Drive unit, steering unit and conveyor

Abstract

To provide a drive unit for suppressing the application of a load to a direct drive mechanism, and a steering unit.SOLUTION: A drive unit has a drive mechanism, an output part and a support part. The drive mechanism can output a rotation drive force around a center axis. The output part is connected to the drive mechanism. The output part can rotate around the center axis. The output part has a base part and an output wall part. The base part is at least partially arranged at one side of the drive mechanism in an axial direction. The base part expands in a direction in which the base part has a radial component. The output wall part extends to the other side of the base part in the axial direction from a radial outer edge. The support part has a support wall part and a connecting part. The support wall part is arranged inside the output wall part in a radial direction. The support wall part extends in the axial direction. The connecting part is arranged at one end part of the support wall part in the axial direction. The connecting part relatively non-rotatably supports at least a part of the drive mechanism to the support wall part. An inside face of the output wall part in the radial direction is supported to an outside face of the support wall part in the radial direction via a bearing.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a drive unit, a steering unit and a transport device. [Background technology]

[0002] The vehicle drive device described in Patent Document 1 includes an electric motor, a counter gear, a planetary gear mechanism, and a hub. A wheel is rotatably supported on a shaft. The shaft is coupled to the counter gear, which is part of the planetary gear mechanism. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-44959 Summary of the Invention [Problem to be solved by the invention]

[0004] In the vehicle drive device described in Patent Document 1, the wheel is supported by a part of the planetary gear mechanism, and therefore, a large load acting on the wheel acts directly on the planetary gear mechanism.

[0005] The present invention has been made in consideration of the above-mentioned problems, and its purpose is to provide a drive unit and a steering unit that can prevent the load acting on the output wall portion from acting directly on the drive mechanism. [Means for solving the problem]

[0006] An exemplary steering unit of the present invention includes a drive mechanism capable of outputting a rotational drive force around a central axis, a drive unit having an output part connected to the drive mechanism and rotatable around the central axis and a support part, a support frame fixed to the drive unit and extending in a direction having a radial component of the drive mechanism, and a steering base part supporting the support frame and extending in a direction having an axial component of the drive mechanism, wherein at least a portion of the output part is disposed on one axial side of the drive mechanism and includes a base part extending in a direction having a radial component and a radial outer edge of the base part. and an output wall portion extending from the support portion to the other axial side, the support portion being disposed radially inward of the output wall portion and having a support wall portion extending in the axial direction and a coupling portion being disposed at one axial end of the support wall portion and supporting at least a part of the drive mechanism on the support wall portion so as not to rotate relative to the support wall portion, the radially inner surface of the output wall portion being supported on the radially outer surface of the support wall portion via a bearing, and the radially outer surface of the output wall portion having a wheel, the support frame being supported on the steering base portion via a cross roller bearing and being rotatable around a steering axis intersecting the central axis, The above Axial direction of One end and The aforementioned Axial direction of The length of the other end of the drive unit is The aforementioned Axial direction of One end and The aforementioned Axial direction of The length is longer than the length to the other end.

[0007] An exemplary steering unit of the present invention comprises: a support frame fixed to the drive unit and extending in a direction having a radial component of the drive mechanism; and a steering base portion supporting the support frame and extending in a direction having an axial component of the drive mechanism, wherein at least a portion of the output portion is disposed on one axial side of the drive mechanism and has a base portion extending in a direction having a radial component, and an output wall portion extending from a radial outer edge of the base portion to the other axial side, and the support portion is disposed on the radial side of the output wall portion. the drive unit has a support wall portion disposed inward and extending in the axial direction, and a coupling portion disposed at one axial end of the support wall portion and supporting at least a part of the drive mechanism on the support wall portion so as not to rotate relative to the drive mechanism; a radially inner surface of the output wall portion is supported on a radially outer surface of the support wall portion via a bearing, and the radially outer surface of the output wall portion has a wheel; the support frame is supported on the steering base portion via a cross roller bearing and is rotatable around a steering axis intersecting the central axis; and the length between one axial end and the other axial end of the drive mechanism at the steering base portion is longer than the length between one axial end and the other axial end of the drive unit. .

[0008] An exemplary transporter of the present invention has the steering unit described above. [Effects of the Invention]

[0009] According to the present invention, it is possible to prevent the load acting on the output wall portion from directly acting on the drive mechanism. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a vertical cross-sectional view showing a steering unit equipped with a drive unit of this embodiment. [Figure 2] FIG. 2 is a vertical cross-sectional view showing the drive unit of this embodiment. [Figure 3] FIG. 3 is a vertical cross-sectional view showing the drive unit of this embodiment. [Figure 4] FIG. 4 is a vertical cross-sectional view showing the drive unit of this embodiment. [Figure 5] FIG. 5 is a vertical cross-sectional view showing the drive unit of this embodiment. [Figure 6] FIG. 6 is a schematic perspective view showing the carrying device of this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are designated by the same reference numerals, and description thereof will not be repeated. In addition, in the drawings, the X-axis, Y-axis, and Z-axis of a three-dimensional orthogonal coordinate system are appropriately indicated for ease of understanding.

[0012] In this specification, the direction parallel to the central axis AX of the drive unit 100 is referred to as the "axial direction AD," and the direction perpendicular to the central axis AX is referred to as the "radial direction RD." Note that the "parallel direction" includes a direction that is approximately parallel, and the "perpendicular direction" includes a direction that is approximately perpendicular.

[0013] A steering unit 1 equipped with a drive unit 100 of this embodiment will be described with reference to Fig. 1. Fig. 1 is a vertical cross-sectional view showing the steering unit 1 equipped with a drive unit 100 of this embodiment.

[0014] 1, the steering unit 1 has a drive unit 100, a support frame 200, and a steering base portion 300. The steering unit 1 is attached to the body of, for example, a forklift or an automated guided vehicle (AGV).

[0015] The support frame 200 is fixed to the drive unit 100. The support frame 200 extends in a direction having a radial component RD. In this embodiment, the support frame 200 extends in the positive Z direction. The support frame 200 is supported by the steering base portion 300 via a cross roller bearing 310. The support frame 200 is rotatable about a steering axis AX2 that intersects with the central axis AX. Therefore, the drive unit 100 can have a turning capability that can change the traveling direction. Furthermore, by installing the cross roller bearing 310, the length of the steering unit 1 in the steering axis AX2 direction can be reduced.

[0016] The steering shaft AX2 passes through the area of ​​the output wall portion 124 where the outer diameter is greatest. Therefore, the ground contact point is located on the steering shaft AX2. As a result, it is possible to prevent the drive unit 100 from swinging around the ground contact point by an amount equivalent to the eccentricity with respect to the steering shaft AX2 due to the steering operation.

[0017] The support frame 200 is disposed axially between one axial end and the other axial end of the drive mechanism 110. Therefore, by disposing the support frame 200 near the center of the drive unit 100, the moment acting on the steering unit 1 can be reduced.

[0018] The steering base portion 300 supports the support frame 200 .

[0019] The drive unit 100 includes a drive mechanism 110 , an output portion 120 , a support portion 130 , and a bearing 140 .

[0020] The drive mechanism 110 is capable of outputting a rotational drive force around the central axis AX. The drive mechanism 110 includes a motor 112 and a reducer 114.

[0021] Motor 112 drives reducer 114. Reducer 114 reduces the rotational speed of motor 112. Specifically, reducer 114 converts the rotational motion of motor 112 at a first rotational speed into rotational motion at a second rotational speed that is lower than the first rotational speed.

[0022] The output unit 120 is connected to the drive mechanism 110. The output unit 120 is rotatable around a central axis AX.

[0023] The output portion 120 has a base portion 122 and an output wall portion 124 .

[0024] At least a portion of the base portion 122 is disposed on one axial side (-Y direction side) of the drive mechanism 110. The base portion 122 extends in a direction having a radial direction RD component. In this embodiment, the base portion 122 extends outward in the radial direction RD and on the other axial side (+Y direction side).

[0025] The output wall portion 124 extends from the outer edge of the base portion 122 in the radial direction RD toward the other axial side (+Y direction side).

[0026] The support portion 130 includes a support wall portion 132 and a connecting portion 134. In this embodiment, the support portion 130 further includes a flange portion 136.

[0027] The support wall portion 132 is disposed radially inward of the output wall portion 124 in the radial direction RD. The support wall portion 132 extends in the axial direction AD. At least a portion of the drive mechanism 110 is disposed radially inward of the support wall portion 132.

[0028] The coupling portion 134 is disposed at one axial end (-Y direction end) of the support wall portion 132. The coupling portion 134 supports at least a part of the drive mechanism 110 on the support wall portion 132 so that it cannot rotate relative to the support wall portion 132. A radially inner surface of the coupling portion 134 is connected to a radially outer surface of the drive mechanism 110. Therefore, the coupling portion 134 can support the drive mechanism 110 and improve coaxiality.

[0029] The radially inner surface of the output wall portion 124 is supported by the radially outer surface of the support wall portion 132 via a bearing 140. In particular, in this embodiment, the drive mechanism 110 is supported by the support wall portion 132 via a coupling portion 134. Therefore, it is possible to prevent the load acting on the output wall portion 124 from acting directly on the drive mechanism 110. Furthermore, the base portion 122 only needs to transmit the rotational force of the drive mechanism 110, which allows for a thin and lightweight structure when strength is taken into consideration.

[0030] The flange portion 136 extends radially outward from the other axial end (+Y direction end) of the support wall portion 132. Therefore, the support portion 130 can be stably supported.

[0031] The bearing 140 has a first bearing 141 and a second bearing 142. The bearing 140 is, for example, a ball bearing. The first bearing 141 is arranged on one axial side (-Y direction side) of the axial midpoint of the support wall portion 132. The second bearing 142 is arranged on the other axial side (+Y direction side) of the axial midpoint of the support wall portion 132. Therefore, the load applied to the output wall portion 124 can be stably received over a wide range in the axial direction AD of the support wall portion 132. In this embodiment, the axial position of the axial midpoint of the support wall portion 132 is approximately the same as the axial position of the steering shaft AX2.

[0032] The output wall portion 124 has a first region R1, a second region R2, and a third region R3. The first region R1 extends from the radial outer edge of the base portion 122 toward the other axial side (+Y direction side). The second region R2 is located on the other axial side (+Y direction side) of the first region R1 and extends in the axial direction AD. The third region R3 connects the other axial end (+Y direction end) of the first region R1 and one axial end (-Y direction end) of the second region R2. The bearing 140 is supported on the radial inner surface of the second region R2. The length of the axial direction AD of the support wall portion 132 is equal to or longer than the length of the axial direction AD of the second region R2. This improves the degree of freedom in the support position of the drive mechanism 110 by the coupling portion 134. In this embodiment, the length in the axial direction AD of the support wall portion 132 is equal to or greater than the sum of the length in the axial direction AD of the second region R2 and the length in the axial direction AD of the third region R3.

[0033] The output wall portion 124 has wheels 150 on its radially outer surface. Therefore, the wheels 150 prevent the load acting on the contact point from acting directly on the output wall portion 124, allowing the vehicle body to run and turn smoothly.

[0034] The axial length between one axial end of output section 120 and the other axial end of drive mechanism 110 is shorter than the outer diameter of wheel 150. Therefore, the space within the turning range of drive unit 100 can be reduced, which allows the overall size of the device (vehicle body) to be reduced.

[0035] The drive unit 100 of this embodiment will be described with reference to Fig. 2. Fig. 2 is a vertical cross-sectional view showing the drive unit 100 of this embodiment. Descriptions of parts that overlap with those of the drive unit 100 described with reference to Fig. 1 will be omitted.

[0036] 2, in this embodiment, the drive mechanism 110 has a harm gear mechanism and a motor 112. The drive mechanism 110 has a wave generator 1141, an external gear 1142, and an internal gear 1143.

[0037] The wave generator 1141 is rotatable around a central axis AX. The cross section of the wave generator 1141 perpendicular to the central axis AX is non-circular.

[0038] The external gear 1142 is disposed radially outward of the wave generator 1141. In other words, the wave generator 1141 is disposed inside the external gear 1142.

[0039] The internal gear 1143 is disposed radially outward of the external gear 1142. The external gear 1142 rotates relative to the internal gear 1143 in response to the rotation of the wave generator 1141.

[0040] The internal gear 1143 is fixed to the coupling portion 134 .

[0041] The external gear 1142 has a cylindrical portion 1144 and a diaphragm portion 1145 .

[0042] The cylindrical portion 1144 has a plurality of external teeth that extend outward in the radial direction RD. The cylindrical portion 1144 has a cylindrical shape that extends in the axial direction AD. The cylindrical portion 1144 is flexible.

[0043] The diaphragm portion 1145 extends in the radial direction RD from one axial end portion (-Y direction end portion) of the cylindrical portion 1144. In this embodiment, the diaphragm portion 1145 extends inward in the radial direction RD from one axial end portion (-Y direction end portion) of the cylindrical portion 1144.

[0044] The internal gear 1143 has a plurality of internal teeth that extend inward in the radial direction RD and mesh with a plurality of external teeth.

[0045] The diaphragm portion 1145 is fixed to the output portion 120 .

[0046] According to this embodiment, a large reduction ratio can be achieved with the strain wave gear mechanism, and the axial length of the drive unit 100 can be shortened. Furthermore, the weight can be reduced compared to other reducers. Furthermore, particularly when the diaphragm portion 1145 and the output portion 120 are fixed, the load of the wheel 150 can be prevented from acting directly on the strain wave gear mechanism.

[0047] The drive unit 100 of this embodiment will be described with reference to Fig. 3. Fig. 3 is a vertical cross-sectional view showing the drive unit 100 of this embodiment. Descriptions of parts that overlap with those of the drive unit 100 described with reference to Figs. 1 and 2 will be omitted.

[0048] 3, the drive mechanism 110 has a wave generator 1141, an external gear 1142, and an internal gear 1143. The drive mechanism 110 is composed of a wave gear mechanism and a motor 112. The wave generator 1141 is disposed inside the external gear 1142.

[0049] In this embodiment, the diaphragm portion 1145 extends in the radial direction RD from the other axial end portion (end portion in the +Y direction) of the cylindrical portion 1144. In this embodiment, the diaphragm portion 1145 extends outward in the radial direction RD from the other axial end portion (end portion in the +Y direction) of the cylindrical portion 1144.

[0050] In this embodiment, the internal gear 1143 is fixed to the output portion 120 .

[0051] In this embodiment, the diaphragm portion 1145 is fixed to the coupling portion 134 .

[0052] According to this embodiment, a large reduction ratio can be achieved with the strain wave gear mechanism, and the axial length of the drive unit 100 can be shortened. Furthermore, the weight can be reduced compared to other reducers. Furthermore, particularly when the internal gear 1143 and the output section 120 are fixed, the load of the wheel 150 can be prevented from acting directly on the strain wave gear mechanism.

[0053] The drive unit 100 of this embodiment will be described with reference to Fig. 4. Fig. 4 is a vertical cross-sectional view showing the drive unit 100 of this embodiment. Descriptions of parts that overlap with those of the drive unit 100 described with reference to Figs. 1 to 3 will be omitted.

[0054] 4, the drive mechanism 110 is made up of a planetary gear mechanism and a motor 112. The drive mechanism 110 has a first sun gear 161, a first planetary gear 162, an internal gear 163, a second sun gear 164, and a second planetary gear 165. In this embodiment, the drive mechanism 110 further has a first carrier 166 and a second carrier 167. The first sun gear 161 is disposed inside the first planetary gear 162.

[0055] The first sun gear 161 is rotatable around a central axis AX.

[0056] The first planetary gear 162 is disposed radially outward of the first sun gear 161. The first planetary gear 162 meshes with the first sun gear 161. The first planetary gear 162 is rotatable around a first planetary axis AX3 that extends in a direction parallel to the central axis AX.

[0057] The internal gear 163 is disposed radially outward of the first planetary gear 162. The internal gear 163 meshes with the first planetary gear 162.

[0058] The first planetary gear 162 is supported by a first carrier 166. The first carrier 166 is coupled to a second sun gear 164. Therefore, the second sun gear 164 can move in conjunction with the first planetary gear 162. The second sun gear 164 can rotate around a central axis AX.

[0059] The first carrier 166 supports the first planetary gear 162 so that the first planetary gear 162 can rotate about a planetary axis AX3 and revolve about a central axis AX.

[0060] The second planetary gear 165 is disposed radially outward of the second sun gear 164. The second planetary gear 165 meshes with the second sun gear 164. The second planetary gear 165 is rotatable around a second planetary axis AX4 that extends in a direction parallel to the central axis AX. The second planetary gear 165 meshes with the internal gear 163.

[0061] The second planetary gear 165 is supported by a second carrier 167. The second carrier 167 is coupled to the output unit 120. Therefore, the second planetary gear 165 can be interlocked with the output unit 120. The internal gear 163 is fixed to the coupling unit 134. Furthermore, the output unit 120 and the second carrier 167 may have an integral structure or may have separate structures.

[0062] The second carrier 167 supports the second planetary gear 165 so that the second planetary gear 165 can rotate about the second planetary shaft AX4 and revolve about the central axis AX.

[0063] According to this embodiment, a high reduction ratio can be achieved with a two or more stage planetary gear mechanism. Furthermore, by supporting two or more stages of planetary gears with a single internal gear 163 and supporting the internal gear 163 at the coupling portion 134, it is possible to improve rotational accuracy and coaxiality.

[0064] The drive unit 100 of this embodiment will be described with reference to Fig. 5. Fig. 5 is a vertical cross-sectional view showing the drive unit 100 of this embodiment. Descriptions of parts that overlap with those of the drive unit 100 described with reference to Figs. 1 to 4 will be omitted.

[0065] 5, the drive mechanism 110 is made up of a differential gear mechanism and a motor 112. The drive mechanism 110 has a third sun gear 171, a planetary gear 172, a fixed internal gear 173, a rotating internal gear 174, and a third carrier 175. The third sun gear 171 is disposed inside the planetary gear 172.

[0066] The third sun gear 171 is rotatable around the central axis AX.

[0067] The planetary gear 172 has a first gear 1721 and a second gear 1722. The first gear 1721 meshes with the third sun gear 171. The first gear 1721 can rotate around a planetary axis AX5 that is parallel to the central axis AX. The second gear 1722 can rotate together with the first gear 1721 around the planetary axis AX5. The first gear 1721 and the second gear 1722 have different numbers of teeth. The difference in the numbers of teeth between the first gear 1721 and the second gear 1722 is the reduction ratio.

[0068] The fixed internal gear 173 is fixed to the coupling portion 134. The fixed internal gear 173 meshes with the first gear 1721. The fixed internal gear 173 has an annular shape.

[0069] The rotating internal gear 174 is fixed to the output portion 120. The rotating internal gear 174 meshes with the second gear 1722. The rotating internal gear 174 is annular.

[0070] The third carrier 175 supports the planetary gear 172 so that the planetary gear 172 can rotate about the planetary shaft AX5 and revolve about the central axis AX.

[0071] According to this embodiment, it is possible to prevent the load acting on the output wall portion 124 from directly acting on the drive mechanism 110. In addition, by using a differential gear mechanism, it is possible to achieve a high reduction ratio with a small number of parts. Furthermore, it is possible to shorten the length in the axial direction AD.

[0072] The transport device 400 of this embodiment will be described with reference to Fig. 6. Fig. 6 is a schematic perspective view showing the transport device 400 of this embodiment.

[0073] As shown in Fig. 6, the transporting device 400 has a steering unit 1. The transporting device 400 further has a vehicle body 410. In this embodiment, the transporting device 400 is an unmanned guided vehicle. Note that the transporting device 400 may also be a forklift.

[0074] The steering unit 1 is attached to a vehicle body 410. According to this embodiment, the steering unit 1 allows the vehicle body 410 to turn.

[0075] The embodiments of the present invention have been described above with reference to the drawings (FIGS. 1 to 6). However, the present invention is not limited to the above-described embodiments and can be embodied in various forms without departing from the spirit of the present invention. The drawings mainly show each component in a schematic manner for ease of understanding, and the thickness, length, number, etc. of each component shown in the drawings may differ from the actual components due to the convenience of creating the drawings. Furthermore, the materials, shapes, dimensions, etc. of each component shown in the above-described embodiments are merely examples and are not particularly limited, and various modifications are possible within a range that does not substantially depart from the effects of the present invention. [Explanation of symbols]

[0076] 1 Steering unit 100 drive unit 110 Drive mechanism 114 Reducer 120 Output section 122 Base 124 Output wall 130 Support part 132 Support wall section 134 Joint 136 Flange 140 bearings 141 First bearing 142 Second bearing 150 wheels 161 First sun gear 162 First planetary gear 163 Internal gear 164 Second sun gear 165 Second planetary gear 171 Third sun gear 172 Planetary Gear 173 Fixed internal gear 174 Rotating internal gear 175 Third Career 200 support frame 300 Steering base 310 Cross roller bearing 1141 Wave Generator 1142 External gear 1143 Internal gear 1144 Cylinder part 1145 Diaphragm part 1721 First Gear 1722 2nd gear

Claims

1. a drive mechanism capable of outputting a rotational drive force around a central axis; an output section connected to the drive mechanism and rotatable around the central axis; Support part and a drive unit having a support frame fixed to the drive unit and extending in a direction having a radial component of the drive mechanism; a steering base portion that supports the support frame and extends in a direction having an axial component of the drive mechanism; A steering unit having The output unit a base portion at least a portion of which is disposed on one axial side of the drive mechanism and which extends in a direction having a radial component; an output wall portion extending from a radial outer edge of the base portion to the other axial side; and The support portion is a support wall portion disposed radially inward of the output wall portion and extending in the axial direction; a coupling portion that is disposed at one axial end of the support wall portion and supports at least a part of the drive mechanism on the support wall portion so as not to rotate relative to the support wall portion; and a radially inner surface of the output wall portion is supported on a radially outer surface of the support wall portion via a bearing, and the radially outer surface of the output wall portion has a wheel; the support frame is supported by the steering base portion via a cross roller bearing and is rotatable around a steering axis that intersects with the central axis, A steering unit, wherein the length between one axial end and the other axial end of the steering base portion is longer than the length between the one axial end and the other axial end of the drive unit.

2. The bearing is a first bearing disposed on one axial side of an axial midpoint of the support wall portion; a second bearing disposed on the other axial side of the axial midpoint of the support wall portion; 2. The steering unit of claim 1, wherein

3. The output wall portion a first region extending from a radial outer edge of the base portion to the other axial side; a second region disposed on the other axial side of the first region and extending in the axial direction; a third region connecting the other axial end of the first region and one axial end of the second region; and The bearing is supported on a radially inner surface of the second region, The steering unit according to claim 1 or 2, wherein the axial length of the support wall portion is equal to or greater than the axial length of the second region.

4. The steering unit according to claim 1 , wherein a radially inner surface of the coupling portion is connected to a radially outer surface of the drive mechanism.

5. The drive mechanism includes: a wave generator that is rotatable around the central axis and has a non-circular cross section perpendicular to the central axis; an external gear disposed radially outward of the wave generator; an internal gear disposed radially outward of the external gear; and The external gear is a flexible cylindrical portion having a plurality of external teeth extending radially outward, the cylindrical portion extending in an axial direction; a diaphragm portion extending radially from one axial end or the other axial end of the cylindrical portion; and the internal gear extends radially inward and has a plurality of internal teeth that mesh with the plurality of external teeth, The steering unit according to claim 1 , wherein one of the diaphragm portion and the internal gear is fixed to the output portion.

6. The drive mechanism includes: a first sun gear rotatable about the central axis; a first planetary gear disposed radially outward of the first sun gear, meshing with the first sun gear, and rotatable about a first planetary axis extending in a direction parallel to the central axis; an internal gear disposed radially outward of the first planetary gear and meshing with the first planetary gear; a second sun gear that can be interlocked with the first planetary gear and can rotate around the central axis; a second planetary gear disposed radially outward of the second sun gear, meshing with the second sun gear, rotatable about a second planetary axis extending in a direction parallel to the central axis, and meshing with the internal gear; and the second planetary gear is capable of interlocking with the output portion, The steering unit according to claim 1 , wherein the internal gear is fixed to the coupling portion.

7. The drive mechanism includes: a third sun gear rotatable about the central axis; a planetary gear including a first gear that meshes with the third sun gear and is rotatable about a planetary axis parallel to the central axis, and a second gear that is rotatable about the planetary axis together with the first gear; a fixed annular internal gear fixed to the coupling portion and meshing with the first gear; an annular rotating internal gear fixed to the output portion and meshing with the second gear; a third carrier that supports the planetary gear so that the planetary gear can rotate about the planet shaft and revolve about the central axis; A steering unit according to any one of claims 1 to 4, comprising:

8. The steering unit according to any one of claims 1 to 4, wherein the support portion has a flange portion that extends radially outward from the other axial end portion of the support wall portion.

9. A steering unit described in any one of claims 1 to 8, wherein the steering shaft passes through the area of ​​the output wall portion where the outer diameter is largest.

10. A steering unit described in any one of claims 1 to 9, wherein the support frame is arranged axially between one axial end and the other axial end of the drive mechanism.

11. A steering unit described in any one of claims 1 to 10, wherein the axial length between one axial end of the output section and the other axial end of the drive mechanism is shorter than the outer diameter of the wheel.

12. A conveying device having a steering unit described in any one of claims 1 to 11.

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