CN209943434U - Planetary reducer - Google Patents

Abstract

The utility model discloses a planetary reducer, be annular ring casing including cross sectional shape, the medial surface of ring casing is installed adjacent motion internal gear and the fixed internal gear that has the number of teeth difference and all arrange along medial surface circumferencial direction, still including setting up motion end disc and the fixed end disc outside two end faces of ring casing respectively, still include the planet carrier, the motion end disc, the fixed end disc, the motion internal gear, fixed internal gear encloses into the space that holds the planet carrier, install on the planet carrier all with motion internal gear and fixed internal gear engaged with a plurality of planetary gear, still include with a plurality of planetary gear homogeneous phase engaged with sun gear, the center department of fixed end cover sets up porosely, the sun shaft that supports the sun gear passes the hole and links to each other with the motor shaft, planetary gear's quantity for fixed internal gear with the number of teeth difference of motion internal gear. The planetary reducer is simple in structure and can achieve a large transmission ratio.

Description

Planetary reducer

Technical Field

The utility model relates to a planetary reducer technical field, concretely relates to planetary reducer.

Background

The reducer is diversified, such as an RV cycloid reducer, a harmonic gear reducer and the like, has a wide application field, and can be applied to the fields of robots, aircrafts and the like.

Taking the field of robots as an example, as is well known, the technology of industrial robots integrates the technologies of computers, software systems, internet, artificial intelligence, automation, sensors, electric power dragging, mechanical transmission and the like, is the leading-edge high-end technology in modern manufacturing industry, and is an important factor for promoting the progress of social productivity. In the field, the speed reducer is a main part in the body of the industrial robot, the cost accounts for about one third, and one industrial robot usually uses six to seven speed reducers, the speed reducer has the function of changing the power with high rotating speed and small torque of a motor into the power with high torque and low rotating speed through mechanical transmission, and various set operations are carried out by controlling an actuating mechanism, so that the requirements on the number and the performance of the speed reducers are high.

The existing commonly used robot speed reducer is provided with an RV cycloid speed reducer and a harmonic gear speed reducer, and the speed reducer needs special processing equipment, is complex to assemble and has high processing cost.

Similarly, the above-mentioned speed reducer can be applied to other fields with the same technical problems.

Therefore, how to manufacture a planetary reducer which relies on planetary gear transmission to overcome the technical defects and can realize a larger transmission ratio becomes a technical problem which needs to be solved by the technical personnel in the field.

SUMMERY OF THE UTILITY MODEL

The utility model provides a planetary reducer, which comprises a ring shell with an annular cross section, wherein the inner side surface of the ring shell is provided with a moving inner gear and a fixed inner gear which have adjacent tooth number differences and are arranged along the circumferential direction of the inner side surface, a moving end disc and a fixed end disc which are respectively arranged outside two end surfaces of the ring shell, and a planet carrier, the moving end disc, the fixed end disc, the moving inner gear and the fixed inner gear enclose a space for accommodating the planet carrier, the planet carrier is provided with a plurality of planet gears which are meshed with the moving internal gear and the fixed internal gear, and also comprises a sun gear which is meshed with the planet gears, a hole is arranged at the center of the fixed end cover, a sun shaft supporting the sun wheel passes through the hole to be connected with a motor shaft, the number of the planetary gears is the difference between the number of the teeth of the fixed internal gear and the number of the teeth of the moving internal gear.

Preferably, the planet carrier comprises a first substrate and a second substrate which are parallel to each other, a plurality of first bulges are arranged on the surface of the first substrate facing the second substrate, the plurality of first bulges and the first substrate are of an integrated structure, at least one first threaded hole which penetrates through the first bulges and the first substrate in sequence is arranged on the surface of each first bulge, a plurality of second bulges are arranged on the surface of the second substrate facing the first substrate, the plurality of second bulges and the second substrate are of an integrated structure, at least one second threaded hole which penetrates through the second bulges and the second substrate in sequence is arranged on the surface of each second bulge, the first bulges and the second bulges are same in number and are in one-to-one correspondence, and the first threaded holes and the second threaded holes are same in number and are in one-to-one correspondence, the first base plate and the second base plate are connected through the screws, the screws are matched with the corresponding first threaded holes and the corresponding second threaded holes, the surfaces of the first base plate and the second base plate are provided with planetary gear shaft holes which are identical in number and in one-to-one correspondence, and the centers of the first base plate and the second base plate are provided with corresponding through holes.

Preferably, the first substrate and the second substrate are both cylinders with the same shape, the cross section of the first protrusion is fan-shaped, the radians of the fan-shaped inner arc surface and the fan-shaped outer arc surface of the first protrusion are both the same as the radians of the cylinder side surfaces of the first substrate, the outer arc surfaces are aligned with the cylinder side surfaces of the first substrate, and the second protrusion is the same as the first protrusion in shape.

Preferably, the number of the first protrusions and the number of the second protrusions are three, three of the first protrusions are uniformly arranged along the circumferential direction of the first substrate, three of the second protrusions are uniformly arranged along the circumferential direction of the second substrate, the number of the planetary gear shaft holes on the first substrate and the second substrate is three, three of the planetary gear shaft holes are uniformly arranged along the circumferential direction of the corresponding first substrate or the corresponding second substrate, one planetary gear shaft hole is provided at an intermediate position between two adjacent first protrusions on the first substrate, and one planetary gear shaft hole is provided at an intermediate position between two adjacent second protrusions on the second substrate.

Preferably, the two ends of a planetary gear shaft for supporting the planetary gear are respectively rotatably connected to the first substrate and the planetary gear shaft hole on the second substrate, the planetary gear mechanism further comprises two deep groove bearings which are respectively sleeved on the planetary gear shaft, one opposite sides of the two deep groove bearings are respectively provided with a hole spring stop for limiting the corresponding deep groove bearing, and one opposite sides of the two deep groove bearings are respectively attached to the surface of the corresponding first substrate or the second substrate.

Preferably, a first ring of steel balls are embedded in the inner side face of the annular shell between the fixed internal gear and the fixed end disc, and a second ring of steel balls are embedded in the inner side face of the annular shell between the moving internal gear and the fixed internal gear.

Preferably, the annular surface of the annular shell is provided with a plurality of third threaded holes, the moving end disc is provided with a plurality of fourth threaded holes corresponding to the third threaded holes one by one, the side surface of the moving internal gear is provided with a plurality of fifth threaded holes, the moving end disc is provided with a plurality of sixth threaded holes corresponding to the fifth threaded holes one by one, the moving end disc further comprises a plurality of screws, one part of the screws can be matched with the corresponding third threaded holes and the corresponding fourth threaded holes to fixedly connect the moving end disc to the annular shell, and the other part of the screws can be matched with the corresponding fifth threaded holes and the corresponding sixth threaded holes to fixedly connect the moving internal gear to the moving end disc.

Preferably, an annular protrusion is arranged on the side surface of the fixed end disc close to the fixed inner gear, a plurality of seventh threaded holes are formed in the side surface of the fixed inner gear, and a plurality of eighth threaded holes which penetrate through the annular protrusion and the fixed end disc and correspond to the seventh threaded holes one by one are formed in the annular protrusion.

Preferably, the fixed end disc is provided with a plurality of ninth threaded holes in the circumferential direction of the periphery of the annular protrusion, the fixed end disc further comprises an annular pressing ring, the pressing ring is provided with a plurality of tenth threaded holes corresponding to the ninth threaded holes, and the pressing ring is located on the periphery of the annular protrusion and arranged between the fixed end disc and the annular shell.

Preferably, when the plurality of planet gears are meshed with the fixed internal gear and the moving internal gear to rotate, the teeth of the planet gears are not in clearance with the teeth of the meshed fixed internal gear and the meshed moving internal gear.

The utility model discloses a planetary reducer has following technological effect:

according to the planetary reducer, due to the fact that the difference of the number of teeth exists between the moving inner gear and the fixed inner gear, the moving inner gear and the fixed inner gear do small relative movement, a relatively large transmission ratio relative to a sun gear which is in input movement is obtained, and then output is achieved through the moving end plate.

Preferably, the planet carrier comprises a first base plate and a second base plate which are arranged in parallel, the first base plate is provided with a first bulge which is integrally manufactured with the first base plate, the second base plate is provided with a second bulge which is integrally manufactured with the second base plate, the first bulge and the second bulge are in one-to-one correspondence, the first bulge penetrates through the first bulge, the first base plate is provided with a first threaded hole, the second bulge and the second base plate are also penetrated through the second bulge, a second threaded hole is formed on the second base plate, and the first base plate and the second base plate are connected together through the corresponding first threaded hole and the second threaded hole by screws to form the planet carrier, based on the arrangement of the first boss and the second boss, when the first threaded hole or the second threaded hole is formed, the bearing capacity of the end face of the first base plate or the end face of the second base plate at the first threaded hole or the second threaded hole can be hardly influenced, and the arrangement of the, the planet carrier is of a split structure, so that the planet carrier is convenient to process and low in cost, the rigidity of the planet carrier is good, and the planet carrier is convenient to process and assemble.

Preferably, the first substrate and the second substrate are both cylindrical and have the same shape, so that the processing is convenient, and the processing can be completed by only using the same model for processing the first substrate and the second substrate. The cross-sectional shapes of the first boss and the second boss are fan-shaped, and the radians of the inner arc surface and the outer arc surface are the same as the radians of the cylindrical side surfaces of the corresponding substrates, so that the processing is convenient, and the appearance is attractive.

Preferably, the number of the planetary gear shaft holes is three, the planetary gear shaft holes are uniformly distributed, the three planetary gears can form a regular triangle, so that the load can be better balanced, and the stability is good.

Preferably, two deep groove bearings are arranged to better support the planet gears.

Preferably, two rings of steel ball bearings are used to balance the forces in the moving gear in six dimensions along the spindle and constrain five other degrees of freedom in addition to rotational motion along the spindle.

Preferably, when the planetary gear is meshed with the fixed internal gear and the moving internal gear to rotate, the teeth of the planetary gear, the teeth of the meshed fixed internal gear and the teeth of the meshed moving internal gear have no clearance, zero backlash rotation can be realized, forward and reverse rotation of the gears can be more accurately returned to the original position, and the transmission precision is higher.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of a planetary reducer according to the present invention;

FIG. 2 is a top view of the first base plate or the second clamping plate of the planet carrier of FIG. 1;

FIG. 3 is a schematic structural view of the toroidal shell of FIG. 1;

FIG. 4 is a schematic structural view of the kinematic end cap of FIG. 1;

FIG. 5 is a schematic structural view of the fixed end cap of FIG. 1;

FIG. 6 is a schematic view of the moving annulus gear of FIG. 1;

FIG. 7 is a schematic structural view of the fixed ring gear of FIG. 1;

fig. 8 is a schematic structural view of the pressing ring in fig. 1.

The reference numerals in fig. 1-8 are as follows:

1 ring shell, 2 moving internal gears, 3 fixed internal gears, 4 moving end plates, 5 fixed end plates, 51 holes, 6 planet carriers, 61 first base plates, 611 first bulges, 612 first threaded holes, 62 second base plates, 621 second bulges, 622 second threaded holes, 7 planet gears, 8 sun gears, 9 screws, 10 planet gear shaft holes, 11 through holes, 12 deep groove bearings, 13 hole spring stops, 14 first circle steel balls, 15 second circle steel balls, 16 third threaded holes, 17 fourth threaded holes, 18 fifth threaded holes, 19 sixth threaded holes, 20 seventh threaded holes, 21 eighth threaded holes, 22 ninth threaded holes, 23 tenth threaded holes, 24 annular bulges and 25 pressing rings.

Detailed Description

In order to make the technical solution of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and the detailed description.

Fig. 1 is a schematic structural diagram of an embodiment of a planetary reducer according to the present invention;

FIG. 2 is a top view of the first base plate or the second clamping plate of the planet carrier of FIG. 1;

FIG. 3 is a schematic structural view of the toroidal shell of FIG. 1;

FIG. 4 is a schematic structural view of the kinematic end cap of FIG. 1;

FIG. 5 is a schematic structural view of the fixed end cap of FIG. 1;

FIG. 6 is a schematic view of the moving annulus gear of FIG. 1;

FIG. 7 is a schematic structural view of the fixed ring gear of FIG. 1;

fig. 8 is a schematic structural view of the pressing ring in fig. 1.

As shown in fig. 1-8, in a specific embodiment, the planetary reducer includes a ring casing 1 having a ring-shaped cross section, a moving internal gear 2 and a fixed internal gear 3, which are adjacent to each other and have a difference in tooth number and are arranged along a circumferential direction of the inner side, a moving end disk 4 and a fixed end disk 5, which are respectively disposed outside two end surfaces of the ring casing 1, a planet carrier 6, a space for accommodating the planet carrier 6 is defined by the moving end disk 4, the fixed end disk 5, the moving internal gear 2 and the fixed internal gear 3, a plurality of planet gears 7, which are engaged with the moving internal gear 2 and the fixed internal gear 3, are mounted on the planet carrier 6, a sun gear 8, which is engaged with the plurality of planet gears 7, a hole 51 is formed in a center of the fixed end disk 5, a sun shaft supporting the sun gear 8 passes through the hole and is connected to a motor shaft, the number of the planet gears 7 is the difference between the number of teeth of the fixed internal gear 3 and the number of teeth of the moving internal gear 2.

According to the planetary reducer, due to the fact that the difference of the number of teeth exists between the moving internal gear 2 and the fixed internal gear 3, the moving internal gear 2 and the fixed internal gear 3 have small relative movement, a relatively large transmission ratio relative to a sun gear 8 which inputs movement is obtained, and then the movement end disc 4 outputs the movement, and therefore the problems that due to the fact that the single-stage planetary gear is used for transmission, the RV cycloid reducer adopted in the prior art is complex in assembly, high in processing cost and the like can be solved, and meanwhile the large transmission ratio is achieved.

In this embodiment, as shown in fig. 1 and fig. 2, the planet carrier 6 includes a first substrate 61 and a second substrate 62 that are parallel to each other, a plurality of first protrusions 611 are disposed on a surface of the first substrate 61 facing the second substrate 62, the plurality of first protrusions 611 and the first substrate 61 are integrated, at least one first threaded hole 612 sequentially penetrating through the first protrusions 611 and the first substrate 61 is disposed on a surface of each first protrusion 611, a plurality of second protrusions 621 are disposed on a surface of the second substrate 62 facing the first substrate 61, the plurality of second protrusions 621 and the second substrate 62 are integrated, at least one second threaded hole 622 sequentially penetrating through the second protrusions 621 and the second substrate 62 is disposed on a surface of each second protrusion 621, the number of the first protrusions 611 is the same as that of the second protrusions 621, the number of the first threaded holes 612 is one-to-one corresponding to the number of the second threaded holes 622, the connecting structure further comprises at least one screw 9, the screw 9 is matched with the corresponding first threaded hole 612 and the corresponding second threaded hole 622 to connect the first base plate 61 with the second base plate 62, the planetary gear shaft holes 10 which are identical in number and correspond to one another are formed in the surfaces of the first base plate 61 and the second base plate 62, and the corresponding through holes 11 are formed in the centers of the first base plate 61 and the second base plate 62.

The planet carrier 6 comprises a first base plate 61 and a second base plate 62 which are arranged in parallel, wherein a first protrusion 611 which is integrally manufactured with the first base plate 61 is arranged on the first base plate 61, a second protrusion 621 which is integrally manufactured with the second base plate 62 is arranged on the second base plate 62, the first protrusion 611 and the second protrusion 621 correspond to each other one by one, a first threaded hole 612 is formed by penetrating through the first protrusion 611 and the first base plate 61, a second threaded hole 622 is formed by penetrating through the second protrusion 621 and the second base plate 62, and the first base plate 61 and the second base plate 62 are connected together by penetrating through the corresponding first threaded hole 612 and the corresponding second threaded hole 622 through a screw 9 to form the planet carrier 6, the arrangement of the boss integrated with the base plate is equivalent to the arrangement of the reinforcing ribs, so that the base plate still has stronger rigidity after being provided with the threaded hole, and meanwhile, the planet carrier is of a split structure, is convenient to process, has lower cost, can ensure that the rigidity of the planetary reducer is better, and is also convenient for processing and assembling.

Further, in this embodiment, as shown in fig. 2, the first substrate 61 and the second substrate 62 are both cylinders with the same shape, the cross-sectional shape of the first protrusion 611 is a sector, the radians of the inner arc surface and the outer arc surface of the sector-shaped first protrusion 611 are both the same as the radians of the cylindrical side surfaces of the first substrate 61, the outer arc surface is aligned with the cylindrical side surfaces of the first substrate 61, and the second protrusion 621 and the first protrusion 611 have the same shape.

The first substrate 61 and the second substrate 62 are both cylindrical and have the same shape, which is convenient for processing, and the processing can be completed by only the same model for processing the first substrate 61 and the second substrate 62. The first boss 611 and the second boss 621 are both fan-shaped in cross section, and the radian of the inner arc surface and the outer arc surface is the same as that of the cylindrical side surface of the corresponding substrate, so that the processing is convenient, and the appearance is attractive.

In this embodiment, as shown in fig. 1 and 2, the number of the first protrusions 611 and the second protrusions 621 is three, three first protrusions 611 are uniformly arranged along the circumferential direction of the first substrate 61, three second protrusions 621 are uniformly arranged along the circumferential direction of the second substrate 62, the number of the planetary gear shaft holes 10 on the first substrate 61 and the second substrate 62 is three, three planetary gear shaft holes 10 are uniformly arranged along the circumferential direction corresponding to the first substrate 61 or the second substrate 62, one planetary gear shaft hole 10 is provided at an intermediate position between two adjacent first protrusions 611 on the first substrate 61, and one planetary gear shaft hole 10 is provided at an intermediate position between two adjacent second protrusions 621 on the second substrate 62.

The number of the planetary gear shaft holes 10 is three, and the three planetary gear shaft holes are uniformly distributed, so that the three planetary gears 7 can form a regular triangle, the load can be better balanced, and the stability is good.

Further, as shown in fig. 1, two ends of the planet shaft for supporting the planet gear 7 are respectively rotatably connected to the planet shaft holes 10 on the first substrate 61 and the second substrate 62, and the planetary gear further comprises two deep groove bearings 12 respectively sleeved on the planet shaft, wherein the opposite sides of the two deep groove bearings 12 are respectively provided with a hole spring stopper 13 for limiting the corresponding deep groove bearing 12, and the opposite sides of the two deep groove bearings 12 are respectively attached to the surfaces of the corresponding first substrate 61 or the second substrate 62.

The arrangement of two deep groove bearings 12 allows better support of the planet gears 7. The hole spring stop 13 can limit the bearing.

In this embodiment, as shown in fig. 1, a first ring of steel balls 14 is embedded in the inner side surface of the annular shell 1 between the fixed internal gear 3 and the fixed end plate 5, and a second ring of steel balls 15 is embedded in the inner side surface of the annular shell 1 between the moving internal gear 2 and the fixed internal gear 3.

Two rings of steel balls are used for supporting so as to balance the stress of the gear 2 in six dimensions along the main shaft and restrain other five degrees of freedom besides the rotary motion along the main shaft.

With reference to fig. 1 to 8, a plurality of third threaded holes 16 are formed in the annular surface of the annular shell 1, a plurality of fourth threaded holes 17 corresponding to the plurality of third threaded holes 16 one by one are formed in the moving end disc 4, a plurality of fifth threaded holes 18 are formed in the side surface of the moving internal gear 2, a plurality of sixth threaded holes 19 corresponding to the plurality of fifth threaded holes 18 one by one are formed in the moving end disc 4, and the moving internal gear 2 further includes a plurality of screws 9, a part of the screws 9 can be matched with the corresponding third threaded holes 16 and the corresponding fourth threaded holes 17 to fixedly connect the moving end disc 4 to the annular shell 1, and the other part of the screws 9 can be matched with the corresponding fifth threaded holes 18 and the corresponding sixth threaded holes 19 to fixedly connect the moving internal gear 2 to the moving end disc 4.

Further, the side surface of the fixed end disc 5, which is close to the fixed internal gear 3, is provided with an annular protrusion 24, the side surface of the fixed internal gear 3 is provided with a plurality of seventh threaded holes 20, and the annular protrusion 24 is provided with a plurality of eighth threaded holes 21 which penetrate through the annular protrusion 24 and the fixed end disc 5 and correspond to the seventh threaded holes 20 one to one.

Furthermore, a plurality of ninth threaded holes 22 are circumferentially formed in the periphery of the annular protrusion 24 on the fixed end disc 5, the fixed end disc further comprises an annular pressing ring 25, a plurality of tenth threaded holes 23 corresponding to the ninth threaded holes 22 are formed in the pressing ring 25, and the pressing ring 25 is located on the periphery of the annular protrusion 24 and is arranged between the fixed end disc 5 and the ring shell 1.

The connection mode can ensure the stable operation of the planetary reducer.

In this embodiment, when the plurality of planetary gears 7 are meshed with the fixed internal gear 3 and the moving internal gear 2 to rotate, no gap is left between the teeth of the planetary gears 7 and the teeth of the meshed fixed internal gear 3 and the meshed moving internal gear 2.

In the normal process of gear intermeshing, a gap exists between two intermeshing teeth, and in the present invention, based on the interference fit concept, a negative gap exists between two intermeshing teeth during design, i.e., the interference fit concept is used, and meanwhile, as known to those skilled in the art, any material has a certain elasticity based on young's modulus of elasticity and hooke's law; based on the design, the elasticity of the ball of the deep groove bearing can be used for offsetting the negative clearance between the two mutually meshed teeth, namely the interference fit amount, so as to ensure the mutual meshing operation without clearance between the two teeth.

When the planetary gear 7 rotates in a meshed mode with the fixed inner gear 3 and the moving inner gear 2, the teeth of the planetary gear 7, the fixed inner gear 3 and the moving inner gear 2 which are meshed with each other are free of gaps, zero-backlash rotation can be achieved, forward and reverse rotation of the gears can be enabled to return to the original position more accurately, and transmission precision is higher.

The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the protection scope of the present invention is defined by the claims. Various modifications and equivalent arrangements of the disclosed embodiments will be apparent to those skilled in the art and may be made without departing from the spirit and scope of the present invention.

Claims (10)

1. A planetary reducer is characterized by comprising an annular shell with an annular cross section, a moving internal gear and a fixed internal gear which are adjacent and have tooth number difference and are arranged along the circumferential direction of the inner side surface, a moving end disc and a fixed end disc which are respectively arranged outside two end surfaces of the annular shell, and a planet carrier, the moving end disc, the fixed end disc, the moving inner gear and the fixed inner gear enclose a space for accommodating the planet carrier, the planet carrier is provided with a plurality of planet gears which are meshed with the moving internal gear and the fixed internal gear, and also comprises a sun gear which is meshed with the planet gears, a hole is arranged at the center of the fixed end cover, a sun shaft supporting the sun wheel passes through the hole to be connected with a motor shaft, the number of the planetary gears is the difference between the number of the teeth of the fixed internal gear and the number of the teeth of the moving internal gear.

2. The planetary reducer according to claim 1, wherein the planetary carrier includes a first base plate and a second base plate parallel to each other, a surface of the first base plate facing the second base plate is provided with a plurality of first protrusions, the plurality of first protrusions and the first base plate are integrated into a single structure, a surface of each of the first protrusions is provided with at least one first threaded hole penetrating the first protrusion and the first base plate in sequence, a surface of the second base plate facing the first base plate is provided with a plurality of second protrusions, the plurality of second protrusions and the second base plate are integrated into a single structure, a surface of each of the second protrusions is provided with at least one second threaded hole penetrating the second protrusion and the second base plate in sequence, the first protrusions and the second protrusions are provided in the same number and correspond one to one, the first threaded holes and the second threaded holes are provided in the same number and correspond one to one, the first base plate and the second base plate are connected through the screws, the screws are matched with the corresponding first threaded holes and the corresponding second threaded holes, the surfaces of the first base plate and the second base plate are provided with planetary gear shaft holes which are identical in number and in one-to-one correspondence, and the centers of the first base plate and the second base plate are provided with corresponding through holes.

3. The planetary reducer according to claim 2, wherein the first base plate and the second base plate are both cylinders having the same shape, the cross-sectional shape of the first protrusion is a sector, the arcs of the inner arc surface and the outer arc surface of the sector of the first protrusion are both the same as the arc of the cylindrical side surface of the first base plate, the outer arc surface is aligned with the cylindrical side surface of the first base plate, and the second protrusion and the first protrusion have the same shape.

4. The planetary gear reducer according to claim 3, wherein the number of the first protrusions and the number of the second protrusions are three, three of the first protrusions are evenly arranged in the circumferential direction of the first base plate, three of the second protrusions are evenly arranged in the circumferential direction of the second base plate, the number of the planetary gear shaft holes in the first base plate and the second base plate is three, three of the planetary gear shaft holes are evenly arranged in the circumferential direction of the corresponding first base plate or the corresponding second base plate, one of the planetary gear shaft holes is provided at an intermediate position between adjacent two of the first protrusions in the first base plate, and one of the planetary gear shaft holes is provided at an intermediate position between adjacent two of the second protrusions in the second base plate.

5. The planetary reducer according to claim 4, wherein two ends of a planetary gear shaft for supporting the planetary gear are rotatably connected to the planetary gear shaft holes of the first base plate and the second base plate, respectively, and further comprising two deep groove bearings respectively sleeved on the planetary gear shaft, wherein a hole spring stop for limiting the corresponding deep groove bearing is disposed at an opposite side of each deep groove bearing, and a side facing away from each deep groove bearing is attached to a surface of the corresponding first base plate or the corresponding second base plate.

6. The planetary reducer according to claim 1, wherein a first ring of steel balls is embedded in an inner side surface of the annular shell between the fixed internal gear and the fixed end disc, and a second ring of steel balls is embedded in an inner side surface of the annular shell between the moving internal gear and the fixed internal gear.

7. The planetary reducer according to claim 1, wherein a plurality of third threaded holes are formed in an annular surface of the ring casing, a plurality of fourth threaded holes corresponding to the plurality of third threaded holes one by one are formed in the moving end plate, a plurality of fifth threaded holes are formed in a side surface of the moving internal gear, a plurality of sixth threaded holes corresponding to the plurality of fifth threaded holes one by one are formed in the moving end plate, and the planetary reducer further comprises a plurality of screws, wherein a part of the screws can be matched with the corresponding third threaded holes and the corresponding fourth threaded holes to fixedly connect the moving end plate to the ring casing, and another part of the screws can be matched with the corresponding fifth threaded holes and the corresponding sixth threaded holes to fixedly connect the moving internal gear to the moving end plate.

8. The planetary reducer according to claim 1, wherein an annular protrusion is formed on a side surface of the fixed end disc close to the fixed internal gear, a plurality of seventh threaded holes are formed on a side surface of the fixed internal gear, and a plurality of eighth threaded holes corresponding to the plurality of seventh threaded holes are formed in the annular protrusion and the fixed end disc in a one-to-one correspondence.

9. The planetary reducer according to claim 8, wherein a plurality of ninth threaded holes are circumferentially formed in an outer periphery of the annular protrusion on the fixed end disc, and the planetary reducer further comprises an annular pressing ring, a plurality of tenth threaded holes corresponding to the ninth threaded holes are formed in the pressing ring, and the pressing ring is located on the outer periphery of the annular protrusion and is disposed between the fixed end disc and the annular shell.

10. The planetary reducer according to claim 1, wherein when the plurality of planetary gears are engaged with the fixed internal gear and the moving internal gear for rotation, teeth of the planetary gears are free from gaps between the teeth of the engaged fixed internal gear and the teeth of the engaged moving internal gear.

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