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1. (WO2019067122) SLEW DRIVE WITH INTEGRATED REDUCER ASSEMBLY
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WHAT IS CLAIMED IS:

1. A slew drive, comprising:

(a) a housing;

(b) a worm wheel comprising worm-wheel teeth, wherein the worm wheel is rotatably secured within the housing and operative to rotate around a first axis;

(c) a worm gear comprising a first distal end, a second distal end, and a central segment disposed between the first distal end and the second distal end, wherein the central segment comprises a worm-gear thread, wherein the worm gear is rotatably secured within the housing and operative to rotate around a second axis, wherein the first distal end comprises a plurality of holes whose axes are coaxial with the second axis; and

(d) a reducer assembly comprising a plurality of reducer subassemblies, wherein one of the plurality of reducer subassemblies is in direct contact with the worm gear, via the plurality of holes.

2. The slew drive of claim 1 , wherein each of the plurality of reducer subassemblies comprises at least one of a carrier, a sun gear, and three planetary gears.

3. The slew drive of claim 1 , wherein the one of the plurality of reducer subassemblies comprises three planetary gears in direct contact with the worm gear, via three of the plurality of holes.

4. The slew drive of claim 1 , wherein the first axis is perpendicular to the second axis.

5. The slew drive of claim 1 , further comprising a motor coupled with the reducer assembly and operative to rotate the reducer assembly around the second axis.

6. The slew drive of claim 5, wherein the motor is one of a hydraulic

motor, an electric motor, and a pneumatic motor.

7. The slew drive of claim 1 , wherein a cross section of the plurality of holes comprise one of a circular cross section, a square cross section, and a hexagonal cross section.

8. The slew drive of claim 1 , wherein the plurality of holes are splined.

9. A worm gear in combination with a slew drive, wherein the slew drive comprises a housing, a worm wheel, and a reducer assembly, wherein the worm wheel comprises worm-wheel teeth and wherein the reducer assembly comprises a plurality of reducer subassemblies, wherein the worm gear comprises: a first distal end, a second distal end, and a central segment disposed between the first distal end and the second distal end, wherein the central segment comprises a worm-gear thread, wherein the first distal end comprises a plurality of holes whose axes are coaxial with an axis along the worm gear, and wherein the worm gear operates to make direct contact with one of the plurality of reducer subassemblies, via the plurality of holes.

10. A method of driving a slew drive, wherein the slew drive comprises:

(a) a housing;

(b) a worm wheel comprising worm-wheel teeth, wherein the worm wheel is rotatably secured within the housing and operative to rotate around a first axis;

(c) a worm gear comprising a first distal end, a second distal end, and a central segment disposed between the first distal end and the second distal end, wherein the central segment comprises a worm-gear thread, wherein the worm gear is rotatably secured within the housing and operative to rotate around a second axis, wherein the first distal end comprises a plurality of holes whose axes are coaxial with the second axis; and

(d) a reducer assembly comprising a plurality of reducer subassemblies;

the method comprising directly connecting one of the plurality of reducer subassemblies with the worm gear, via the plurality of holes.

11. The method of claim 10, further comprising rotating the reducer assembly around the second axis, via a motor.

12. A reducer assembly comprising a plurality of reducer

subassemblies, wherein one of the plurality of reducer subassemblies is in direct contact with a gear.

13. The reducer assembly of claim 12, wherein the one of the plurality of reducer subassemblies comprises three planetary gears in direct contact with the gear.

14. The reducer assembly of claim 12, wherein the gear is a worm gear.