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Patent

Motor-incorporated hypocycloid-type speed reducer

TLDR
A motor-incorporated hypocycloid-type speed reducer includes an eccentric portion configured to rotate in response to rotation of a rotor secured to a casing; an internal ring gear fixed to the casing and including a first internal gear coaxial with the rotor; an output shaft including a second internal gear co-ordinator with the rotors; and an external gear including first external gear and a second external gear, rotatably supported by the eccentric portion, which can rotate in an eccentric manner as mentioned in this paper.
Abstract
A motor-incorporated hypocycloid-type speed reducer includes: an eccentric portion configured to rotate in response to rotation of a rotor secured to a casing; an internal ring gear fixed to the casing and including a first internal gear coaxial with the rotor; an output shaft including a second internal gear coaxial with the rotor; an external gear including a first external gear and a second external gear and rotatably supported by the eccentric portion so as to rotate in an eccentric manner; a first sliding member held tight in the axial direction between one end surface of the output shaft and the end plate; and a second sliding member held tight in the axial direction between an other end surface of the output shaft and the supporting member.

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Citations
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References
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Patent

Rotary electric machine having coaxial output hollow shaft with reduction gear and slip ring

TL;DR: In this paper, an inner rotor type rotary electric machine with a coaxial output hollow shaft with a reduction gear and a slip ring was used to drive an actuator which is optimum for and practical in use as a three-dimensional positioning apparatus for a monitoring camera, a disco lighting, an antenna, a multi-axis (multi-articular) robot, etc.
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Toru Shibata, +1 more
TL;DR: In this paper, the rotary rotor of a motor is connected to a carrier of a planetary reduction gear and a reduction gear mechanism unit and a motor driving unit in a single housing.
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A gear mechanism

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TL;DR: In this paper, a gear train with an input shaft upon which there is eccentrically mounted a planetary gear 16, the planetary gear being meshingly engaged with a ring gear 14 so that the planetary gears 16 is caused to rotate about the longitudinal axis of the shaft as well as the eccentric axis, and gear means coupling the sun gear 16 to an output shaft 19 to transmit power to the output shaft