JP2021180577A - Motor with speed reducer - Google Patents

Abstract

To contrive radial miniaturization of a motor with a speed reducer.SOLUTION: A motor 10 with a speed reducer comprises: a rotor 22 in which a magnet 32 is fixed to the radially outer surface of a ring gear 60; a stator 20; a first planetary gear 62; a first sun gear 66; a first carrier 64; a second planetary gear 68; a second sun gear 72; and a second carried 70. The motor 10 with the speed reducer further comprises an output shaft 12 which is rotated by receiving transmission of the rotational force of the second carrier 70.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a motor with a speed reducer.

The following Patent Document 1 discloses a motor with a speed reducer in which a unit such as a speed reducer is arranged therein. The motor with a speed reducer described in this document includes a rotor rotatably supported and a unit such as a speed reducer arranged radially inside the rotor. Then, the rotation of the rotor is decelerated by the speed reducer and transmitted to the output shaft.

Japanese Patent No. 6278432

By the way, in the configuration of the motor with a speed reducer described in Patent Document 1, by arranging a unit such as a speed reducer inside in the radial direction of the rotor, the physique of the motor with a speed reducer can be reduced in the axial direction. Has been done. However, there is room for improvement in this configuration from the viewpoint of reducing the size of the motor with a speed reducer in the radial direction.

In consideration of the above facts, it is an object of the present disclosure to obtain a motor with a speed reducer that can be miniaturized in the radial direction.

The motor with a speed reducer that solves the above problems is a ring gear (60) that is formed in an annular shape and has a plurality of first internal teeth (60A) and a plurality of second internal teeth (60B) formed on the inner surface in the radial direction. ), And one of the magnet (32) and the coil (28) is arranged so as to face the rotor (22) fixed to the radial outer surface of the ring gear and one of the magnet and the coil. A stator (20) configured to include the other of the magnet and the coil, a first planetary gear (62) arranged radially inside the rotor and meshing with the first internal tooth, and the first. A first sun gear (66) arranged radially inside the planetary gear and meshing with the first planetary gear, a first carrier (64) arranged radially inside the rotor and supporting the first planetary gear, and the above. A second planetary gear (68) arranged radially inside the rotor and axially one side with respect to the first planetary gear and meshing with the second internal tooth, and arranged radially inside the second planetary gear, said. A second sun gear (72) that is engaged with the first sun gear and meshes with the second planetary gear in a state where it cannot rotate with respect to the first sun gear, and is arranged inside the rotor in the radial direction. A second carrier (70) that supports the second planetary gear and rotates by revolving around the second sun gear, and an output shaft that rotates by transmitting the rotational force of the second carrier. (12) and.

With such a configuration, it is possible to reduce the size of the motor with a speed reducer in the radial direction.

It is a perspective view which shows the motor with a reduction gear of 1st Embodiment. FIG. 3 is a cross-sectional perspective view showing a motor with a speed reducer cut along line 2-2 shown in FIG. It is a side sectional view which shows the cross section which cut | cut the motor with a speed reducer shown in FIG. 1 along the axial direction. FIG. 3 is an exploded perspective view showing the motor with a speed reducer shown in FIG. 1 in an exploded manner. It is an exploded perspective view which shows by disassembling the stator. It is an exploded perspective view which shows by disassembling the speed reducer. It is an exploded perspective view which shows a magnet and a magnet covering member. It is a side sectional view corresponding to FIG. 3 which shows the motor with a reduction gear which concerns on 2nd Embodiment. It is a side sectional view corresponding to FIG. 3 which shows the motor with a reduction gear which concerns on 3rd Embodiment.

(First Embodiment)
The motor 10 with a speed reducer according to the first embodiment will be described with reference to FIGS. 1 to 7. The arrow Z direction, the arrow R direction, and the arrow C direction, which are appropriately shown in the drawing, indicate one side of the output shaft 12 in the rotation axis direction, the outside in the rotation radial direction, and one side in the rotation circumferential direction, respectively. Hereinafter, when the axial direction, the radial direction, and the circumferential direction are simply indicated, the rotation axis direction, the rotation radial direction, and the rotation circumferential direction of the output shaft 12 are indicated unless otherwise specified.

As shown in FIGS. 1 to 4, the motor 10 with a speed reducer of the present embodiment is a motor with a speed reducer having a 3-phase 8-pole 12-slot having a built-in speed reducer 14. The motor 10 with a speed reducer has a motor case 16 and a motor cover 18, a speed reducer 14 for reducing the rotation of the stator 20, a rotor 22 and the rotor 22 arranged in the motor case 16, and an output protruding from the motor cover 18. A shaft 12 and the like are provided. In FIG. 3, only the cross-sectional portion is shown.

As shown in FIGS. 2, 3 and 5, the motor case 16 is formed in a bottomed cylindrical shape in which one side in the axial direction is open and the other side in the axial direction is closed. The motor case 16 includes a bottom wall portion 16A formed in a disk shape, and a side wall portion 16B that bends and extends from the radially outer end of the bottom wall portion 16A toward one side in the axial direction. ..

As shown in FIGS. 2, 3 and 4, the motor cover 18 includes a lid portion 18A formed in a disk shape. An insertion hole 18B into which an output shaft 12 described later is inserted is formed in the radial center portion of the lid portion 18A. Further, the motor cover 18 includes an annular first flange portion 18C that protrudes from the edge portion of the insertion hole 18B toward one side in the axial direction. A bearing 19 that supports the output shaft 12 is fixed to the inner peripheral portion of the first flange portion 18C by press fitting or the like. Then, with the output shaft 12 inserted into the insertion hole 18B, the motor cover 18 is attached to the motor case 16, so that the output shaft 12 protrudes from the motor cover 18 to one side in the axial direction of the motor case 16. The open end side (one side in the axial direction) is closed by the lid portion 18A. As shown in FIGS. 2 and 3, the motor cover 18 includes an annular second flange portion 18D that projects from the radial intermediate portion of the lid portion 18A on the other side in the axial direction toward the other side in the axial direction. A seal bearing 21 that supports the ring gear 60 that constitutes a part of the speed reducer 14, which will be described later, is fixed to the inner peripheral portion of the second flange portion 18D by press fitting or the like.

As shown in FIG. 4, the stator 20 is fixed to the radial inner surface of the side wall portion 16B of the motor case 16. As shown in FIGS. 4 and 5, the stator 20 includes a stator core 24 formed in an annular shape and a plurality of coil bodies 26 fixed to the inner peripheral surface of the stator core 24. As shown in FIG. 5, in this embodiment, 12 coil bodies 26 are arranged side by side in the circumferential direction.

Here, the coil body 26 includes a coil 28 formed by winding a conducting wire, and an insulator 30 having a locking portion 30A that holds the shape of the coil 28 and is locked to the stator core 24. It is configured to include. Further, the conducting wire constituting the coil 28 is an aggregate of strands formed by bundling conductive strands. Further, the resistance value between the bundled strands is larger than the resistance value of the strands themselves. As a result, the eddy current loss is reduced. Further, the terminal portion of the coil 28 of each coil body 26 is connected to the bus bar 31. In this embodiment, as an example, the coils 28 of each coil body 26 are connected by a star connection via a bus bar 31. Further, in the present embodiment, the coil 28 has a teethless structure in which a part of the stator core 24 is not arranged inside the coil 28.

As shown in FIGS. 4 and 7, the rotor 22 is configured by attaching an annular magnet 32 to the outer peripheral surface of the ring gear 60 which constitutes a part of the speed reducer 14 described later. As shown in FIG. 7, the magnet 32 of the present embodiment is an 8-pole anisotropy magnet in which N poles and S poles are alternately arranged in the circumferential direction. In FIG. 7, the direction of the magnetic flux in a part of the magnet 32 is schematically shown by an arrow W. The magnet 32 may be a magnet having another orientation such as Halbach alignment. Further, the magnet 32 of the present embodiment is formed by using a magnetic compound having a holding force Hc of 400 [kA / m] or more and a residual magnetic flux density Br of 1.0 [T] or more. As an example, the magnet 32 of the present embodiment is formed by using a magnetic compound such as _{NdFe 11} TiN, Nd ₂ Fe ₁₄ B, Sm ₂ Fe ₁₇ N _{3, FeNi and the like.}

Here, in the magnet 32 of the present embodiment, the magnetic flux density when the magnetic flux density on the outer peripheral surface 32A, which is the outer surface in the radial direction, is measured along the circumferential direction is the peak value at the center of the magnetic poles of the N pole and the S pole. The orientation of the magnetic flux in the magnet 32 is set so as to be. In addition to this, in the magnet 32 of the present embodiment, the magnetic flux density when the magnetic flux density on the inner peripheral surface 32B, which is the inner surface in the radial direction, is measured along the circumferential direction is almost zero at each position in the circumferential direction. The orientation of the magnetic flux in the magnet 32 is set so as to be. As a result, the ring gear 60 to which the magnet 32 is fixed does not become a part of the magnetic circuit which is a magnetic path. The outer peripheral surface 32A of the magnet 32 attached to the outer peripheral surface of the ring gear 60, the surface on one side in the axial direction and the surface on the other side in the axial direction are each covered with the magnet covering member 33.

As shown in FIG. 6, the speed reducer 14 includes a ring gear 60 formed in a cylindrical shape that constitutes a part of the rotor 22 described above. Further, the speed reducer 14 includes a first planetary gear 62, a first carrier 64, and a first sun gear 66 arranged on the other side in the axial direction inside the ring gear 60. Further, the speed reducer 14 includes a second planetary gear 68, a second carrier 70, and a second sun gear 72 arranged on one side in the axial direction inside the ring gear 60.

As shown in FIGS. 2, 3 and 6, the ring gear 60 is formed in a cylindrical shape using a metal material. In this embodiment, each component constituting the speed reducer 14 is made of metal. A plurality of first internal teeth 60A are formed along the circumferential direction on the inner surface in the radial direction on the other side in the axial direction of the ring gear 60. Further, a plurality of second internal teeth 60B are formed along the circumferential direction on the inner surface in the radial direction on one side in the axial direction of the ring gear 60. Here, in the present embodiment, the inner diameter of the portion where the first internal tooth 60A is formed in the inner peripheral portion of the ring gear 60 is larger than the inner diameter of the portion where the second internal tooth 60B is formed. ing. Further, at the boundary between the portion where the first internal tooth 60A is formed and the portion where the second internal tooth 60B is formed in the inner peripheral portion of the ring gear 60, the diameter-reduced portion 60C projecting inward in the radial direction. Is formed. Further, on the outer peripheral portion of the ring gear 60, three stepped portions having a difference in height in the radial direction are formed. In addition, these three step portions are referred to as a first step portion 60D, a second step portion 60E, and a third step portion 60F in order from one side in the axial direction. In the present embodiment, the outer diameter of the portion between the second step portion 60E and the first step portion 60D on the outer peripheral portion of the ring gear 60 is the outer diameter of the portion on one side in the axial direction with respect to the first step portion 60D. It has a larger outer diameter than. Further, the outer diameter of the portion between the third step portion 60F and the second step portion 60E on the outer peripheral portion of the ring gear 60 is larger than the outer diameter of the portion between the second step portion 60E and the first step portion 60D. It has a large outer diameter. Further, the outer diameter of the portion on the outer peripheral portion of the ring gear 60 on the other side in the axial direction from the third step portion 60F is larger than the outer diameter of the portion between the third step portion 60F and the second step portion 60E. It has become. Further, the second step portion 60E is formed at the same position in the axial direction as the diameter reduction portion 60C. Then, the magnet 32 is fixed to the outer peripheral surface of the ring gear 60 in a state where the inner peripheral end on the other side in the axial direction of the magnet 32 is locked to the second step portion 60E. Further, a portion of the ring gear 60 on one side in the axial direction with respect to the first step portion 60D, which is an end on one side in the axial direction, is supported by a first seal bearing 21 fixed to the motor cover 18. Further, the seal bearing 21 is fixed to the inner peripheral portion of the portion on the other side in the axial direction from the third step portion 60F, which is the end on the other side in the axial direction of the ring gear 60, by press fitting or the like.

The first planetary gear 62 is arranged radially inside the portion of the ring gear 60 on the other side in the axial direction. In this embodiment, three first planetary gears 62 are arranged at equal intervals along the circumferential direction. Further, the three first planetary gears 62 mesh with the first internal teeth 60A of the ring gear 60, respectively.

The first carrier 64 includes a substrate portion 64A formed in a disk shape, and three shaft portions 64B protruding from the substrate portion 64A toward one side in the axial direction and arranged at equal intervals in the circumferential direction. ing. The three shaft portions 64B rotatably support the three first planetary gears 62, respectively. By arranging the three first planetary gears 62 in close proximity to the reduced diameter portion 60C of the ring gear 60, the movement of the three first planetary gears 62 in the direction of coming out of the shaft portion 64B is restricted. Further, a circular opening 64C is formed at the center of the axis of the substrate portion 64A, and a bearing 76 for supporting the other end of the shaft member 74 in the axial direction, which will be described later, is formed in the inner peripheral portion of the opening 64C. It is fixed by press fitting or the like. Further, in the present embodiment, the substrate portion 64A is fixed to the bottom wall portion 16A of the motor case 16. Further, the inner race of the seal bearing 21 is locked to the outer peripheral portion of the substrate portion 64A of the first carrier 64.

The first sun gear 66 meshes with the three first planetary gears 62 in a state of being arranged radially inside the three first planetary gears 62. The first sun gear 66 is fixed to a columnar shaft member 74 arranged coaxially with the output shaft 12 by press fitting or the like. Further, in the present embodiment, the module and pitch circle diameter of the first sun gear 66 are set to a module larger than the module and pitch circle diameter of the second sun gear 72, which will be described later, and the pitch circle diameter.

The second planetary gear 68 is arranged radially inside the portion of the ring gear 60 on one side in the axial direction. In this embodiment, three second planetary gears 68 are arranged at equal intervals along the circumferential direction. Further, the three second planetary gears 68 mesh with the second internal teeth 60B of the ring gear 60, respectively. Further, in the present embodiment, the three second planetary gears 68 face each other in the axial direction via the above-mentioned first planetary gear 62 and the reduced diameter portion 60C of the ring gear 60.

The second carrier 70 includes a substrate portion 70A formed in a disk shape, and three shaft portions 70B protruding from the substrate portion 70A toward the other side in the axial direction and arranged at equal intervals in the circumferential direction. ing. The three shaft portions 70B rotatably support the three second planetary gears 68, respectively. By arranging the three second planetary gears 68 in close proximity to the reduced diameter portion 60C of the ring gear 60, the movement of the three second planetary gears 68 in the direction of coming out of the shaft portion 70B is restricted. Further, a recess 70C having an open other side in the axial direction is formed at the center of the axis of the substrate portion 70A, and an end portion on one side in the axial direction of the above-mentioned shaft member 74 is formed in the inner peripheral portion of the recess 70C. The bearing 76 to be supported is fixed by press fitting or the like. Further, the output shaft 12 projects from the radial center portion of the substrate portion 70A toward one side in the axial direction. That is, the second carrier 70 is integrated with the output shaft 12.

The second sun gear 72 meshes with the three second planetary gears 68 in a state of being arranged radially inside the three second planetary gears 68. The second sun gear 72 is fixed to the shaft member 74 by press fitting or the like. As a result, the sun gear assembly 78 is composed of the second sun gear 72, the first sun gear 66, and the shaft member 74, and the second sun gear 72 can rotate integrally with the first sun gear 66.

(Action and effect of this embodiment)
Next, the operation and effect of this embodiment will be described.

According to the motor 10 with a speed reducer of the present embodiment described above, the stator 20 generates a rotating magnetic field by switching the energization of each coil body 26 constituting the stator 20 to the coil 28 by a control circuit (not shown). Let me. As a result, the rotor 22 rotates. That is, the ring gear 60 rotates together with the magnet 32.

When the ring gear 60 rotates, the three first planetary gears 62 that mesh with the first internal teeth 60A of the ring gear 60 rotate.

When the three first planetary gears 62 rotate, the first sun gear 66 that meshes with the three first planetary gears 62 rotates together with the second sun gear 72.

When the second sun gear 72 rotates, the three second planetary gears 68 that mesh with the second sun gear 72 rotate. Here, the three second planetary gears 68 are also meshed with the ring gear 60. Therefore, the three second planetary gears 68 revolve around the second sun gear 72 at a rotation speed corresponding to the rotation speed of the second sun gear 72 and the rotation speed of the ring gear 60. As a result, the second carrier 70 supporting the three second planetary gears 68 rotates together with the output shaft 12 at a rotation speed corresponding to the revolution of the three second planetary gears 68.

Here, in the motor 10 with a speed reducer of the present embodiment, the ring gear 60 that constitutes a part of the speed reducer 14 constitutes a part of the rotor 22. That is, the ring gear 60 forming a part of the speed reducer 14 is a rotor core on which the magnet 32 is supported. As a result, the number of parts stacked in the radial direction in the motor 10 with a speed reducer can be reduced as compared with the case where the rotor core on which the magnet 32 is supported is provided as a member separate from the ring gear 60. This makes it possible to reduce the size of the motor 10 with a speed reducer in the radial direction. Further, in the present embodiment, the teethless structure in which a part of the stator core 24 is not arranged inside the coil 28 makes it possible to reduce the size of the stator 20 in the radial direction. This makes it possible to reduce the size of the motor 10 with a speed reducer in the radial direction.

Further, in the motor 10 with a speed reducer of the present embodiment, the second carrier 70 is integrally configured with the output shaft 12. As a result, the number of parts constituting the speed reducer motor 10 can be reduced as compared with the configuration in which the second carrier 70 and the output shaft 12 are separate bodies.

Further, in the motor 10 with a speed reducer of the present embodiment, the first sun gear 66 and the second sun gear 72 are fixed to the shaft member 74 by press fitting or the like to form the sun gear assembly 78. As a result, in the assembly process of the motor 10 with a speed reducer, the sun gear assembly 78 can be handled as one component, and the assembly of the motor 10 with a speed reducer can be facilitated. Further, since the module and pitch circle diameter of the first sun gear 66 are set to the module and pitch circle diameter larger than the module of the second sun gear 72 and the pitch circle diameter, the sun gear assembly 78 is set to the inner circumference of the ring gear 60. It is possible to realize a one-way assembly assembly procedure of inserting into a portion from the other side in the axial direction. Depending on the reduction ratio required for the speed reducer 14, the module and pitch circle diameter of the second sun gear 72 may be set to a module larger than the module and pitch circle diameter of the first sun gear 66 and the pitch circle diameter. good. In this case, it is possible to realize a one-way assembly assembly procedure in which the sun gear assembly 78 is inserted into the inner peripheral portion of the ring gear 60 from one side in the axial direction.

Further, in the motor 10 with a speed reducer of the present embodiment, the space inside the radial direction of the ring gear 60 and the space outside the radial direction of the ring gear 60 are separated by a pair of seal bearings 21. As a result, lubricant such as grease in the space inside the radial direction of the ring gear 60 and wear debris of the parts constituting the speed reducer 14 infiltrate into the space side on the outer side in the radial direction of the ring gear 60 in which the stator 20 and the like are arranged. It can be suppressed.

Further, in the motor 10 with a speed reducer of the present embodiment, the ring gear 60 to which the magnet 32 is fixed does not become a part of the magnetic circuit. As a result, it is possible to prevent the wear debris and the like of the parts constituting the speed reducer 14 from accumulating on the inner peripheral surface of the ring gear 60.

Further, in the motor 10 with a speed reducer of the present embodiment, the magnet 32 and the stator 20 are fixed to the outer peripheral surface of the ring gear 60 in a state of being locked to the second step portion 60E. The second sun gear 72, the second planetary gear 68, and the second carrier 70 are arranged at positions facing each other in the radial direction. As a result, a space in which the bus bar 31 is arranged can be sufficiently secured on the other side in the axial direction of the stator 20, and the bus bar 31 and the stator 20 can be arranged so as to be overlapped in the axial direction.

Further, the speed reducer 14 of the motor 10 with a speed reducer according to the present embodiment includes the ring gear 60, the first planetary gear 62, the first carrier 64, the first sun gear 66, the second planetary gear 68, the second carrier 70, and the second sun gear 72. It is a so-called compound planetary gear mechanism that is established by all gears. This makes it possible to increase the reduction ratio of the speed reducer 14. In particular, in the present embodiment, by fixing the first carrier 64 to the motor case 16, it is possible to particularly increase the reduction ratio by the speed reducer 14. Depending on the reduction ratio required for the reduction gear 14, the shaft member 74 of the sun gear assembly 78 is fixed to the motor case 16 as in the motor 80 with the reduction gear according to the second embodiment shown in FIG. It may be configured. In the motor 80 with a speed reducer according to the second embodiment, the members and parts corresponding to the motor 10 with a speed reducer according to the first embodiment include the members corresponding to the motor 10 with a speed reducer according to the first embodiment and parts. It has the same code as the part.

In this embodiment, an example in which the shaft member 74 of the sun gear assembly 78 is supported by a pair of bearings 76 has been described, but the sun gear is like the motor 82 with a speed reducer according to the third embodiment shown in FIG. The shaft member 74 of the assembly 78 may be supported by a single bearing 76. With this configuration, the number of bearings 76 used in the speed reducer motor 82 can be reduced as compared with the speed reducer motor 10 according to the first embodiment. In the motor 82 with a speed reducer according to the third embodiment, the members and parts corresponding to the motor 10 with a speed reducer according to the first embodiment include the members corresponding to the motor 10 with a speed reducer according to the first embodiment and parts. It has the same code as the part.

In addition, in the example of each embodiment described above, the example in which the magnet 32 is attached to the ring gear 60 has been described, but the present invention is not limited thereto. For example, a configuration in which a plurality of coils or commutators are attached to the ring gear 60 may be used.

Although one embodiment of the present disclosure has been described above, the present disclosure is not limited to the above, and can be modified in various ways other than the above within a range not deviating from the gist thereof. Of course.

10 Motor with reducer, 12 Output shaft, 20 Stator, 21 Seal bearing, 22 Rotor, 28 Coil, 31 Bus bar, 32 Magnet, 60 Ring gear, 60A 1st internal tooth, 60B 2nd internal tooth, 62 1st planetary gear, 64 1st carrier, 66 1st sun gear, 68 2nd planetary gear, 70 2nd carrier, 72 2nd sun gear, 74 shaft member, 76 bearing, 80 motor with reducer, 82 motor with reducer

Claims (10)

It has a ring gear (60) formed in an annular shape and having a plurality of first internal teeth (60A) and a plurality of second internal teeth (60B) formed on the inner surface in the radial direction, and has a magnet (32) and a coil. A rotor (22) in which one of (28) is fixed to the radial outer surface of the ring gear, and
A stator (20) configured to include the magnet and the coil arranged to face one of the magnet and the coil, and a stator (20).
A first planetary gear (62) that is arranged radially inside the rotor and meshes with the first internal tooth.
A first sun gear (66) arranged inside the first planetary gear in the radial direction and meshing with the first planetary gear,
A first carrier (64) arranged radially inside the rotor and supporting the first planetary gear, and
A second planetary gear (68) that is arranged radially inside the rotor and on one side in the axial direction with respect to the first planetary gear and meshes with the second internal tooth.
A second sun gear (72) that is arranged radially inside the second planetary gear, is engaged with the first sun gear in a state where it cannot rotate with respect to the first sun gear, and meshes with the second planetary gear. )When,
A second carrier (70) arranged inside the rotor in the radial direction, supporting the second planetary gear, and rotating the second planetary gear by revolving around the second sun gear.
An output shaft (12) that rotates by transmitting the rotational force of the second carrier, and
Motor with reducer (10, 80, 82). A claim in which one module of the first sun gear and the second sun gear and the pitch circle diameter are set to a module and a pitch circle diameter larger than the other module of the first sun gear and the second sun gear and the pitch circle diameter. Item 1. The motor with a speed reducer according to Item 1. The first or second aspect of the present invention, wherein the space inside the ring gear in the radial direction and the space outside the radial direction of the ring gear are separated by a seal bearing (21) that rotatably supports the ring gear. Motor with reducer. The magnet is fixed to the radial outer surface of the ring gear.
The peak value of the magnetic flux density when the magnetic flux density on the outer peripheral surface of the magnet is measured along the circumferential direction is higher than the peak value of the magnetic flux density when the magnetic flux density on the inner peripheral surface of the magnet is measured along the circumferential direction. The motor with a speed reducer according to any one of claims 1 to 3, wherein the orientation of the magnetic flux in the magnet is set so as to be smaller. The magnet is fixed to the radial outer surface of the ring gear.
One of claims 1 to 4, wherein a bus bar (31) to which the coil and the terminal portion of the coil are connected is arranged on the radial outer side of the ring gear in a state of being vertically overlapped. Motor with reducer described in. The motor with a speed reducer according to any one of claims 1 to 5, wherein the rotation of the first carrier is restricted. The motor with a speed reducer according to any one of claims 1 to 5, wherein the rotation of the first sun gear and the second sun gear is restricted. The first sun gear and the second sun gear are rotatably supported by a single bearing (76) provided between the first sun gear and the second sun gear. Motor with reducer according to any one item The motor with a speed reducer according to any one of claims 1 to 8, wherein the first sun gear and the second sun gear are fixed to a single shaft member (74). The motor with a speed reducer according to any one of claims 1 to 9, wherein the output shaft and the second carrier are integrated.

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