows a cross section taken along arrow AA in FIG. In FIGS. 2 and 3, the wheel 11 is indicated by a chain double-dashed line. In this specification, a direction along the rotation axis O1 is defined as an axial direction, a direction perpendicular to the rotation axis O1 is defined as a radial direction, and a direction rotating around the rotation axis O1 is defined as a circumferential direction.

実施形態１の車輪駆動装置１は、例えば無人搬送装置（台車）の本体に取り付けられ、無人搬送装置のモータ付き車輪を構成する。車輪駆動装置１は、ホイール１１と、モータ２１と、減速機構３１とを備える。以下、軸方向のうち、減速機構３１からモータ２１の方向をモータ側、モータ２１から減速機構３１の方向を反モータ側と呼ぶ。 The wheel drive device 1 of Embodiment 1 is attached to, for example, the main body of an unmanned transportation device (truck), and constitutes motorized wheels of the unmanned transportation device. The wheel drive device 1 includes a wheel 11, a motor 21, and a speed reduction mechanism 31. Hereinafter, in the axial direction, the direction from the deceleration mechanism 31 to the motor 21 will be referred to as the motor side, and the direction from the motor 21 to the deceleration mechanism 31 will be referred to as the counter-motor side.

ホイール１１は、外周部に設けられるタイヤ部１１ｃと、タイヤ部１１ｃが取り付けられるリム部１１ａと、リム部１１ａを支持するディスク部１１ｂとを有する。タイヤ部１１ｃは、弾性を有し、使用に伴って厚みが減っていく。ディスク部１１ｂは、装置の反モータ側で径方向に延設され、減速機構３１に連結される。リム部１１ａは、筒状の形態を有し、ディスク部１１ｂの外周部から軸方向のモータ側に延在する。ディスク部１１ｂは本発明に係る第２径方向延在部の一例に相当し、リム部１１ａは本発明に係る第２軸方向延在部の一例に相当する。 The wheel 11 includes a tire portion 11c provided on the outer periphery, a rim portion 11a to which the tire portion 11c is attached, and a disk portion 11b supporting the rim portion 11a. The tire portion 11c has elasticity, and its thickness decreases with use. The disk portion 11b extends in the radial direction on the side opposite to the motor of the device, and is connected to the speed reduction mechanism 31. The rim portion 11a has a cylindrical shape and extends from the outer peripheral portion of the disk portion 11b toward the motor in the axial direction. The disk portion 11b corresponds to an example of the second radially extending portion according to the present invention, and the rim portion 11a corresponds to an example of the second axially extending portion according to the present invention.

モータ２１は、回転軸Ｏ１を中心に回転するモータ軸２３と、図示略の回転子、固定子及び制動部と、ハウジング２５とを備え、電力によってモータ軸２３を回転駆動する。ハウジング２５には、無人搬送装置の本体に連結されるタップ穴２５ａが設けられている。 The motor 21 includes a motor shaft 23 that rotates around the rotation axis O1, a rotor, a stator, and a braking unit (not shown), and a housing 25, and rotates the motor shaft 23 with electric power. The housing 25 is provided with a tapped hole 25a that is connected to the main body of the unmanned conveyance device.

減速機構３１は、偏心揺動型減速機であり、内歯部材３３、外歯歯車３５、偏心体３７、偏心体軸受４１、内ピン４３、キャリア４５、カバー４９、主軸受５１Ａ、５１Ｂ、入力軸受５３Ａ、５３Ｂ及びカウンタウェイト５５を備える。 The speed reduction mechanism 31 is an eccentric swing type speed reducer, and includes an internal tooth member 33, an external gear 35, an eccentric body 37, an eccentric body bearing 41, an inner pin 43, a carrier 45, a cover 49, main bearings 51A and 51B, and an input. It includes bearings 53A, 53B and a counterweight 55.

外歯歯車３５は、外歯に加えて、同一半径の円周上の複数の箇所に設けられた複数の内ピン孔３５ａと、中央孔と、を有する。 In addition to external teeth, the external gear 35 has a plurality of inner pin holes 35a provided at a plurality of locations on the circumference having the same radius, and a center hole.

偏心体３７は、例えばキー接続によりモータ軸２３に連結され、モータ軸２３と一体的に回転する。偏心体３７は、外歯歯車３５の中央孔に軸方向に通されて組み込まれる。偏心体３７と外歯歯車３５との間には偏心体軸受４１が配置され、偏心体３７は外歯歯車３５の内側で外歯歯車３５に対して相対的に回転可能にされる。偏心体３７が回転することで、外歯歯車３５が偏心揺動する。 The eccentric body 37 is connected to the motor shaft 23 by, for example, a key connection, and rotates integrally with the motor shaft 23. The eccentric body 37 is inserted into the central hole of the external gear 35 in the axial direction. An eccentric bearing 41 is disposed between the eccentric body 37 and the external gear 35, and the eccentric body 37 is made rotatable inside the external gear 35 relative to the external gear 35. As the eccentric body 37 rotates, the external gear 35 swings eccentrically.

内歯部材３３は、内周部に複数のピン溝が設けられた内歯歯車本体３３ａと、複数のピン溝にそれぞれ回転自在に支持された複数の外ピン３３ｂと、内歯歯車本体３３ａに連結されて複数の外ピン３３ｂを保持する保持部材３３ｃ、３３ｄとを有する。複数のピン溝は周方向に並んで設けられる。内歯歯車本体３３ａ及び複数の外ピン３３ｂが内歯歯車として機能する。内歯部材３３の歯数（外ピン３３ｂの数）は外歯歯車３５の歯数と異なる（例えば歯数差が１）。内歯部材３３の内側には外歯歯車３５が配置され、外歯歯車３５の最も偏心した部分の外歯が外ピン３３ｂ（内歯）と噛み合う。 The internal gear member 33 includes an internal gear main body 33a in which a plurality of pin grooves are provided in the inner circumference, a plurality of external pins 33b rotatably supported by the plurality of pin grooves, and an internal gear main body 33a. It has holding members 33c and 33d that are connected and hold a plurality of outer pins 33b. A plurality of pin grooves are provided in line in the circumferential direction. The internal gear main body 33a and the plurality of external pins 33b function as an internal gear. The number of teeth of the internal gear member 33 (the number of external pins 33b) is different from the number of teeth of the external gear 35 (for example, the difference in the number of teeth is 1). An external gear 35 is arranged inside the internal tooth member 33, and the external teeth of the most eccentric portion of the external gear 35 mesh with the external pin 33b (internal tooth).

主軸受５１Ａ、５１Ｂは、例えば玉軸受であり、回転軸Ｏ１を中心に内歯部材３３を回転自在に支持する。 The main bearings 51A and 51B are ball bearings, for example, and support the internal gear member 33 rotatably around the rotation axis O1.

キャリア４５は、外歯歯車３５の軸方向の一方（モータ側）に配置され、複数の内ピン４３を保持する。複数の内ピン４３は、外歯歯車３５の複数の内ピン孔３５ａ各々に軸方向に通される。キャリア４５は、モータ２１のハウジング２５と一体化されたベース部４５ａと、複数の内ピン４３が保持される環状の保持枠４５ｃと、ベース部４５ａから軸方向の反モータ側へ延在する筒状の延在部４５ｂとを有する。保持枠４５ｃはベース部４５ａにボルト等により連結される。キャリア４５は複数の内ピン４３を介して外歯歯車３５と係合され、これによりキャリア４５の運動（固定により静止）と外歯歯車３５の自転成分とが同期する。ベース部４５ａは、本発明の第１径方向延在部の一例に相当し、延在部４５ｂは本発明の第１軸方向延在部の一例に相当する。 The carrier 45 is disposed on one axial side (on the motor side) of the external gear 35 and holds the plurality of internal pins 43. The plurality of inner pins 43 are passed through each of the plurality of inner pin holes 35a of the external gear 35 in the axial direction. The carrier 45 includes a base portion 45a integrated with the housing 25 of the motor 21, an annular holding frame 45c in which a plurality of inner pins 43 are held, and a cylinder extending from the base portion 45a toward the side opposite to the motor in the axial direction. It has a shaped extension part 45b. The holding frame 45c is connected to the base portion 45a by bolts or the like. The carrier 45 is engaged with the external gear 35 via the plurality of internal pins 43, whereby the movement of the carrier 45 (stationary due to fixation) and the rotational component of the external gear 35 are synchronized. The base portion 45a corresponds to an example of the first radially extending portion of the present invention, and the extending portion 45b corresponds to an example of the first axially extending portion of the present invention.

カウンタウェイト５５は、モータ軸２３にキー接続され、モータ軸２３が回転したときに、外歯歯車３５の揺動により生じる荷重と反対の荷重が作用するように回転する。具体的には、カウンタウェイト５５は、偏心体３７の偏心方向と反対側に重心を有する。 The counterweight 55 is key-connected to the motor shaft 23 and rotates so that when the motor shaft 23 rotates, a load opposite to the load generated by the rocking of the external gear 35 is applied. Specifically, the counterweight 55 has a center of gravity on the opposite side to the eccentric direction of the eccentric body 37.

入力軸受５３Ａ、５３Ｂは、外歯歯車３５よりも軸方向の一方と他方とで、モータ軸２３を回転自在に支持する。一方の入力軸受５３Ａは、キャリア４５とモータ軸２３との間に配置され、他方の入力軸受５３Ｂは、カバー４９とモータ軸２３との間に配置されている。カバー４９は、モータ軸２３と入力軸受５３Ｂとの反モータ側を覆い、内歯部材３３に連結される。減速機構３１の入力軸受５３Ａ、５３Ｂに加えて、モータ軸２３は、モータ側の端部が、モータ２１に設けられた軸受２７に回転自在に支持されている。 The input bearings 53A and 53B rotatably support the motor shaft 23 at one end and the other end in the axial direction relative to the external gear 35. One input bearing 53A is arranged between the carrier 45 and the motor shaft 23, and the other input bearing 53B is arranged between the cover 49 and the motor shaft 23. The cover 49 covers the opposite side of the motor shaft 23 and the input bearing 53B, and is connected to the internal gear member 33. In addition to the input bearings 53A and 53B of the speed reduction mechanism 31, the end of the motor shaft 23 on the motor side is rotatably supported by a bearing 27 provided on the motor 21.

＜減速動作＞
モータ２１の駆動によりモータ軸２３が回転すると、偏心体３７が回転して外歯歯車３５が偏心揺動する。偏心体３７の回転に伴い、カウンタウェイト５５が回転し、外歯歯車３５の偏心揺動で生じる荷重と反対の向きに荷重が加わることで、減速機構３１の内部の回転のバランスが保たれる。外歯歯車３５はキャリア４５に内ピン４３を介して接続されている一方、キャリア４５はモータ２１のハウジング２５に固定されている。このため外歯歯車３５の自転成分はキャリア４５に同期してゼロとなり、外歯歯車３５は偏心揺動するのみで回転（自転）しない。 <Deceleration operation>
When the motor shaft 23 is rotated by the drive of the motor 21, the eccentric body 37 rotates and the external gear 35 swings eccentrically. As the eccentric body 37 rotates, the counterweight 55 rotates, and a load is applied in the opposite direction to the load generated by the eccentric rocking of the external gear 35, thereby maintaining the rotational balance inside the deceleration mechanism 31. . The external gear 35 is connected to a carrier 45 via an inner pin 43, while the carrier 45 is fixed to the housing 25 of the motor 21. Therefore, the rotational component of the external gear 35 becomes zero in synchronization with the carrier 45, and the external gear 35 only swings eccentrically but does not rotate (rotate).

一方、外歯歯車３５の外歯と内歯部材３３の内歯との噛合する位置は、外歯歯車３５の偏心揺動に応じて周方向に変化する。このため、偏心体３７が１回転するごとに、内歯部材３３の内歯歯車と外歯歯車３５との歯数差分（例えば１歯）、内歯部材３３が回転（自転）する。これらの結果、モータ２１の回転運動が１／（内歯歯車の歯数）で減速されて内歯部材３３と一体化されたホイール１１に出力される。ホイール１１の回転により無人搬送装置が走行面Ｇ０上を走行する。 On the other hand, the position where the external teeth of the external gear 35 mesh with the internal teeth of the internal tooth member 33 changes in the circumferential direction according to the eccentric rocking of the external gear 35. Therefore, each time the eccentric body 37 rotates once, the internal toothed member 33 rotates (rotates) by the difference in the number of teeth between the internal gear of the internal toothed member 33 and the external gear 35 (for example, one tooth). As a result, the rotational motion of the motor 21 is decelerated by 1/(the number of teeth of the internal gear) and output to the wheel 11 integrated with the internal gear member 33. The rotation of the wheel 11 causes the unmanned conveyance device to travel on the running surface G0.

＜各部材の延在構造＞
キャリア４５と、内歯部材３３と一体的に回転するホイール１１とは、対称的な延在構造を有する。すなわち、キャリア４５のベース部（第１径方向延在部）４５ａは、外歯歯車３５の軸方向の一方（モータ側：第１方向側）で複数の内ピン４３を保持する部位（保持枠４５ｃ、キャリア本体と呼んでもよい）から径方向外側に延在する。さらに、キャリア４５の延在部４５ｂ（第１軸方向延在部）は、ベース部４５ａから軸方向の他方（反モータ側）に延在する。延在部４５ｂは、モータ側において径方向外方に延在するフランジ部４５ｆを有し、フランジ部４５ｆはボルト等によりベース部４５ａに連結されている。 <Extended structure of each member>
The carrier 45 and the wheel 11 that rotates integrally with the internal tooth member 33 have a symmetrical elongated structure. That is, the base portion (first radially extending portion) 45a of the carrier 45 is a portion (holding frame) that holds the plurality of inner pins 43 on one axial side (motor side: first direction side) of the external gear 35. 45c, which may be referred to as the carrier body). Furthermore, the extending portion 45b (first axially extending portion) of the carrier 45 extends from the base portion 45a to the other axial direction (the side opposite to the motor). The extending portion 45b has a flange portion 45f extending radially outward on the motor side, and the flange portion 45f is connected to the base portion 45a with bolts or the like.

ホイール１１のディスク部（第２径方向延在部）１１ｂは、外歯歯車３５よりも反モータ側（第１方向側とは逆側）で、径方向に延在する。さらに、ホイール１１のリム部（第２軸方向延在部）１１ａは、ディスク部１１ｂの外周部から軸方向のモータ側に延在する。 The disk portion (second radially extending portion) 11b of the wheel 11 extends in the radial direction on the side opposite to the motor (the side opposite to the first direction side) with respect to the external gear 35. Further, the rim portion (second axially extending portion) 11a of the wheel 11 extends from the outer peripheral portion of the disk portion 11b toward the motor in the axial direction.

このようなキャリア４５の延在構造と内歯部材３３と一体化されたホイール１１の延在構造により、内歯部材３３の外ピン３３ｂから、径方向の外方に、内歯歯車本体３３ａ、主軸受５１Ａ、５１Ｂ、キャリア４５の延在部（第１軸方向延在部）４５ｂ、及び、ホイール１１のリム部（第２軸方向延在部）１１ａ、タイヤ部１１ｃが、順に配置される構成が実現される。主軸受５１Ａ、５１Ｂは、キャリア４５の延在部４５ｂ（の内周）と内歯部材３３（の外周）との間に配置され、これにより、キャリア４５に対して内歯部材３３が回転自在に支持される。 Due to the extending structure of the carrier 45 and the extending structure of the wheel 11 integrated with the internal gear member 33, the internal gear main body 33a, The main bearings 51A, 51B, the extension part (first axial extension part) 45b of the carrier 45, the rim part (second axial extension part) 11a of the wheel 11, and the tire part 11c are arranged in this order. The configuration is realized. The main bearings 51A, 51B are arranged between (the inner periphery of) the extending portion 45b of the carrier 45 and (the outer periphery of) the internal toothed member 33, so that the internal toothed member 33 can freely rotate with respect to the carrier 45. Supported by

主軸受５１Ａ、５１Ｂを、このように内歯部材３３の径方向外方に配置できることから、減速機構３１の軸方向の寸法を大きくしないように主軸受５１Ａ、５１Ｂを配置できる。特に制限されないが、好ましい一例としては、径方向から見て、主軸受５１Ａ、５１Ｂの軸方向における両端が、２つの入力軸受５３Ａ、５３Ｂの軸方向の両端よりも、内方に位置するように、主軸受５１Ａ、５１Ｂが配置される。図１の例とは異なるが、主軸受５１Ａ、５１Ｂの軸方向における両端が、タイヤ部１１ｃの軸方向における両端の内方に位置するように、主軸受５１Ａ、５１Ｂが配置されてもよい。複数の軸受について両端と言ったときは、複数の軸受の間隔の部分も軸受の一部と見なし、複数の軸受を一体化してみなしたときの両端に該当する。 Since the main bearings 51A and 51B can be arranged radially outward of the internal gear member 33 in this way, the main bearings 51A and 51B can be arranged so as not to increase the axial dimension of the speed reduction mechanism 31. Although not particularly limited, as a preferable example, both ends of the main bearings 51A and 51B in the axial direction are located inward from both ends of the two input bearings 53A and 53B in the axial direction when viewed from the radial direction. , main bearings 51A, 51B are arranged. Although different from the example in FIG. 1, the main bearings 51A, 51B may be arranged such that both ends of the main bearings 51A, 51B in the axial direction are located inside both ends of the tire portion 11c in the axial direction. When referring to both ends of a plurality of bearings, the space between the plurality of bearings is also considered to be part of the bearing, and corresponds to both ends when the plurality of bearings are considered as a single unit.

さらに、好ましい一例としては、特に限定されないが、径方向に見て、２つの主軸受５１Ａ、５１Ｂの各々が、少なくともその一部が外ピン３３ｂと重なるように配置されてもよい。さらに、好ましい一例としては、特に限定されないが、径方向に見たとき、２つの主軸受５１Ａ、５１Ｂの各々は、少なくともその一部が外歯歯車３５と重なるように配置されてもよい。 Furthermore, as a preferable example, although not particularly limited, each of the two main bearings 51A, 51B may be arranged so that at least a portion thereof overlaps with the outer pin 33b when viewed in the radial direction. Furthermore, as a preferable example, although not particularly limited, each of the two main bearings 51A and 51B may be arranged so that at least a portion thereof overlaps with the external gear 35 when viewed in the radial direction.

２つの主軸受５１Ａ、５１Ｂの代わりに、例えばクロスローラ軸受など、１つの主軸受を適用してもよい。この場合、好ましい一例としては、１つの主軸受の軸方向の両端が、入力軸受５３Ａ、５３Ｂの軸方向の両端よりも内方に位置するように配置される。さらに、好ましい一例としては、径方向から見て、１つの主軸受の少なくとも一部が外ピン３３ｂと重なるように配置されてもよい。さらに、好ましい一例としては、径方向から見て、１つの主軸受の少なくとも一部が外歯歯車３５と重なるように配置されてもよい。 Instead of the two main bearings 51A and 51B, one main bearing such as a cross roller bearing may be used. In this case, as a preferable example, both ends of one main bearing in the axial direction are located inward from both ends of the input bearings 53A and 53B in the axial direction. Further, as a preferable example, at least a portion of one main bearing may be arranged to overlap with the outer pin 33b when viewed from the radial direction. Further, as a preferable example, at least a portion of one main bearing may be arranged to overlap with the external gear 35 when viewed from the radial direction.

また、図１の例では、１つの外歯歯車３５を有する構成を示しているが、複数の外歯歯車が軸方向に並んで設けられる構成が適用されてもよい。この場合、上述した径方向から見たときに外歯歯車と主軸受とが重なるか否かは、複数の外歯歯車を一体的にとらえたとき、すなわち複数の外歯歯車の間隔の部分も外歯歯車の一部と見なしたときに、主軸受と外歯歯車とが重なるか否かを判別すればよい。 Further, although the example in FIG. 1 shows a configuration including one external gear 35, a configuration in which a plurality of external gears are provided in line in the axial direction may be applied. In this case, whether or not the external gear and the main bearing overlap when viewed from the radial direction mentioned above is determined when the multiple external gears are viewed as one, that is, the interval between the multiple external gears also It is only necessary to determine whether the main bearing and the external gear overlap when they are considered as part of the external gear.

＜キャリアの延在部の詳細＞
キャリア４５の延在部４５ｂは、ホイール１１のディスク部１１ｂとリム部１１ａとの間の角部内周に対向する位置まで、延在する。そして、延在部４５ｂの先端部の外周面には、反モータ側（先端側）へ進むほど径が小さくなる方向に傾斜する傾斜面Ｓ４５が設けられている。 <Details of carrier extension>
The extending portion 45b of the carrier 45 extends to a position facing the inner periphery of the corner between the disk portion 11b and the rim portion 11a of the wheel 11. An inclined surface S45 is provided on the outer circumferential surface of the distal end portion of the extending portion 45b, and the inclined surface S45 is inclined in a direction in which the diameter becomes smaller toward the side opposite to the motor (toward the distal end side).

ホイール１１は、ディスク部１１ｂとリム部１１ａとの間の角部内周に、補強のために厚みが増した肉厚部１１ｖを有する。上記の延在部４５ｂの先端部の傾斜面Ｓ４５によれば、ホイール１１とキャリア４５とを軸方向に詰めて配置しても、ホイール１１の肉厚部１１ｖとキャリア４５の延在部４５ｂの先端とが干渉することを抑制できる。 The wheel 11 has a thickened portion 11v for reinforcement at the inner periphery of the corner between the disk portion 11b and the rim portion 11a. According to the inclined surface S45 at the tip of the extending portion 45b, even if the wheel 11 and the carrier 45 are arranged close together in the axial direction, the thick portion 11v of the wheel 11 and the extending portion 45b of the carrier 45 are Interference with the tip can be suppressed.

キャリア４５の延在部４５ｂのフランジ部４５ｆは、軸方向に見て、ホイール１１のタイヤ部１１ｃと重なる範囲に設けられている（図２、図３を参照）。この構造により、ホイール１１を外したときに、フランジ部４５ｆの反モータ側が露出し、フランジ部４５ｆをベース部４５ａに連結する作業性が向上する。さらに、フランジ部４５ｆを径方向の内方に設けるよりも、モータ２１又は減速機構３１の径方向の寸法を大きくして、軸方向の寸法を短くできる。 The flange portion 45f of the extending portion 45b of the carrier 45 is provided in a range overlapping with the tire portion 11c of the wheel 11 when viewed in the axial direction (see FIGS. 2 and 3). With this structure, when the wheel 11 is removed, the side of the flange portion 45f opposite to the motor is exposed, and the workability of connecting the flange portion 45f to the base portion 45a is improved. Furthermore, rather than providing the flange portion 45f radially inward, the radial dimension of the motor 21 or the speed reduction mechanism 31 can be increased and the axial dimension can be shortened.

一方、キャリア４５の最外周部（フランジ部４５ｆ）のうち、少なくとも走行面Ｇ０に対向する範囲には、回転軸Ｏ１からの距離Ｌ１がホイール１１のリム部１１ａの外半径Ｌ２よりも小さい切欠き部４５ｋが設けられている。切欠き部４５ｋにより、ホイール１１の使用に伴ってタイヤ部１１ｃの厚みが減った場合でも、タイヤ部１１ｃが減っていく途中で、キャリア４５の一部が走行面Ｇ０に接触してしまうことを回避できる。なお、切欠き部４５ｋは走行面Ｇ０に平行な面に限らず、例えば曲面で構成されてもよい。 On the other hand, in the outermost peripheral part (flange part 45f) of the carrier 45, at least in the range facing the running surface G0, there is a notch whose distance L1 from the rotation axis O1 is smaller than the outer radius L2 of the rim part 11a of the wheel 11. A section 45k is provided. The cutout portion 45k prevents a portion of the carrier 45 from coming into contact with the running surface G0 while the tire portion 11c is being reduced even if the thickness of the tire portion 11c is reduced as the wheel 11 is used. It can be avoided. Note that the cutout portion 45k is not limited to a surface parallel to the running surface G0, and may be formed of a curved surface, for example.

さらに、キャリア４５の最外周部（フランジ部４５ｆ）の回転軸Ｏ１からの距離Ｌ１がリム部１１ａの外半径Ｌ２よりも小さい切欠き部４５ｋは、キャリア４５の周方向の複数の箇所（例えば図２及び図３の上下左右の４箇所）に設けられている。この構造により、車輪駆動装置１を無人搬送装置の本体に取り付ける際、車輪駆動装置１を取り付ける角度（周方向の角度）の自由度が向上する。すなわち、車輪駆動装置１を、いずれかの切欠き部４５ｋが下方に位置する角度で取り付けることで、タイヤ部１１ｃが減った場合でも、キャリア４５の一部が走行面Ｇ０に接触しないように、切欠き部４５ｋを活用できる。このような取り付け角度の自由度により、例えばモータ２１の配線の固定及び取り回しの作業性が向上する。 Further, the notch portion 45k, in which the distance L1 of the outermost peripheral portion (flange portion 45f) of the carrier 45 from the rotation axis O1 is smaller than the outer radius L2 of the rim portion 11a, is formed at a plurality of locations in the circumferential direction of the carrier 45 (for example, 2 and four locations on the top, bottom, left and right of FIG. 3). With this structure, when attaching the wheel drive device 1 to the main body of an unmanned conveyance device, the degree of freedom of the angle at which the wheel drive device 1 is attached (angle in the circumferential direction) is improved. That is, by attaching the wheel drive device 1 at an angle such that one of the notches 45k is located downward, even if the tire portion 11c is reduced, a part of the carrier 45 can be prevented from coming into contact with the running surface G0. The cutout portion 45k can be utilized. Such degree of freedom in the mounting angle improves the workability of fixing and routing the wiring of the motor 21, for example.

＜実施形態効果＞
以上のように、実施形態１の車輪駆動装置１によれば、主軸受５１Ａ、５１Ｂがキャリア４５の延在部４５ｂと、内歯部材３３との間に配置され、ホイール１１の外周部がキャリア４５の延在部４５ｂの径方向外方に配置されている。このような配置により、主軸受５１Ａ、５１Ｂ及びホイール１１を内歯部材３３と径方向に重なるように配置でき、車輪駆動装置１の軸方向の寸法を短くできる。無人搬送装置は、車輪駆動装置１と同じ高さにモータ２１の電力を蓄積するバッテリーを搭載することがある。この場合、車輪駆動装置１の軸方向の寸法を短くできることで、バッテリーの搭載スペースが増大し、より大きなバッテリーを積載することができるという効果が得られる。 <Embodiment effect>
As described above, according to the wheel drive device 1 of the first embodiment, the main bearings 51A and 51B are disposed between the extending portion 45b of the carrier 45 and the internal tooth member 33, and the outer peripheral portion of the wheel 11 is connected to the carrier. 45 is disposed radially outward of the extending portion 45b. With this arrangement, the main bearings 51A, 51B and the wheel 11 can be arranged so as to overlap the internal gear member 33 in the radial direction, and the axial dimension of the wheel drive device 1 can be shortened. The unmanned conveyance device may be equipped with a battery that stores the electric power of the motor 21 at the same height as the wheel drive device 1. In this case, by being able to shorten the axial dimension of the wheel drive device 1, the space for mounting the battery increases, and a larger battery can be loaded.

さらに、実施形態１の車輪駆動装置１によれば、キャリア４５は、外歯歯車３５の軸方向の一方（モータ側）で径方向に延在するベース部４５ａと、ベース部４５ａから軸方向の他方（反モータ側）に延在する延在部４５ｂとを有する。さらに、内歯部材３３と一体的なホイール１１は、外歯歯車３５の軸方向の他方（反モータ側）で径方向に延在するディスク部１１ｂと、ディスク部１１ｂから軸方向の一方（モータ側）に延在するリム部１１ａとを有する。これらの構成により、上記の軸方向の寸法を短くする構成を実現しつつ、キャリア４５と内歯部材３３とを相対的に回転する機構を実現できる。 Further, according to the wheel drive device 1 of the first embodiment, the carrier 45 includes a base portion 45a extending in the radial direction on one axial side (motor side) of the external gear 35, and a base portion 45a extending in the radial direction from the base portion 45a. It has an extension part 45b extending to the other side (the side opposite to the motor). Furthermore, the wheel 11 that is integral with the internal gear member 33 has a disk portion 11b that extends in the radial direction on the other axial side (the side opposite to the motor) of the external gear 35, and a disk portion 11b that extends in the radial direction from the disk portion 11b on one side in the axial direction (the side opposite to the motor). It has a rim portion 11a extending to the side). With these configurations, it is possible to realize a mechanism that relatively rotates the carrier 45 and the internal tooth member 33 while realizing a structure that shortens the above-mentioned axial dimension.

さらに、実施形態１の車輪駆動装置１によれば、キャリア４５の延在部４５ｂは径方向外方に延在するフランジ部４５ｆを有し、フランジ部４５ｆがベース部４５ａに連結されている。また、フランジ部４５ｆは、軸方向から見てタイヤ部１１ｃと重なるように配置される。これらにより、主軸受５１Ａ、５１Ｂの組み付けと、キャリア４５の組み立てとが容易となる。さらに、フランジ部４５ｆを径方向の内方に延在させた場合と比較して、車輪駆動装置１の軸方向の寸法を短くできる。 Furthermore, according to the wheel drive device 1 of the first embodiment, the extending portion 45b of the carrier 45 has a flange portion 45f extending radially outward, and the flange portion 45f is connected to the base portion 45a. Further, the flange portion 45f is arranged so as to overlap the tire portion 11c when viewed from the axial direction. These facilitate the assembly of the main bearings 51A, 51B and the carrier 45. Furthermore, the axial dimension of the wheel drive device 1 can be shortened compared to the case where the flange portion 45f extends radially inward.

（実施形態２）
図４は、本発明の実施形態２に係る車輪駆動装置１０１を示す断面図である。 (Embodiment 2)
FIG. 4 is a sectional view showing a wheel drive device 101 according to Embodiment 2 of the present invention.

実施形態２の車輪駆動装置１０１は、例えば無人搬送装置の本体に取り付けられ、無人搬送装置のモータ付き車輪を構成する。車輪駆動装置１０１は、ホイール１１１と、モータ１２１と、減速機構１３１とを備える。 The wheel drive device 101 of Embodiment 2 is attached to, for example, the main body of an unmanned transportation device, and constitutes motorized wheels of the unmanned transportation device. The wheel drive device 101 includes a wheel 111, a motor 121, and a speed reduction mechanism 131.

ホイール１１１は、外周部に設けられるタイヤ部１１１ｃと、タイヤ部１１１ｃが取り付けられるリム部１１１ａと、リム部１１１ａを支持するディスク部１１１ｂとを有する。タイヤ部１１１ｃは、弾性を有し、使用に伴って厚みが減っていく。ディスク部１１１ｂは、装置の反モータ側で径方向に延設され、減速機構１３１に連結される。リム部１１１ａは、筒状の形態を有し、ディスク部１１１ｂの外周部から軸方向におけるモータ側に延在する。 The wheel 111 includes a tire portion 111c provided on the outer periphery, a rim portion 111a to which the tire portion 111c is attached, and a disk portion 111b supporting the rim portion 111a. The tire portion 111c has elasticity and decreases in thickness as it is used. The disk portion 111b extends in the radial direction on the side opposite to the motor of the device, and is connected to the speed reduction mechanism 131. The rim portion 111a has a cylindrical shape and extends from the outer peripheral portion of the disk portion 111b toward the motor in the axial direction.

モータ１２１は、回転軸Ｏ１を中心に回転するモータ軸１２３と、図示略の回転子、固定子及び制動部と、ハウジング１２５とを備え、電力によってモータ軸１２３を回転駆動する。ハウジング１２５には、無人搬送装置の本体に連結されるタップ穴１２５ａが設けられている。タップ穴１２５ａは、ハウジング１２５の一部が径方向外方に延在したフランジ部１２５ｆに設けられている。 The motor 121 includes a motor shaft 123 that rotates around the rotation axis O1, a rotor, a stator, and a braking unit (not shown), and a housing 125, and rotates the motor shaft 123 with electric power. The housing 125 is provided with a tapped hole 125a that is connected to the main body of the unmanned conveyance device. The tapped hole 125a is provided in a flange portion 125f where a portion of the housing 125 extends radially outward.

減速機構１３１は、偏心揺動型減速機であり、内歯部材１３３、外歯歯車１３５、偏心体１３７、偏心体軸受１４１、内ピン１４３、キャリア１４５、カバー１４９、主軸受１５１Ａ、１５１Ｂ、入力軸受１５３及びカウンタウェイト１５５を備える。 The speed reduction mechanism 131 is an eccentric swing type speed reducer, and includes an internal tooth member 133, an external gear 135, an eccentric body 137, an eccentric body bearing 141, an inner pin 143, a carrier 145, a cover 149, main bearings 151A and 151B, and an input. A bearing 153 and a counterweight 155 are provided.

モータ軸１２３、偏心体１３７、偏心体軸受１４１、外歯歯車１３５、内ピン１４３及びカウンタウェイト１５５は、実施形態１のモータ軸２３、偏心体３７、偏心体軸受４１、外歯歯車３５、内ピン４３及びカウンタウェイト５５と、同様に構成される。外歯歯車１３５の内ピン孔１３５ａが、実施形態１の内ピン孔３５ａに相当する。 The motor shaft 123, the eccentric body 137, the eccentric bearing 141, the external gear 135, the inner pin 143, and the counterweight 155 are the same as the motor shaft 23, the eccentric body 37, the eccentric bearing 41, the external gear 35, and the internal gear of the first embodiment. The pin 43 and counterweight 55 are similarly configured. The inner pin hole 135a of the external gear 135 corresponds to the inner pin hole 35a of the first embodiment.

内歯部材１３３のうち、内歯歯車本体１３３ａ及び複数の外ピン１３３ｂは、実施形態１の内歯歯車本体３３ａ及び外ピン３３ｂと同様に構成される。内歯部材１３３は、複数の外ピン１３３ｂを保持する保持部材１３３ｃ、１３３ｄを有する。保持部材１３３ｃは、モータ１２１のハウジング１２５にボルト等により連結され、これにより内歯部材１３３が固定される。 Of the internal gear member 133, the internal gear main body 133a and the plurality of external pins 133b are configured similarly to the internal gear main body 33a and the external pins 33b of the first embodiment. The internal tooth member 133 has holding members 133c and 133d that hold a plurality of external pins 133b. The holding member 133c is connected to the housing 125 of the motor 121 with a bolt or the like, thereby fixing the internal tooth member 133.

キャリア１４５は、外歯歯車１３５の軸方向の一方（反モータ側）に配置され、複数の内ピン１４３を保持する。キャリア１４５は、内ピン１４３の保持部分から径方向外方に延在する第１径方向延在部１４５ａと、第１径方向延在部１４５ａから軸方向の他方（モータ側）に延在する第１軸方向延在部１４５ｂとを有する。第１径方向延在部１４５ａと第１軸方向延在部１４５ｂとは、別部材として形成され、ボルト等により連結されている。第１軸方向延在部１４５ｂは、内歯部材１３３の径方向外方に配置される。キャリア１４５は、例えば第１径方向延在部１４５ａの一部が、ホイール１１１のディスク部１１１ｂと連結され、ホイール１１１と一体的に回転する。第１軸方向延在部１４５ｂは、本発明に係る延在部の一例に相当する。 The carrier 145 is disposed on one axial side of the external gear 135 (on the side opposite to the motor) and holds the plurality of internal pins 143. The carrier 145 includes a first radially extending portion 145a extending radially outward from the holding portion of the inner pin 143, and a first radially extending portion 145a extending toward the other axial direction (motor side) from the first radially extending portion 145a. It has a first axially extending portion 145b. The first radial extending portion 145a and the first axially extending portion 145b are formed as separate members and are connected by bolts or the like. The first axially extending portion 145b is arranged radially outward of the internal tooth member 133. For example, a portion of the first radially extending portion 145a of the carrier 145 is connected to the disk portion 111b of the wheel 111, and rotates integrally with the wheel 111. The first axially extending portion 145b corresponds to an example of an extending portion according to the present invention.

主軸受１５１Ａ、１５１Ｂは、例えばテーパコロ軸受であり、キャリア１４５の第１軸方向延在部１４５ｂと、内歯部材１３３との間に配置される。これにより、内歯部材１３３に対してキャリア１４５が回転軸Ｏ１を中心に回転自在に支持される。 The main bearings 151A and 151B are, for example, tapered roller bearings, and are arranged between the first axially extending portion 145b of the carrier 145 and the internal tooth member 133. Thereby, the carrier 145 is rotatably supported by the internal tooth member 133 around the rotation axis O1.

入力軸受１５３は、外歯歯車１３５よりも軸方向の一方（反モータ側）で、モータ軸１２３を回転自在に支持する。入力軸受１５３は、カバー１４９とモータ軸１２３との間に配置されている。カバー１４９は、モータ軸１２３及び入力軸稀有１５３の反モータ側を覆い、キャリア１４５にボルト等により連結されている。 The input bearing 153 rotatably supports the motor shaft 123 on one axial side (on the side opposite to the motor) of the external gear 135. Input bearing 153 is arranged between cover 149 and motor shaft 123. The cover 149 covers the opposite side of the motor shaft 123 and the input shaft 153, and is connected to the carrier 145 with bolts or the like.

＜減速動作＞
モータ１２１の駆動によりモータ軸１２３が回転すると、偏心体１３７が回転して外歯歯車１３５が偏心揺動する。偏心体１３７の回転に伴い、カウンタウェイト１５５が回転し、外歯歯車１３５の偏心揺動で生じる荷重と反対の向きに荷重が加わることで、減速機構１３１の内部の回転のバランスが保たれる。外歯歯車１３５が偏心揺動すると、外歯歯車１３５の外歯と内歯部材１３３の内歯との噛合する位置が周方向に変化する。内歯部材１３３は、モータ１２１のハウジング１２５に固定されており、このため、偏心体１３７が１回転するごとに、内歯部材３３の内歯歯車と外歯歯車１３５との歯数差分（例えば１歯）、外歯歯車１３５が回転（自転）する。 <Deceleration operation>
When the motor shaft 123 is rotated by the drive of the motor 121, the eccentric body 137 rotates and the external gear 135 swings eccentrically. As the eccentric body 137 rotates, the counterweight 155 rotates, and a load is applied in the opposite direction to the load generated by eccentric rocking of the external gear 135, thereby maintaining the rotational balance inside the deceleration mechanism 131. . When the external gear 135 eccentrically swings, the position where the external teeth of the external gear 135 and the internal teeth of the internal tooth member 133 mesh changes in the circumferential direction. The internal gear member 133 is fixed to the housing 125 of the motor 121, and therefore, each time the eccentric body 137 rotates once, the difference in the number of teeth between the internal gear and the external gear 135 of the internal gear member 33 (for example, 1 tooth), the external gear 135 rotates (rotates).

外歯歯車１３５の自転成分は内ピン１４３を介してキャリア１４５に出力される。これらの結果、モータ１２１の回転運動が１／（外歯歯車１３５の歯数）で減速されてキャリア１４５に出力され、キャリア１４５と一体化されたホイール１１１が回転する。ホイール１１１の回転により無人搬送装置が走行面Ｇ０上を走行する。 The rotation component of the external gear 135 is output to the carrier 145 via the inner pin 143. As a result, the rotational motion of the motor 121 is decelerated by 1/(the number of teeth of the external gear 135) and output to the carrier 145, and the wheel 111 integrated with the carrier 145 rotates. The rotation of the wheel 111 causes the unmanned conveyance device to travel on the running surface G0.

＜キャリアの延在構造＞
キャリア１４５は、上述のように、第１径方向延在部１４５ａと第１軸方向延在部１４５ｂとを有する。この構成により、キャリア１４５は、内歯部材１３３の内方で内ピン１４３を保持する一方、別の一部（第１軸方向延在部１４５ｂ）が内歯部材１３３の径方向外方に配置される構成が実現する。 <Extended structure of carrier>
As described above, the carrier 145 has the first radially extending portion 145a and the first axially extending portion 145b. With this configuration, the carrier 145 holds the inner pin 143 inside the inner tooth member 133, while another part (first axially extending portion 145b) is arranged radially outward of the inner tooth member 133. The configuration is realized.

このようなキャリア１４５の延在構造により、主軸受１５１Ａ、１５１Ｂを、内歯部材１３３と、キャリア１４５の第１軸方向延在部１４５ｂとの間に配置することができる。さらに、内歯部材１３３の外ピン１３３ｂ、主軸受１５１Ａ、１５１Ｂ、キャリア４５の第１軸方向延在部１４５ｂ及びホイール１１１の外周部を、この順で、径方向に並んで配置することができる。 With such an extending structure of the carrier 145, the main bearings 151A and 151B can be arranged between the internal tooth member 133 and the first axially extending portion 145b of the carrier 145. Furthermore, the outer pin 133b of the internal tooth member 133, the main bearings 151A and 151B, the first axially extending portion 145b of the carrier 45, and the outer circumferential portion of the wheel 111 can be arranged in this order in line in the radial direction. .

このように、主軸受１５１Ａ、１５１Ｂ及びホイール１１１を、内歯部材１３３の外ピン１３３ｂの径方向外方に配置できることから、減速機構１３１の軸方向の寸法を大きくしないように主軸受１５１Ａ、１５１Ｂを配置できる。特に制限されないが、好ましい一例としては、径方向から見て、主軸受１５１Ａ、１５１Ｂの軸方向における両端が、タイヤ部１１ｃの軸方向の両端よりも、内方に位置するように、主軸受１５１Ａ、１５１Ｂが配置される。図４の例とは異なるが、外歯歯車１３５よりもモータ側にも入力軸受を設けた場合、主軸受１５１Ａ、１５１Ｂの軸方向における両端が、２つの入力軸受１５３の両端よりも内方に位置するように、主軸受１５１Ａ、１５１Ｂが配置されてもよい。複数の軸受について両端と言ったときは、複数の軸受の間隔の部分も軸受の一部と見なし、複数の軸受を一体化してみなしたときの両端に該当する。 In this way, since the main bearings 151A, 151B and the wheel 111 can be arranged radially outward of the outer pin 133b of the internal gear member 133, the main bearings 151A, 151B are can be placed. Although not particularly limited, as a preferable example, the main bearing 151A is arranged such that both ends of the main bearings 151A and 151B in the axial direction are located inward from both ends of the tire portion 11c in the axial direction when viewed from the radial direction. , 151B are arranged. Although different from the example in FIG. 4, if an input bearing is provided on the motor side of the external gear 135, both ends of the main bearings 151A and 151B in the axial direction will be located inwardly from both ends of the two input bearings 153. The main bearings 151A and 151B may be arranged so that the main bearings 151A and 151B are located at the same position. When referring to both ends of a plurality of bearings, the space between the plurality of bearings is also considered to be part of the bearing, and corresponds to both ends when the plurality of bearings are considered as a single unit.

さらに、好ましい一例としては、特に限定されないが、径方向に見て、主軸受１５１Ａ、１５１Ｂの各々が、少なくともその一部が外ピン１３３ｂと重なるように配置されてもよい。さらに、好ましい一例としては、特に限定されないが、径方向に見て、２つの主軸受１５１Ａ、１５１Ｂの各々が、少なくともその一部が外歯歯車１３５と重なるように配置されてもよい。 Furthermore, as a preferable example, although not particularly limited, each of the main bearings 151A and 151B may be arranged so that at least a portion thereof overlaps with the outer pin 133b when viewed in the radial direction. Furthermore, as a preferable example, although not particularly limited, each of the two main bearings 151A and 151B may be arranged so that at least a portion thereof overlaps with the external gear 135 when viewed in the radial direction.

２つの主軸受１５１Ａ、１５１Ｂの代わりに、例えばクロスローラ軸受など、１つの主軸受を適用してもよい。この場合、好ましい一例としては、１つの主軸受の軸方向の両端が、タイヤ部１１１ｃの軸方向の両端よりも、内方に位置するように、１つの主軸受が配置されてもよい。さらに、好ましい一例としては、径方向から見て、１つの主軸受の少なくとも一部が外ピン１３３ｂと重なるように配置されてもよい。さらに好ましい一例としては、径方向から見て、１つの主軸受の少なくとも一部が外歯歯車１３５と重なるように配置されてもよい。 Instead of the two main bearings 151A and 151B, one main bearing such as a cross roller bearing may be used. In this case, as a preferable example, one main bearing may be arranged such that both ends of the main bearing in the axial direction are located inward from both ends of the tire portion 111c in the axial direction. Further, as a preferable example, at least a portion of one main bearing may be arranged to overlap the outer pin 133b when viewed from the radial direction. As a more preferable example, at least a portion of one main bearing may be arranged to overlap with the external gear 135 when viewed from the radial direction.

また、図４の例では、１つの外歯歯車１３５を有する構成を示しているが、複数の外歯歯車が軸方向に並んで設けられる構成が適用されてもよい。この場合、上述した径方向から見たときに外歯歯車と主軸受とが重なるか否かは、複数の外歯歯車を一体的にとらえたとき、すなわち複数の外歯歯車の間隔の部分も外歯歯車の一部と見なしたときに、主軸受と外歯歯車とが重なるか否かを判別すればよい。 Further, although the example in FIG. 4 shows a configuration including one external gear 135, a configuration in which a plurality of external gears are provided in line in the axial direction may be applied. In this case, whether or not the external gear and the main bearing overlap when viewed from the radial direction mentioned above is determined when the multiple external gears are viewed as one, that is, the interval between the multiple external gears also It is only necessary to determine whether the main bearing and the external gear overlap when they are considered as part of the external gear.

＜内歯部材と一体化された部材とホイールとの関係＞
内歯部材１３３には、モータ１２１のハウジング１２５と連結されて一体化されている。ハウジング１２５は、最外周部であるフランジ部１２５ｆが、軸方向に見てホイール１１１のタイヤ部１１１ｃに重なるように配置されている。このようにハウジング１２５の最外周部が、タイヤ部１１１ｃの位置まで、径方向の外方に張り出していることで、それよりも径方向に縮めた構成とするよりも、ハウジング１２５の容積を一定とした場合に、ハウジング１２５の軸方向の寸法を短くできる。そして、このようなハウジング１２５を採用することで、同等の動力が得られるモータと比較した場合に、モータ１２１の軸方向の寸法を短くでき、延いては車輪駆動装置１０１の軸方向の寸法を短くできる。 <Relationship between the internal gear member and the integrated member and the wheel>
The internal gear member 133 is connected and integrated with the housing 125 of the motor 121 . The housing 125 is arranged such that the outermost flange portion 125f overlaps the tire portion 111c of the wheel 111 when viewed in the axial direction. Since the outermost peripheral part of the housing 125 protrudes outward in the radial direction up to the position of the tire part 111c, the volume of the housing 125 can be kept constant compared to a configuration in which the outermost peripheral part of the housing 125 is contracted in the radial direction. In this case, the axial dimension of the housing 125 can be shortened. By adopting such a housing 125, the axial dimension of the motor 121 can be shortened when compared with a motor that can obtain the same power, and in turn, the axial dimension of the wheel drive device 101 can be shortened. It can be made shorter.

一方、内歯部材１３３と一体化されたハウジング１２５の最外周部のうち、少なくとも走行面Ｇ０に対向する範囲には、回転軸Ｏ１からの距離Ｌ１１がホイール１１１のリム部１１１ａの外半径Ｌ１２よりも小さい切欠き部１２５ｋが設けられている。切欠き部１２５ｋにより、ホイール１１１の使用に伴ってタイヤ部１１１ｃの厚みが減った場合でも、タイヤ部１１１ｃの減りの途中で、ハウジング１２５の一部が走行面Ｇ０に接触してしまうことを回避できる。切欠き部１２５ｋは、実施形態１のキャリア４５の複数の切欠き部４５ｋ（図２及び図３を参照）と同様に、周方向の複数の箇所に設けられている。 On the other hand, among the outermost peripheral parts of the housing 125 integrated with the internal tooth member 133, at least the range facing the running surface G0 has a distance L11 from the rotation axis O1 that is longer than the outer radius L12 of the rim part 111a of the wheel 111. A small notch 125k is also provided. Even if the thickness of the tire portion 111c decreases as the wheel 111 is used, the notch portion 125k prevents a part of the housing 125 from coming into contact with the running surface G0 while the tire portion 111c is decreasing. can. The notches 125k are provided at multiple locations in the circumferential direction, similar to the multiple notches 45k of the carrier 45 of the first embodiment (see FIGS. 2 and 3).

＜実施形態効果＞
以上のように、実施形態２の車輪駆動装置１０１によれば、キャリア１４５が、内歯部材１３３の径方向外方に配置された第１軸方向延在部１４５ｂを有し、主軸受１５１Ａ、１５１Ｂが、第１軸方向延在部１４５ｂと内歯部材１３３との間に配置される。さらに、ホイール１１１の外周部が、第１軸方向延在部１４５ｂの径方向外方に配置される。このような配置により、主軸受１５１Ａ、１５１Ｂ及びホイール１１１を内歯部材１３３と径方向に重なるように配置でき、車輪駆動装置１０１の軸方向の寸法を短くできる。 <Embodiment effect>
As described above, according to the wheel drive device 101 of the second embodiment, the carrier 145 has the first axially extending portion 145b disposed radially outward of the internal tooth member 133, and the main bearing 151A, 151B is disposed between the first axially extending portion 145b and the internal tooth member 133. Further, the outer peripheral portion of the wheel 111 is arranged radially outward of the first axially extending portion 145b. With such an arrangement, the main bearings 151A, 151B and the wheel 111 can be arranged to overlap with the internal gear member 133 in the radial direction, and the axial dimension of the wheel drive device 101 can be shortened.

さらに、実施形態２の車輪駆動装置１０１によれば、キャリア１４５は、外歯歯車１３５の軸方向の一方で径方向に延在する第１径方向延在部１４５ａと、第１径方向延在部１４５ａから軸方向に延在する第１軸方向延在部１４５ｂとを有する。これらの構成により、上記の軸方向の寸法を短くする構成を実現しつつ、キャリア１４５と内歯部材１３３とを相対的に回転自在な機構を実現できる。 Furthermore, according to the wheel drive device 101 of the second embodiment, the carrier 145 includes a first radially extending portion 145a that extends radially on one side of the axial direction of the external gear 135, and a first radially extending portion 145a that extends radially on one side of the axial direction of the external gear 135. The first axially extending portion 145b extends in the axial direction from the portion 145a. With these configurations, it is possible to realize a mechanism in which the carrier 145 and the internal tooth member 133 are relatively rotatable while realizing a structure that shortens the above-mentioned axial dimension.

さらに、実施形態２の車輪駆動装置１０１によれば、内歯部材１３３と一体化されたハウジング１２５の最外周部が、軸方向から見て、ホイール１１１のタイヤ部１１１ｃと重なるように配置されている。したがって、ハウジング１２５を扁平化して、モータ１２１の軸方向の寸法を短くでき、延いては車輪駆動装置１０１の軸方向の寸法を短くできる。 Furthermore, according to the wheel drive device 101 of the second embodiment, the outermost peripheral portion of the housing 125 integrated with the internal tooth member 133 is arranged so as to overlap the tire portion 111c of the wheel 111 when viewed from the axial direction. There is. Therefore, by flattening the housing 125, the axial dimension of the motor 121 can be shortened, and in turn, the axial dimension of the wheel drive device 101 can be shortened.

さらに、実施形態２の車輪駆動装置１０１によれば、内歯部材１３３と一体化されたハウジング１２５の最外周部のうち、走行面Ｇ０に対向する部分に切欠き部１２５ｋが設けられている。これにより、タイヤ部１１１ｃが減っていく途中で、ハウジング１２５の一部が走行面Ｇ０に接触してしまうことを回避できる。さらに、切欠き部１２５ｋが周方向の複数箇所に設けられているので、無人搬送装置の本体に対する車輪駆動装置１０１の取り付け角度（周方向の角度）の自由度が増し、モータ１２１の配線の固定及び取り回しの作業性を向上できる。 Furthermore, according to the wheel drive device 101 of the second embodiment, the notch portion 125k is provided in the outermost portion of the housing 125 that is integrated with the internal tooth member 133 and faces the running surface G0. This can prevent part of the housing 125 from coming into contact with the running surface G0 while the tire portion 111c is decreasing. Furthermore, since the notches 125k are provided at multiple locations in the circumferential direction, the degree of freedom in attaching the wheel drive device 101 to the main body of the automatic conveyance device (angle in the circumferential direction) is increased, and the wiring of the motor 121 is fixed. And the workability of handling can be improved.

以上、本発明の各実施形態について説明した。しかし、本発明は上記の実施形態に限られない。例えば、上記実施形態では、減速機構としてセンタークランク型の偏心揺動型減速機を適用した例を示した。しかし、本発明の減速機構としては、偏心体を有する２個以上の偏心体軸が減速装置の軸心からオフセットして配置された所謂振り分け型の偏心揺動型減速装置、又は単純遊星減速機を適用してもよい。単純遊星減速機を適用した場合、キャリアは外歯歯車の公転成分と同期する構成要素となる。また、上記実施形態では、２つの主軸受と１つの外歯歯車を有する構成を示したが、主軸受は１つであってもよいし、複数の外歯歯車を有する構成であってもよい。 Each embodiment of the present invention has been described above. However, the present invention is not limited to the above embodiments. For example, in the embodiment described above, an example is shown in which a center crank type eccentrically swinging type speed reducer is applied as the speed reduction mechanism. However, the speed reduction mechanism of the present invention may be a so-called distributed eccentric swing type speed reduction device in which two or more eccentric shafts each having an eccentric body are arranged offset from the axis of the speed reduction device, or a simple planetary speed reduction device. may be applied. When a simple planetary reducer is applied, the carrier becomes a component that synchronizes with the revolution component of the external gear. Further, in the above embodiment, a configuration having two main bearings and one external gear was shown, but the number of main bearings may be one, or a configuration including a plurality of external gears may be used. .

また、上記の実施形態において、単一の部材により一体的に形成された構成要素は、複数の部材に分割されて互いに連結又は固着された構成要素に置換されてもよい。また、複数の部材が連結されて構成された構成要素は、単一の部材により一体的に形成された構成要素に置換されてもよい。その他、実施形態で具体的に示した細部は、発明の趣旨を逸脱しない範囲で適宜変更可能である。 Furthermore, in the above embodiments, the component integrally formed by a single member may be replaced with a component that is divided into a plurality of members and connected or fixed to each other. Further, a component formed by connecting a plurality of members may be replaced with a component integrally formed from a single member. Other details specifically shown in the embodiments can be changed as appropriate without departing from the spirit of the invention.

１、１０１ 車輪駆動装置
１１、１１１ ホイール
１１ａ、１１１ａ リム部（第２軸方向延在部）
１１ｂ、１１１ｂ ディスク部（第２径方向延在部）
１１ｃ、１１１ｃ タイヤ部
２１、１２１ モータ
２３、１２３ モータ軸
２５、１２５ ハウジング
２５ａ、１２５ａ タップ穴
３１、１３１ 減速機構
３３、１３３ 内歯部材
３５、１３５ 外歯歯車
３７、１３７ 偏心体
４３、１４３ 内ピン
４５、１４５ キャリア
４５ａ ベース部（第１径方向延在部）
１４５ａ 第１径方向延在部
４５ｂ 延在部（第１軸方向延在部）
１４５ｂ 第１軸方向延在部
４５ｆ フランジ部
４５ｋ、１２５ｋ 切欠き部
５１Ａ、５１Ｂ、１５１Ａ、１５１Ｂ 主軸受
５３Ａ、５３Ｂ、１５３ 入力軸受
Ｏ１ 回転軸（回転中心軸）
Ｇ０ 走行面（車輪走行面）
1, 101 Wheel drive device 11, 111 Wheel 11a, 111a Rim part (second axially extending part)
11b, 111b disk portion (second radial extending portion)
11c, 111c Tire section 21, 121 Motor 23, 123 Motor shaft 25, 125 Housing 25a, 125a Tap hole 31, 131 Reduction mechanism 33, 133 Internal gear member 35, 135 External gear 37, 137 Eccentric body 43, 143 Inner pin 45, 145 Carrier 45a Base part (first radial extending part)
145a first radial extending portion 45b extending portion (first axial extending portion)
145b First axially extending portion 45f Flange portion 45k, 125k Notch portion 51A, 51B, 151A, 151B Main bearing 53A, 53B, 153 Input bearing O1 Rotating shaft (rotation center axis)
G0 Running surface (wheel running surface)

Claims (6)

内歯歯車を有する内歯部材と、外歯歯車と、前記外歯歯車の自転成分又は公転成分と同期するキャリアと、前記内歯部材と前記キャリアとの間に配置される主軸受と、前記内歯部材と一体的に回転するホイールと、を備える車輪駆動装置であって、
前記キャリアは、前記内歯部材の径方向外方に配置された延在部を有し、
前記主軸受は、前記延在部と前記内歯部材との間に配置され、
前記ホイールの外周部が、前記延在部の径方向外方に配置され、
前記キャリアは、前記外歯歯車の軸方向の一方である第１方向側において径方向に延在する第１径方向延在部と、前記第１径方向延在部から軸方向に延在する第１軸方向延在部を有し、
前記第１軸方向延在部が前記延在部を構成し、
前記内歯部材と一体的に回転する前記ホイールは、前記外歯歯車の前記第１方向側とは逆側において径方向に延在する第２径方向延在部と、前記第２径方向延在部から軸方向に延在して前記第１軸方向延在部の径方向外方に配置される第２軸方向延在部と、を有する、車輪駆動装置。 an internally toothed member having an internally toothed gear; an externally toothed gear; a carrier that synchronizes with an autorotation component or a revolution component of the externally toothed gear; a main bearing disposed between the internally toothed member and the carrier; A wheel drive device comprising a wheel that rotates integrally with an internal tooth member,
The carrier has an extension portion disposed radially outward of the internal tooth member,
The main bearing is arranged between the extension part and the internal tooth member,
An outer peripheral portion of the wheel is arranged radially outward of the extension portion ,
The carrier includes a first radially extending portion that extends in the radial direction on a first direction side that is one of the axial directions of the external gear, and a first radially extending portion that extends in the axial direction from the first radially extending portion. having a first axially extending portion;
the first axially extending portion constitutes the extending portion;
The wheel that rotates integrally with the internal gear member includes a second radially extending portion extending in the radial direction on a side opposite to the first direction side of the external gear; a second axially extending part that extends in the axial direction from the first axially extending part and is disposed radially outward of the first axially extending part. 前記第１軸方向延在部は径方向外方に延在するフランジ部を有し、
前記フランジ部が前記第１径方向延在部に連結されている、請求項１に記載の車輪駆動装置。 the first axially extending portion has a flange portion extending radially outward;
The wheel drive device according to claim 1, wherein the flange portion is connected to the first radially extending portion. 前記フランジ部と前記ホイールのタイヤ部とが軸方向から見て重なる、請求項２記載の車輪駆動装置。 The wheel drive device according to claim 2 , wherein the flange portion and the tire portion of the wheel overlap when viewed from the axial direction. 前記第２径方向延在部と前記第２軸方向延在部との間の角部内周に対向する範囲において、前記第１軸方向延在部の外周面が軸方向に対して傾斜している、請求項１に記載の車輪駆動装置。 The outer peripheral surface of the first axially extending portion is inclined with respect to the axial direction in a range facing the inner periphery of the corner between the second radially extending portion and the second axially extending portion. The wheel drive device according to claim 1 . 前記キャリアの最外周部のうち少なくとも車輪走行面と対向する部分の回転中心軸からの距離が、前記ホイールのリム部の外半径よりも小さい、請求項１に記載の車輪駆動装置。 The wheel drive device according to claim 1, wherein the distance from the rotation center axis of at least the portion of the outermost peripheral portion of the carrier that faces the wheel running surface is smaller than the outer radius of the rim portion of the wheel. 前記キャリアの最外周部の回転中心軸からの距離が、周方向の複数箇所において、前記リム部の外半径よりも小さい、請求項５に記載の車輪駆動装置。

The wheel drive device according to claim 5, wherein the distance from the rotation center axis of the outermost peripheral portion of the carrier is smaller than the outer radius of the rim portion at multiple locations in the circumferential direction.
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