Abstract: A traction control system is provided that is applicable to both two wheel drive and four wheel drive electric vehicles, and which is capable of handling both low frequency and high frequency control duties. The system uses proportional gains in order to minimize controller delays and insure a natural feeling traction control system.

Abstract: A system and method for controlling a vehicle having an electric traction motor coupled to a transmission by a clutch include modifying traction motor torque in response to the difference between rotational speed of a driveline component and the filtered rotational speed of the driveline component to reduce driveline oscillation when the clutch is locked. The traction motor torque may be modified in response to a vehicle event that may otherwise induce driveline oscillations, such as a transmission ratio change or regenerative braking, for example.

Abstract: A drive train (1) of a purely electrically all-wheel drivable motor vehicle, has a first axle (2), a second axle and two electric machines (10) arranged in the direction of travel (3) of the motor vehicle. The first axle (2) can be driven by the electric machines (10) via a transmission (11). The transmission (11) and the first axle (2) are connected to each other by at least one bevel gear toothing (20, 7; 20, 27), and the transmission (11) and a shaft for driving the second axle are connected to each other by at least a further toothing (22, 23; 22, 28). In this way, an all-wheel drive can be achieved with a simple construction by the use of such a drive train in a motor vehicle that is to be operated in a purely electrical manner.

Abstract: An axle drive system includes a first dynamoelectric drive motor having a first rotor shaft radially mounted on a housing at two bearing points; a superimposing transmission and a power divider having a first power divider shaft driving a first output shaft, and having a second power divider shaft driving a second output shaft; the power divider shafts, the output shafts and the first rotor shaft rotationally mounted about a common axis of rotation oriented transversely to the direction of travel. A transmission input shaft is connected to the first rotor shaft for co-rotation therewith; at one end facing the first rotor shaft, the transmission input shaft is radially mounted on the housing at a further bearing point; the first rotor shaft and the transmission input shaft are intercoupled axially displaceably; the first and the second output shafts are each mounted relative to the housing by a radial bearing and relative to each other by another radial bearing.

Abstract: A hybrid system includes a hybrid module that is located between an engine and a transmission. The hybrid system includes an energy storage system for storing energy from and supplying energy to the hybrid module. An inverter transfers power between the energy storage system and the hybrid module. The hybrid system also includes a cooling system, a DC-DC converter, and a high voltage tap. The hybrid module is designed to recover energy, such as during braking, as well as power the vehicle. The hybrid module includes an electrical machine (eMachine) along with electrical and mechanical pumps for circulating fluid. A clutch provides the sole operative connection between the engine and the eMachine. The hybrid system further incorporates a power take off (PTO) unit that is configured to be powered by the engine and/or the eMachine.

Abstract: The overall outer shape of a vehicle drive device including an inverter device is reduced in size. An input member and a rotating electrical machine are arranged side by side on a first axis, and a differential gear unit is placed on a second axis. An inverter device is located so as to overlap the differential gear unit as viewed in a radial direction, and is located between a second reference line that extends perpendicularly to a first reference line passing through the first axis and the second axis and that passes through the first axis and a third reference line that extends perpendicularly to the first reference line and that passes the second axis, as viewed in an axial direction.

Abstract: An in-wheel assembly includes an in-wheel actuator and a wheel. The in-wheel actuator includes a driving motor; a hollow shaft which is disposed inside of the driving motor and driven by a rotational speed of the driving motor to rotate; a decelerator which is arranged in an inner space of the hollow shaft and configured to reduce a rotational speed of the hollow shaft and output the reduced rotational speed to an output shaft; and a shaft support which is configured to support the hollow shaft to rotate with respect to the driving motor and the decelerator. The wheel accommodates the in-wheel actuator and is driven by a rotational speed decreased by the decelerator to rotate.

Abstract: A power transmission system of a hybrid electric vehicle may include an input shaft, an output shaft, a first planetary gear set including a first rotation element directly connected to a first motor/generator, a second rotation element connected to the output shaft through an externally-meshed gear and a third rotation element directly connected to the input shaft, a second planetary gear set including a fourth rotation element directly connected to a second motor/generator, a fifth rotation element connected to the output shaft through an externally-meshed gear and a sixth rotation element selectively connected to a transmission housing and selectively connected to the first rotation element, transfer gears forming the externally-meshed gears, and frictional elements selectively connecting two rotation elements of the second planetary gear set, selectively connecting the first rotation element to the sixth rotation element, or selectively connecting the sixth rotation element to the transmission housing.

Abstract: A cooling system for a geared motor, and a geared motor having electric motors and a gear unit as well as an adapter which is disposed between the electric motors and the gear unit, the electric motors having ducts for a coolant, in particular, a coolant, especially a cooling liquid, being able to flow through each of the motors which, in particular, are liquid-cooled, the streams of coolant emerging from the ducts being brought together and being fed at least proportionally by a first distributor to the gear unit in order to lubricate and cool the toothing parts of the gear unit.

Abstract: A controller, in response to a change from a first steady pedal condition to a second steady pedal condition, decreases a torque command during the second steady pedal condition based on a difference between a peak torque command achieved during the change and a steady torque command corresponding to the first steady pedal condition. The controller also operates a powertrain to satisfy the torque command.

Abstract: A drive device for an electrically driven axle of a motor vehicle, has, as appropriate, a driving electric machine, a transmission gearing and a differential which, via drive output shafts, outputs drive power to driven wheels of the motor vehicle. The transmission gearing is formed by two planetary gear sets which are coupled to one another and which can be switched into two transmission ratio stages by way of switching elements.

Abstract: A hybrid drive manual transmission, for a motor vehicle, having two input shafts (GE1, GE2) and one common output shaft. The first shaft (GE1) can connect with a combustion engine drive shaft and can drive the output shaft via a first group of gearwheel sets. The second shaft (GE2) can connect with an electric machine and, via a second group of gearwheel sets, the output shaft. The input shafts (GE1, GE2) can connect with one another via a coupling device. For inexpensive production, the transmission is derived from a double clutch transmission having a hollow input shaft (GE2) and a coaxial inner input shaft (GE1) and a coupling device of which comprises a gear step and/or a shiftable clutch, which replaces that gearset and associated gear clutch. The gearset of the underlying double clutch transmission is allocated to first input shaft (GE1) and adjacent the gear-side end of shaft (GE2).

Abstract: An electric vehicle, such as an electric motorcycle, which includes a vehicle body; a vehicle body frame having a head pipe that holds a front wheel in a steerable manner; a swing arm holding a rear wheel in a swingable manner in a vertical direction of the vehicle body; an electric motor arranged to a substantially central portion between the front wheel and the rear wheel; a battery arranged in a space between the head pipe and the electric motor and inside the vehicle body frame in a manner deviated to either one of sides in a width direction of the vehicle body; and a rear suspension tilted forward and arranged inside the vehicle body frame and above the electric motor in a manner deviated to another one of the sides in the width direction of the vehicle body.

Abstract: Two motor and planetary gear type speed reducers are disposed sequentially from an outer side in a width direction of a vehicle, whereby the speed reducers are disposed between the motors. A radially outer edge of a ring gear of one of the speed reducers is formed smaller than the smaller one of the two radially outermost edge portions of the motors. An offset space that is recessed further radially than an imaginary line that connects the radially outermost edge portion of one motor with the that of the other motor is provided radially outwards of the ring gear of one of the speed reducers, and at least part of a breather chamber of a breather unit and at least part of a strainer accommodation compartment are disposed within the offset space. It is thus possible to expand a volumetric capacity room that communicates with an interior of a case.

Abstract: A drive force transmission device includes a motor, a transmission, a motor case, and a seal member. The motor is disposed in a dry space within a motor housing. The transmission is disposed in a wet space within a transmission case. The motor case covers an outer periphery of the motor housing and is coupled to the transmission case. The seal member is between the motor case and the motor housing and isolates the wet space and the outer space. The motor housing is divided into a divider wall housing dividing off the wet space and an outer wall housing dividing off the outer space, the divider wall housing being a material lighter than a material of the outer wall housing and integrally coupled thereto. The divider wall housing is divided from the outer wall housing at a position nearer to the dry space than the seal member.

Abstract: Systems and methods for improving operation of a hybrid vehicle are presented. In one example, application of a driveline disconnect clutch to start an engine is described. The approach applies the driveline disconnect clutch to rotate an engine and at least partially disengages the driveline disconnect clutch to reduce the possibility of a reduction in torque applied to vehicle wheels.

Abstract: A pushcart in which a user can adjust a balance direction based on his/her own sense even on a slope. The pushcart includes a pair of wheels, driving units, a pair of wheels are supported on a main body unit in a rotatable manner, a grip portion provided on another side of the main body unit, and a support portion that is connected to the main body unit on one side so as to be capable of rotating in a pitch direction and supports assist wheels in a rotatable manner on another side. An angle formed between the main body unit and a direction orthogonal to the ground surface is estimated based on detected angle between the main body and the support portion. An attitude of the main body unit in the pitch direction is controlled based on a target pitch angle corrected using a correction value.

Abstract: An electric drive module for a motor vehicle includes an electric motor, a first input member, a first output member and a two-speed module selectively drivingly interconnecting the first input member and the first output member at one of two different drive ratios. A reduction unit includes a second input member being driven by the first output member and has a second output member being driven at a reduced speed relative to the second input member. A differential assembly has an input driven by said second output member. A first differential output drives a first output shaft, and a second differential output drives a second output shaft.

Abstract: A drive module that includes an electric motor and a multi-speed transmission assembly having a two-speed planetary transmission stage. The multi-speed transmission assembly outputs rotary power to a differential assembly.

Abstract: A propulsion system for a self-propelled vehicle comprises a motor body which is associated with a mechanical transmission conveying motion to the driving wheels of the vehicle, and which integrates and contains in a single body electric propulsion means, comprising at least several components of a brushless rotary motor; a clutch coupling located downstream of and mechanically connected to the electric propulsion means; and a gearbox with discontinuous gear ratios, having an input shaft connected to the clutch coupling and an output shaft coming out to the outside of the motor body and connecting to the mechanical transmission. The electric propulsion means comprise the components of at least two brushless motors, each equipped with a respective driving shaft provided with a pinion which is coupled by meshing with a predetermined ratio to a clutch coupling.

Abstract: The present invention relates to a mobile robot, in which a wheel is mounted on a robot body in an elevatable structure.

Abstract: A drive unit having a transmission, which has an input axis and an output axis, which are arranged parallel to one another and spaced apart. In a drive unit of this kind, provision is made for the transmission to be designed as a cartridge which forms a unit and is connected to a support element forming a component part of the drive unit. A drive unit embodied in this way allows quick and easy mounting of the transmission while allowing for the required transmission forces and transmission torques of the transmission. Moreover, the transmission can be embodied in a space-saving way.

Abstract: A frame structure of an electric vehicle including right and left drive wheels is capable of being simplified while communalizing components and achieving an efficient arrangement of a running gear and electrical components. An electric vehicle includes a running gear including an electromotor and a speed reduction gear, and a running gear support frame provided to surround the running gear. The speed reduction gear is arranged in the right-to-left center of a vehicle body. The electromotor is configured in such a manner that an axis direction is arranged along a vehicle right-to-left direction so that the electromotor extends to one side in a right-to-left direction of the speed reduction gear and is arranged between the speed reduction gear and a left lower side frame of the running gear support frame.

Abstract: A gear-train for transferring torque from multiple power sources includes first, second, and third input members, and an output member. The first and second input members rotate about a first axis, the third input member rotates about a second axis, and the output member rotates about a third axis. The gear-train additionally includes a first gear-set connected to the first input member. The gear-train also includes a second gear-set connected to the second input member. The gear-train additionally includes an intermediate shaft that rotates about a fourth axis. Furthermore, the gear-train includes a third gear-set connected to the intermediate shaft. In the third gear-set, first member is connected to the intermediate shaft and to the third input member, second and third members are set coaxially relative to the intermediate shaft and configured for asynchronous rotation with each other, and the third member is also connected to the output member.

Abstract: A transmission comprises a transmission input shaft, a transmission output shaft, and three power paths situated between the transmission input shaft and a main gear set. The main gear set comprises two single planetary gear sets a first, a second, a third and a fourth shafts. An electric motor is connected with at least one of the four shafts. The first shaft can be connected with the first power path via a first switching element and with the third power path via a second switching element. The second shaft can be connected with the first power path via a third switching element and with the third power path via a fourth switching element. The third shaft is constantly connected with the transmission output shaft. The fourth shaft can be connected with the second power path via a fifth switching element and can be fixed by a sixth switching element.

Abstract: Provided is a rear suspension mounting structure for an electric vehicle, which can reduce the overall weight and can enhance steering stability by forming a torsion beam and a trailing arm using different materials. In one embodiment, the rear suspension mounting structure includes a hub fastened to the center of a wheel, a trailing arm including a housing producing an internal space and an arm bush extending to one side of the housing, a torsion beam bolt-coupled to the arm bush through a coupling plate, a motor coupled to the internal space of the housing and supplying a driving force, a motor cover provided in the internal space of the housing, and a driving speed reducer provided at the outside of the motor cover in the internal space of the housing, wherein the torsion beam and the trailing arm are formed using dissimilar metals.

Abstract: Vehicle according to the present invention includes a traveling vehicle body and left and right drive wheels. Left and right propulsion motors drive the left and right drive wheels. A battery supplies electric power to the left and right propulsion motors. The left and right drive wheels are positioned on two width-direction ends of the traveling vehicle body. The left and right propulsion motors are positioned on the traveling vehicle body so as to align with the left and right drive wheels in the width direction of the vehicle body. The battery is positioned in a battery installation space of the traveling vehicle body. The battery installation space is located in at least a space located below the left and right propulsion motors.

Abstract: A method and apparatus for starting an engine in a hybrid vehicle being driven by an electric motor is disclosed. The motor is operably configured to deliver mechanical power through an automatic transmission to at least one vehicle drive wheel to cause an acceleration of the vehicle. The method involves coupling the engine to the motor to cause an inertial load on the motor thus causing the motor to decelerate to a reduced rotational speed to provide a starting torque to the engine for starting the engine, and causing the automatic transmission to change gear ratio to a target gear ratio associated with the reduced rotational speed while causing the motor to decelerate, the motor being operable to deliver increased torque at the reduced rotational speed, thereby generally maintaining the acceleration of the vehicle.

Abstract: An apparatus is provided for powering a wheeled vehicle which includes a cordless powered tool with a rechargeable battery and a rotational chuck. The apparatus has a drive assembly with a first and a second end. The first end is secured to the rotational chuck. A connector is provided at the second end for connecting the drive system to at least one wheel of the wheeled vehicle such that upon activation of the cordless power tool, a rotational output from the chuck of the cordless power tool is imparted to the drive assembly which transfers the rotational output to the at least one wheel of the vehicle.

Abstract: An apparatus, system, and method for a driven loadable construct, the apparatus, system and method utilizing a construct, at least one rotatable wheel mounted for enabling the construct to roll along a surface, at least one motor and power source coupled to the construct to be used to impart rotational energy to the at least one rotatable wheel, and a controller to control the signals for operation of the at least one rotatable wheel which moves the construct.

Abstract: An electric traction vehicle having: at least one pair of driving wheels; at least one reversible electric machine which can be mechanically connected to the driving wheels; an electronic power converter which pilots the electric machine; a storage system, which is aimed at storing electric energy, is connected to the electronic power converter and comprises at least one storage device; a passenger compartment; an air conditioning system of the passenger compartment which fulfills the function of regulating the temperature inside the passenger compartment; and a cooling system, which is completely independent and separate from the air conditioning system of the passenger compartment and uses a compression refrigeration cycle to cool at least one of the electric components, i.e. the electric machine, the electronic power converter and the storage system.

Abstract: A rear wheel driving apparatus (1) includes: a first right-left communication passage (FP) through which a left reservoir (RL) and a right reservoir (RR) are communicated with each other; and a second right-left communication passage (SP) which is provided in parallel with the first right-left communication passage (FP) and through which the left reservoir (RL) and the right reservoir (RR) are communicated with each other. Thus, flowability of a liquid fluid stored in a case (11) is enhanced, and smoothing of a fluid level is enabled.

Abstract: Drive train for a motor vehicle, having an electric machine for providing motive power, and a transmission arrangement. The transmission arrangement has a transmission input shaft and a first and a second gear stage. The transmission input shaft is connected to the electric machine. The drive train has a differential, which is connected to an output of the transmission and is set up to distribute motive power to two drive shafts. The differential is connected to a helically toothed driving gear, which is in engagement with a helically toothed pinion of the transmission output. A pressure pad arrangement absorbs axial forces arising from the helical toothing.

Abstract: A track drive includes a primary driven gear configured to attach to a vehicle hub plate and an annular gear having gear teeth on in inner circumference and an outer circumference. The track drive can also include a plurality of intermediate gears disposed between the primary driven gear and the inner circumference of the annular gear, and a plurality of track drive wheels having an integrated gear configured to mate with gear teeth on the outer circumference of the annular gear. The track drive can further include a continuous track configured to be driven by the plurality of track drive wheels.

Abstract: A wheel includes an axle, a motor, a hub and a rotational displacement detection mechanism. The axle is supported on a body frame of a wheelchair. The motor is mounted on the axle. The hub includes a wheel hub mounted on the axle and handrim base section relatively rotatably supported on the axle and rotatable relative to the wheel hub. The rotational displacement detection mechanism detects rotational displacements of the handrim base section relative to the wheel hub and has a center of rotation coinciding with an axle center of the motor.

Abstract: An electric vehicle is presented. The electric vehicle may include a front motor for driving a front wheel; a rear motor for driving a rear wheel; a target torque determiner for determining a target torque of the front motor and a target torque of the rear motor, based on at least a displacement amount of an accelerator operation member operated by a driver; and a motor controller for controlling the front motor and the rear motor to cause the front motor to output the target torque and the rear motor to output the target torque.

Abstract: A wheel drive unit includes: a planetary gear mechanism including a planetary gear and an internally-toothed gear; a casing integrated with the internally-toothed gear, a wheel being attached to the casing, and the casing transmitting rotation of the internally-toothed gear to the wheel; a bearing nut configured to prevent axial movement of the casing; and an oil seal provided more toward an interior of a vehicle than the planetary gear mechanism and axially fixed with respect the casing. An inner diameter of the detachment prevention member is smaller than an outer diameter of the externally-toothed gear.

Abstract: An electric drive module for use in electric vehicles includes a first electric motor, a second electric motor, a continuously-variable gearbox assembly interconnecting the first and second electric traction motors to a pair of wheels, and a third electric motor for controlling a direction and rotary speed of a component of the gearbox assembly so as to continuously vary a speed ratio between the wheels.

Abstract: The invention relates to a hub reduction gear (10) for a driving wheel (20) of a wheeled vehicle with a planetary gear unit, which has a sun gear (12) connectable to a drive shaft (38a, 38b), a carrier (14) for planet gears (16), which are in mesh with the sun gear (12), and a ring gear (18) being in mesh with the planet gears (16). The planet gear carrier (16) and the ring gear (18) are configured to be alternately connected to the driving wheels (20) of the vehicle and being alternately connectable to a body-fixed part (24). The invention also relates to a driveline for a multi shaft, wheel supported vehicle with a hub reduction gear (10) of planetary gear type at the driving wheels of the vehicle, wherein the planet gear carrier and the ring gear of the planetary gears on at least one side of the vehicle are configured to be alternately connected to the driving wheels of the vehicle and being alternately connectable to a body-fixed part of the vehicle.

Abstract: A swivel drive system, such as for providing a driving force for a vehicle, comprises multiple drive modules, with each drive module including a plurality of wheel assemblies mounted for rotation relative to an axis of the drive module, with each wheel assembly being separately rotatable relative to a respective axis of the wheel assembly. Simultaneous rotation of the wheel assemblies relative to the axis of the drive module and rotation of each wheel assembly about its own axis generates a driving force for the vehicle.

Abstract: A wheel bearing apparatus incorporating an in-wheel motor has a connecting shaft. The connecting shaft has a disc portion, forming the planetary elements, and a shaft portion, axially extending from the disc portion, via a shoulder portion. The outer circumference of the shaft portion has a serration. The connecting shaft is inserted into the wheel hub until the disc portion abuts the inner member. A seal ring, formed of elastic material, is interposed between the inner member and the connecting shaft to shield the driving portion from the outside in a liquid-tight manner.

Abstract: An in-wheel driving device disposed in a car wheel includes a motor including a stator and a rotor; a transmission unit disposed adjacent to the motor, having an opening therein, and configured to receive rotation power from the rotor and rotate the car wheel; and a rigid shaft inserted into the opening to fix the motor to a car body.

Abstract: In an electric vehicle, a bearing supporting portion supporting another end of a motor shaft is provided in a reducer case and protrudes to a recessed portion while extending at a lateral side of the knuckle. The reducer case being part of a drive unit is partially housed in the recessed portion of a wheel. The drive unit can be located closer to a rear wheel by an amount corresponding to the housed portion. Accordingly, it is possible to dispose part of the drive unit inside the wheel and thereby suppress protruding of the drive unit to a small degree.

Abstract: The invention relates to a hub reduction gear (10) for a driving wheel (20) of a wheeled vehicle with a planetary gear unit, which has a sun gear (12) connectable to a drive shaft (38a, 38b), a carrier (14) for planet gears (16), which are in mesh with the sun gear (12), and a ring gear (18) being in mesh with the planet gears (16). The planet gear carrier (16) and the ring gear (18) are configured to be alternately connected to the driving wheels (20) of the vehicle and being alternately connectable to a body-fixed part (24). The invention also relates to a driveline for a multi shaft, wheel supported vehicle with a hub reduction gear (10) of planetary gear type at the driving wheels of the vehicle, wherein the planet gear carrier and the ring gear of the planetary gears on at least one side of the vehicle are configured to be alternately connected to the driving wheels of the vehicle and being alternately connectable to a body-fixed part of the vehicle.

Abstract: A power transmission system of a hybrid electric vehicle may include a first shaft and a second shaft. A first planetary gear set includes a first rotation element connected to a first motor/generator, a second rotation element operated as an output element, and a third rotation element connected to the first shaft. A second planetary gear set includes a fourth rotation element connected to the third rotation element and a second motor/generator, a fifth rotation element connected to the second rotation element and an output gear, and a sixth rotation element connected to a transmission housing. A direct-coupling device connects two rotation elements among the fourth, fifth, and sixth rotation elements of the second planetary gear set. Transfer gears form the externally-meshing gears, and friction elements connect a selected rotation element to a selected transfer gear or to the transmission housing.

Abstract: A method and apparatus for starting an engine in a hybrid vehicle being driven by an electric motor is disclosed. The motor is operably configured to deliver mechanical power through an automatic transmission to at least one vehicle drive wheel to cause an acceleration of the vehicle. The method involves coupling the engine to the motor to cause an inertial load on the motor thus causing the motor to decelerate to a reduced rotational speed to provide a starting torque to the engine for starting the engine, and causing the automatic transmission to change gear ratio to a target gear ratio associated with the reduced rotational speed while causing the motor to decelerate, the motor being operable to deliver increased torque at the reduced rotational speed, thereby generally maintaining the acceleration of the vehicle.

Abstract: A method for controlling an electric vehicle drivetrain having least two drive units with wheels located on opposite axles are driven by respective drive units, includes in a first operating mode, the ratio of the torques provided by the drive units in each case for a given torque requirement is set taking into account the efficiency applicable to each drive unit under the given operating conditions, and in a second operating mode, the ratio of the torques provided by the drive units in each case for a given torque requirement is set independently of the efficiency applicable to each drive unit under the given operating conditions.

Abstract: A drive train (1) of an all-electrically drivable motor vehicle has a first axle (2) with a differential (6), and two electric machines (15, 16). The first axle (2) can be driven by the electric machines (15, 16) via a transmission (17). One (16) of the two electric machines (15, 16) can be decoupled from the transmission (17) via a switchable clutch (23). Different driving conditions of the motor vehicle operated by the drive train can be executed with a particularly good efficiency.

Abstract: The present disclosure provides an in-wheel drive apparatus. The apparatus includes a motor housing open at one side thereof, a motor unit mounted within the motor housing, and a rear cover coupled at one side thereof to the motor housing to close the open side of the motor housing and coupled at the other side thereof to a trailing arm. The rear cover includes a planar section constituting an outer peripheral surface of the rear cover; and a cover recess connected to an inner peripheral surface of the planar section to be integrally formed with the planar section and depressed from the planar section towards the rotor to form a recess to which the trailing arm is coupled.

Abstract: An object of the invention is to always maintain an outer pin holder and a housing in a speed reducer section at their predetermined positions, to prevent damage to such components as revolving members, outer circumferential engagers, and motion conversion mechanism upon a large axial load due to turning or sudden acceleration/deceleration, etc., and to eliminate rattling noise caused by the housing and the outer pin holder. A casing immobilizing member which is fixed to an inner surface of a speed reducer section casing and a housing immobilizing member which is fixed to an outer surface of a speed reducer section housing are provided between the speed reducer section casing and the speed reducer section housing. The casing immobilizing member and the housing immobilizing member are bonded with each other via a rubber member.