In one form there is disclosed an internally balanced involute-type speed reducer; the reducer comprising a stator stage, an input stage, an output stage, and a plurality of gear sets in mesh. In a further form there is disclosed an actuator assembly for a robot; said actuator assembly comprising a stator core located within an outer housing and subtended by inner and outer mounting hubs; said hub supporting a drive train and bearings within the actuator assembly. In a further form there is disclosed a transducer system operable in conjunction with the reducer or actuator assembly.

Proposed is a reducer including a reduction unit configured to reduce an input torque, and an output unit configured to be supplied with a preset reduction torque through the reduction unit and to transfer an output torque to the outside, wherein the reduction unit includes an input shaft configured to be supplied with the input torque, a cycloidal disc arranged on an outer circumferential surface of the input shaft in an eccentrically rotatable manner, a tooth-type protrusion being formed along a circumference of an edge of the cycloidal disc, a hollow housing configured to accommodate the cycloidal disc and including a plurality of inner pins arranged to be spaced a predetermined distance apart from each other along a circumference of an inner circumferential surface of the hollow housing in a manner that possibly comes into contact with the tooth-type protrusion on the cycloidal disc, and a plurality of rolling pins coupled to the cycloidal disc and having a concentrically shaped cylindrical structure, wherein the output unit includes an output rotor configured to accommodate the rolling pins and to transfer the reduction torque transferred from the rolling pins to the outside, and wherein the rolling pins are eccentrically moved relatively to the output rotor.

A compact geared speed reducing unit having a simple structure that can establish a large speed reducing ratio. The geared speed reducing unit comprises: a first rotary shaft and a second rotary shaft arranged coaxially; a fixed first sun gear; a second sun gear rotated integrally with the second rotary shaft; a first ring gear meshing with the first sun gear; a second ring gear rotated integrally with the first ring gear and meshed with the second sun gear; and an eccentric carrier supporting the ring gears such that the ring gears rotate around an eccentric axis and revolve around a common rotational axis of the rotary shafts. A gear ratio between the first sun gear and the first ring gear and a gear ratio between the second sun gear and the second ring gear are set to different values.

A planetary carrier assembly is provided having a main planet carrier body and a stamped planetary spider formed from a planetary spider blank made of sheet or plate material. The planetary spider has a central portion that extends in a plane perpendicular to an axis of the main planet carrier body, and at least two flanges that extend integrally from the central portion in a direction parallel to the axis toward the main planet carrier body that form spider connection legs. The at least two flanges further include integrally connected distal balance portions that extend from ends of the spider connection legs and are folded back toward respective inner surfaces thereof. The ends of the spider connection legs are fastened to the main planet carrier body and the balance portions are configured for mass removal as part of a dynamic balancing of the planetary carrier assembly.

An electric actuator according to an aspect of the disclosure includes: a motor including a rotor having a motor shaft extending along a central axis and a stator facing the rotor in a radial direction; and a deceleration mechanism which is disposed on a side of the stator in an axial direction and connected to the motor shaft. The motor shaft includes an eccentric shaft part with an eccentric axis, which is eccentric with respect to the central axis, as a center, and the eccentric shaft part is connected with the deceleration mechanism. The eccentric shaft part includes a balance concave part disposed on an end part of the eccentric shaft part in a predetermined direction which is in a radial direction from the central axis toward the eccentric axis. The balance concave part is recessed from an outer surface of the eccentric shaft part.

In one form there is disclosed an internally balanced involute-type speed reducer; the reducer comprising a stator stage, an input stage, an output stage, and a plurality of gear sets in mesh. In a further form there is disclosed an actuator assembly for a robot; said actuator assembly comprising a stator core located within an outer housing and subtended by inner and outer mounting hubs; said hub supporting a drive train and bearings within the actuator assembly. In a further form there is disclosed a transducer system operable in conjunction with the reducer or actuator assembly.

A reducer includes a reduction unit configured to reduce an input torque, and an output unit configured to be supplied with a preset reduction torque through the reduction unit and to transfer an output torque to the outside. The reduction unit includes an input shaft configured to be supplied with the input torque, a cycloidal disc arranged on an outer circumferential surface of the input shaft in an eccentrically rotatable manner, a tooth-type protrusion being formed along a circumference of an edge of the cycloidal disc, a hollow housing configured to accommodate the cycloidal disc and including a plurality of inner pins arranged to be spaced a predetermined distance apart from each other along a circumference of an inner circumferential surface of the hollow housing in a manner that possibly comes into contact with the tooth-type protrusion on the cycloidal disc, and a plurality of rolling pins coupled to the cycloidal disc and having a cylindrical structure.

A cycloid speed reducer includes a weight element, an input shaft and a cycloid disc. The weight element is disposed within an accommodation space of the cycloid disc. An eccentric part is disposed on the input shaft. Since the length of the input shaft is reduced, the overall length of the cycloid speed reducer is shortened. Moreover, the mass center of the weight element and the mass center of the eccentric part and the cycloid disc are arranged along the same axial direction. That is, the line passing through the mass center of the weight element and the mass center of the eccentric part and the cycloid disc is perpendicular to the input shaft. Consequently, the efficacy of the dynamic balance of the cycloid speed reducer is enhanced.

A compact geared speed reducing unit having a simple structure that can establish a large speed reducing ratio. The geared speed reducing unit comprises: a first rotary shaft and a second rotary shaft arranged coaxially; a fixed first sun gear; a second sun gear rotated integrally with the second rotary shaft; a first ring gear meshing with the first sun gear; a second ring gear rotated integrally with the first ring gear and meshed with the second sun gear; and an eccentric carrier supporting the ring gears such that the ring gears rotate around an eccentric axis and revolve around a common rotational axis of the rotary shafts. A gear ratio between the first sun gear and the first ring gear and a gear ratio between the second sun gear and the second ring gear are set to different values.

In one form there is disclosed an internally balanced involute-type speed reducer; the reducer comprising a stator stage, an input stage, an output stage, and a plurality of gear sets in mesh. In a further form there is disclosed an actuator assembly for a robot; said actuator assembly comprising a stator core located within an outer housing and subtended by inner and outer mounting hubs; said hub supporting a drive train and bearings within the actuator assembly. In a further form there is disclosed a transducer system operable in conjunction with the reducer or actuator assembly.