CN218216826U - Speed reducer - Google Patents

Abstract

The utility model relates to a speed reducer technical field provides a speed reducer, include: the device comprises a shell, a motor with a rotor and a stator, a rotating shaft, a speed reducing mechanism for reducing the rotating speed and an output end cover; the stator is fixedly connected to the shell; the rotating shaft is arranged on the rotor, and the rotor and the rotating shaft respectively rotate coaxially around the axis of the rotating shaft; the output end cover is provided with an assembly hole, the rotating shaft penetrates through the assembly hole, and a first bearing sleeved on the rotating shaft is arranged in the assembly hole; the rotating shaft is in transmission connection with the output end cover through the speed reduction mechanism.

Description

Speed reducer

Technical Field

The utility model belongs to the technical field of the speed reducer, concretely relates to speed reducer.

Background

In modern electromechanical devices, a speed reducer is often used to reduce the rotation speed of a rotating member to increase torque. In order to facilitate the output of the external power by the speed reducer, an output disc is usually adopted to output the external power. Typically, a motor drives the input shaft to rotate, which drives the output disc to rotate.

In the prior art, the output disc can refer to an external power output mode: (Chinese Utility model patent; publication No. CN215444985U; subject name: a planetary reducer; publication No. 2022.01.07). However, such an output disk 6 is located in the axial direction of the input shaft 1, and the output disk 6 occupies a space in the axial direction of the input shaft 1, increasing the space of the speed reducer in the axial direction of the input shaft 1.

Regarding the output disk external power output mode, reference may also be made to: (Chinese invention patent; publication No. CN109899456A; subject name: a precision transmission reducer; published: 2019.06.18). The output disc 6 is located in the axial direction of the input gear shaft 1, and the output disc 6 also occupies the space of the input gear shaft 1 in the axial direction, so that the space of the speed reducer in the axial direction of the input gear shaft 1 is increased.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a speed reducer to output disc occupies the technical problem in input shaft axial direction space in the speed reducer that exists among the solution prior art.

In order to achieve the above object, the utility model adopts the following technical scheme: provided is a speed reducer, comprising: the device comprises a shell, a motor with a rotor and a stator, a rotating shaft, a speed reducing mechanism for reducing the rotating speed and an output end cover; the stator is fixedly connected to the shell; the rotating shaft is arranged on the rotor, and the rotor and the rotating shaft respectively rotate coaxially around the axis of the rotating shaft; the output end cover is provided with an assembly hole, the rotating shaft penetrates through the assembly hole, and a first bearing sleeved on the rotating shaft is arranged in the assembly hole; the rotating shaft is in transmission connection with the output end cover through the speed reduction mechanism.

Further, the mover has an annular flange thereon coaxial with the rotary shaft; the shell is provided with a first mounting hole coaxial with the rotating shaft, and the annular flange is inserted into the first mounting hole; and a second bearing sleeved on the annular flange is arranged in the first mounting hole.

Furthermore, a first tooth part is convexly formed on the outer surface of the rotating shaft, and the cross section of the rotating shaft is in a gear shape; a first ring body is arranged in the first bearing; the inner hole of the first ring body is matched with the rotating shaft in shape, and the outer diameter of the first ring body is matched with the inner diameter of the first bearing.

Further, the reduction mechanism includes: the fixed inner gear ring is fixedly connected to the shell, a plurality of second tooth parts are annularly arranged on the inner wall of the fixed inner gear ring, a plurality of third tooth parts are annularly arranged on the inner wall of the rotary inner gear ring, the first gear, the second gear arranged on the first gear and the rotating table; the fixed inner gear ring is sleeved on the outer side of the rotating shaft, and the rotating shaft and the inner wall of the fixed inner gear ring are arranged at intervals; the rotary inner gear ring is sleeved on the outer side of the rotating shaft, and the rotating shaft and the inner wall of the rotary inner gear ring are arranged at intervals; the number of the first gears and the number of the second gears are respectively multiple, and the first gears and the second gears are arranged in a one-to-one correspondence manner; the fixed inner gear ring and the rotating shaft are coaxially arranged, the axis of each first gear and the axis of each second gear are respectively arranged in parallel with the rotating shaft, and each first gear and the corresponding second gear are coaxially arranged; each first gear is respectively positioned between the fixed inner gear ring and the rotating shaft and is respectively meshed with the first tooth part of the rotating shaft and the second tooth part of the fixed inner gear ring; each second gear is respectively positioned between the rotary inner gear ring and the rotating shaft and is respectively meshed with a third tooth part of the rotary inner gear ring; the output end cover is connected on the rotary type inner gear ring.

Further, the speed reduction mechanism further includes: a rotating table; each second gear is rotatably arranged on the rotating table around the axis of the second gear.

Further, a clamping groove is formed in the rotary inner gear ring, and the output end cover is provided with a boss inserted into the clamping groove.

Furthermore, the number of the clamping grooves is multiple, and the number of the bosses is multiple; the clamping grooves and the bosses are arranged in a one-to-one correspondence mode.

Furthermore, a through hole is formed in the rotating platform, the rotating shaft penetrates through the through hole, and the rotating shaft and the inner wall of the through hole are arranged at intervals.

Further, the first gear and the second gear are integrally formed.

Further, the method also comprises the following steps: and the encoder is arranged on the shell and positioned on the outer side of one end of the rotating shaft.

The utility model provides a speed reducer's beneficial effect lies in: compared with the prior art, the speed reducer provided by the utility model has the advantages that the stator of the motor is arranged on the shell, the stator of the motor and the rotor of the motor are matched to drive the rotor to rotate, and the rotating shaft is arranged on the rotor; when the rotor rotates, the rotor drives the rotating shaft to rotate, and the rotor and the rotating shaft rotate around the axis of the rotating shaft respectively; the output end cover is provided with an assembly hole, the rotating shaft penetrates through the assembly hole on the output end cover, and a first bearing is arranged between the rotating shaft and the inner wall of the assembly hole (wherein the first bearing can be directly or indirectly sleeved on the rotating shaft), so that the rotating shaft and the output end cover can rotate relatively; the rotating shaft penetrates through the assembly hole in the output end cover, so that the output end cover is prevented from occupying the space in the axial direction of the rotating shaft, the space at the outer side of the rotating shaft in the axial direction is greatly saved, and the length of the speed reducer in the axial direction of the rotating shaft is shortened; the rotating shaft is in transmission connection with the output end cover through a speed reduction mechanism; when the rotating shaft drives the output end cover to rotate through the rotating speed reducing mechanism, the rotating speed of the rotating shaft is greater than that of the output end cover. In addition, power generated by the rotation of the rotor of the motor is transmitted to the output end cover after passing through the rotating shaft and the rotating speed reducing mechanism in sequence.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a schematic perspective view of a speed reducer provided in an embodiment of the present invention;

fig. 2 is a schematic front view of a speed reducer provided in an embodiment of the present invention;

FIG. 3 isbase:Sub>A schematic sectional view taken along line A-A of FIG. 2;

fig. 4 is a schematic perspective view of a speed reducer (hidden output end cover) according to an embodiment of the present invention;

fig. 5 is a schematic perspective view of a speed reducer (with an output end cover and a turntable hidden) according to an embodiment of the present invention;

fig. 6 is a schematic perspective view of a speed reducer (with hidden output end cover, rotating table and rotating ring gear) provided in an embodiment of the present invention;

fig. 7 is a first perspective view illustrating the cooperation of the rotating shaft, the fixed inner gear ring and the first gear according to the embodiment of the present invention;

fig. 8 is a perspective view schematically showing the cooperation of the rotating shaft, the fixed inner gear ring and the first gear according to an embodiment of the present invention;

fig. 9 is a schematic perspective view of an output end cap according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

11-a housing; 12-an output end cap; 121-assembly holes; 122-a boss; 2, a motor; 21-a mover; 211-annular flange; 22-a stator; 31-a rotating shaft; 32-a first gear; 33-a second gear; 34-a rotating table; 41-a first bearing; 42-a second bearing; 51-a first ring body; 52-a second ring member; 61-fixed inner gear ring; 62-a rotating ring gear; 621-card slot; 7-coder.

Detailed Description

In order to make the technical problem, technical solution and beneficial effects to be solved by the present invention more clearly understood, the following description is made in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It should be noted that in the description of the embodiments of the present application, "/" indicates "or" means, for example, a/B may indicate a or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. Wherein, A and B can be singular or plural respectively.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1 to 9, the speed reducer of the present invention will now be described. The speed reducer includes: a housing 11, a motor 2 having a mover 21 and a stator 22, a rotating shaft 31, a speed reducing mechanism for reducing a rotating speed, and an output cover 12; the stator 22 is fixedly connected to the housing 11; the rotary shaft 31 is arranged on the mover 21, and the mover 21 and the rotary shaft 31 rotate coaxially around the axis of the rotary shaft 31, respectively; the output end cover 12 is provided with an assembly hole 121, the rotating shaft 31 penetrates through the assembly hole 121, and a first bearing 41 sleeved on the rotating shaft 31 is arranged in the assembly hole 121; the rotating shaft 31 is in transmission connection with the output end cover 12 through a speed reducing mechanism.

In this way, the stator 22 of the motor 2 is arranged on the housing 11, the stator 22 of the motor 2 and the mover 21 of the motor 2 are matched to drive the mover 21 to rotate, and the rotating shaft 31 is arranged on the mover 21; when the rotor 21 rotates, the rotor 21 drives the rotating shaft 31 to rotate, and both the rotor 21 and the rotating shaft 31 rotate around the axis of the rotating shaft 31 respectively; an assembly hole 121 is formed in the output end cover 12, the rotating shaft 31 penetrates through the assembly hole 121 formed in the output end cover 12, and a first bearing 41 is arranged between the rotating shaft 31 and the inner wall of the assembly hole 121 (wherein, the first bearing 41 can be directly or indirectly sleeved on the rotating shaft 31), so that the rotating shaft 31 and the output end cover 12 can rotate relatively; because the rotating shaft 31 penetrates through the assembly hole 121 on the output end cover 12, the output end cover 12 is prevented from occupying the space in the axial direction of the rotating shaft 31, the space on the outer side of the rotating shaft 31 in the axial direction is greatly saved, and the length of the speed reducer in the axial direction of the rotating shaft 31 is shortened; the rotating shaft 31 is in transmission connection with the output end cover 12 through a speed reduction mechanism; when the rotating shaft 31 drives the output end cover 12 to rotate through the speed reduction mechanism, the rotating speed of the rotating shaft 31 is greater than that of the output end cover 12. Further, power generated by the rotation of the mover 21 of the motor 2 passes through the rotating shaft 31 and the reduction mechanism in order and is transmitted to the output cover 12.

In one embodiment, the housing 11 is a metal piece.

In one embodiment, the electric machine 2 is a dc motor.

In one embodiment, when the rotating shaft 31 is in transmission connection with the output end cover 12 through the rotational speed reduction mechanism, the rotational speed of the rotating shaft 31 is greater than that of the output end cover 12. In one embodiment, the speed reduction mechanism includes: a driving gear arranged on the rotating shaft 31, a driven gear arranged on the output end cover 12, and a transmission gear; the transmission gear is meshed with the driving gear and the driven gear respectively, and the diameter of the driving gear is smaller than that of the driven gear; after the rotation speed of the rotating shaft 31 passes through the driving gear, the transmission gear, and the driven gear, the rotation speed of the driven gear is reduced relative to the rotation speed of the rotating shaft 31.

In one embodiment, the output end cap 12 is disk-shaped. In one embodiment, the output end cap 12 is disposed perpendicular to the shaft 31.

In one embodiment, the shaft 31 is in direct drive connection with the output end cap 12.

In one embodiment, any of the "bearings" in this application is annular. In one embodiment, any one of the "bearings" in the present application includes: the inner ring comprises an inner ring body, an outer ring body sleeved on the outer side of the inner ring body, and balls (or rollers) clamped between the inner ring body and the outer ring body. In one embodiment, any one of the "bearings" in this application is: either a self-aligning ball bearing or a self-aligning roller bearing.

In one embodiment, the shaft 31 is axisymmetric with respect to the axis of the shaft 31.

Further, referring to fig. 1 to 9, as a specific embodiment of the speed reducer provided by the present invention, the mover 21 has an annular flange 211 coaxial with the rotating shaft 31; a first mounting hole coaxial with the rotating shaft 31 is formed in the shell 11, and the annular flange 211 is inserted into the first mounting hole; the first mounting hole is provided with a second bearing 42 which is sleeved on the annular flange 211. In this way, after the annular flange 211 on the mover 21 is inserted into the first mounting hole, the second bearing 42 is disposed between the annular flange 211 and the inner wall of the first mounting hole, so as to facilitate the rotation of the mover 21 relative to the housing 11.

Further, referring to fig. 1 to 9, as a specific embodiment of the speed reducer of the present invention, a first tooth portion is convexly formed on an outer surface of the rotating shaft 31, and a cross section of the rotating shaft 31 is in a gear shape; a first ring body 51 is arranged in the first bearing 41; the inner hole of the first ring body 51 is matched with the shape of the rotating shaft 31, and the outer diameter of the first ring body 51 is matched with the inner diameter of the first bearing 41. Therefore, the outer surface of the rotating shaft 31 is provided with a tooth part, so that the rotating shaft 31 is convenient to be matched with other structures and other gears for transmission; the rotating shaft 31 is sleeved with a first ring body 51, the shape of the inner wall of the first ring body 51 is matched with the shape of the outer surface of the rotating shaft 31, and the outer wall of the first ring body 51 is annular, so that the first ring body 51 is matched with the inner wall of the first bearing 41 conveniently.

In one embodiment, the mover 21 has a non-circular positioning hole, the shaft 31 is inserted into the positioning hole, a second ring 52 is disposed in the positioning hole and sleeved on the shaft 31, an outer edge of the second ring 52 fits the positioning hole, and an inner edge of the second ring 52 fits the shaft 31. In one embodiment, the shaft 31 is directly fixed to the mover 21.

Further, referring to fig. 1 to 9, as an embodiment of the speed reducer of the present invention, the speed reducing mechanism includes: a fixed ring gear 61 fixedly connected to the housing 11 and having a plurality of second teeth on the inner wall, a rotary ring gear 62 having a plurality of third teeth on the inner wall, a first gear 32, a second gear 33 disposed on the first gear 32, and a rotating table 34; the fixed inner gear ring 61 is sleeved on the outer side of the rotating shaft 31, and the rotating shaft 31 and the inner wall of the fixed inner gear ring 61 are arranged at intervals; the rotary inner gear ring 62 is sleeved on the outer side of the rotating shaft 31, and the rotating shaft 31 and the inner wall of the rotary inner gear ring 62 are arranged at intervals; the number of the first gears 32 and the second gears 33 is respectively multiple, and the multiple first gears 32 and the multiple second gears 33 are arranged in a one-to-one correspondence manner; the fixed annular gear 61 is coaxially arranged with the rotating shaft 31, the axis of each first gear 32 and the axis of each second gear 33 are respectively arranged in parallel with the rotating shaft 31, and the first gears 32 and the corresponding second gears 33 are coaxially arranged; each first gear 32 is respectively positioned between the fixed inner gear ring 61 and the rotating shaft 31, and each first gear 32 is respectively meshed with the first tooth part of the rotating shaft 31 and the second tooth part of the fixed inner gear ring 61; each second gear 33 is respectively positioned between the rotary inner gear ring 62 and the rotating shaft 31, and each second gear 33 is respectively meshed with the third tooth part of the rotary inner gear ring 62; the output end cap 12 is attached to a rotating ring gear 62. Thus, the fixed inner gear ring 61 is sleeved outside the rotating shaft 31, the fixed inner gear ring 61 is fixedly connected to the shell 11, the fixed inner gear ring 61 and the rotating shaft 31 are arranged at intervals, the first gear 32 is arranged between the fixed inner gear ring 61 and the rotating shaft 31, one end of the first gear 32 is meshed with the first tooth part on the rotating shaft 31, and the other end of the first gear 32 is meshed with the second tooth part on the fixed inner gear ring 61, so that when the rotating shaft 31 drives the first gear 32 to rotate, the first gear 32 can roll along the inner wall of the fixed inner gear ring 61 due to the fixed inner gear ring 61 being fixedly connected to the shell 11; when the first gear 32 rotates, the second gear 33 is driven to rotate synchronously; the outer side of the rotating shaft 31 is sleeved with a rotary inner gear ring 62, the rotary inner gear ring 62 and the rotating shaft 31 are arranged at intervals, and the third gear is meshed with a third tooth part on the rotary inner gear ring 62, so that when the rotating shaft 31 drives the first gear 32 to rotate, the first gear 32 drives the second gear 33 to rotate, the second gear 33 drives the rotary inner gear ring 62 to rotate, and the output end cover 12 is connected to the rotary inner gear ring 62, so that the rotary inner gear ring 62 can drive the output end cover 12 to rotate when rotating.

In one embodiment, the fixed ring gear 61 is ring-shaped, and teeth are provided on an inner wall of the fixed ring gear 61.

In one embodiment, the rotating inner ring gear 62 is annular and teeth are provided on the inner wall of the rotating inner ring gear 62.

In one embodiment, the fixed ring gear 61, the rotating ring gear 62, and the rotating shaft 31 are coaxially disposed.

In one embodiment, the number of the first gears 32 is three, and the number of the second gears 33 is three. In one embodiment, the three first gears 32 are arranged at regular intervals and the three second gears 33 are arranged at regular intervals in the circumferential direction of the rotary shaft 31.

In one embodiment, the second tooth portions are uniformly routed along the fixed ring gear 61.

In one embodiment, the third teeth are evenly distributed along the rotatable ring gear 62.

Further, referring to fig. 1 to 9, as an embodiment of the speed reducer of the present invention, the speed reducing mechanism further includes: a rotating table 34; each second gear 33 is provided on the rotating table 34 to rotate about the axis of the second gear 33. In this manner, the second gears 33 are respectively provided on the rotating table 34 so as to be rotatable about the second gear 33 axis, so that the plurality of second gears 33 can be kept stable in relative position by the rotating table 34.

Further, referring to fig. 1 to 9, as a specific embodiment of the speed reducer of the present invention, the rotary ring gear 62 has a clamping groove 621, and the output end cap 12 has a boss 122 inserted into the clamping groove 621. In this way, the boss 122 on the output end cap 12 is clamped in the clamping groove 621 on the rotary annular gear 62, so as to facilitate the synchronous rotation between the output end cap 12 and the rotary annular gear 62.

Further, referring to fig. 1 to 9, as a specific embodiment of the speed reducer of the present invention, the number of the card slots 621 is plural, and the number of the bosses 122 is plural; the plurality of card slots 621 and the plurality of bosses 122 are provided in one-to-one correspondence. Thus, the engagement of the plurality of locking slots 621 and the plurality of bosses 122 can make the transmission connection between the rotating ring gear 62 and the output end cap 12 more secure.

Further, please refer to fig. 1 to fig. 9, as a specific embodiment of the present invention, a through hole is opened on the rotating platform 34, the rotating shaft 31 is disposed in the through hole, and the rotating shaft 31 and the inner wall of the through hole are spaced. Therefore, the rotating shaft 31 penetrates through the through hole on the rotating platform 34, so that the rotating platform 34 can be sleeved on the outer side of the rotating shaft 31, and the occupied space is saved.

Further, referring to fig. 1 to 9, as a specific embodiment of the speed reducer of the present invention, the first gear 32 and the second gear 33 are integrally formed. In this way, the first gear 32 and the second gear 33 are more robust.

Further, please refer to fig. 1 to fig. 9, which are specific embodiments of the speed reducer of the present invention, further comprising: and an encoder 7 disposed on the housing 11 and located outside one end of the rotating shaft 31. In this manner, the rotational state of the rotary shaft 31 can be detected by the encoder 7.

With regard to: speed reducer: the speed reducer is an independent part consisting of gear transmission, worm transmission and gear-worm transmission which are enclosed in a rigid shell, and is commonly used as a speed reduction transmission device between a prime mover and a working machine. The function of matching the rotational speed and transmitting torque between the prime mover and the working machine or actuator.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and replacements can be made without departing from the technical principle of the present invention, and these modifications and replacements should also be regarded as the protection scope of the present invention.

Claims (10)

1. A speed reducer, characterized by comprising: the motor comprises a shell (11), a motor (2) with a rotor (21) and a stator (22), a rotating shaft (31), a speed reducing mechanism for reducing the rotating speed and an output end cover (12); the stator (22) is fixedly connected to the shell (11); the rotating shaft (31) is arranged on the rotor (21), and the rotor (21) and the rotating shaft (31) rotate coaxially around the axis of the rotating shaft (31) respectively; an assembly hole (121) is formed in the output end cover (12), the rotating shaft (31) penetrates through the assembly hole (121), and a first bearing (41) sleeved on the rotating shaft (31) is arranged in the assembly hole (121); the rotating shaft (31) is in transmission connection with the output end cover (12) through the speed reducing mechanism.

2. A reducer according to claim 1, wherein the mover (21) has thereon an annular flange (211) coaxial with the rotary shaft (31); the shell (11) is provided with a first mounting hole coaxial with the rotating shaft (31), and the annular flange (211) is inserted into the first mounting hole; and a second bearing (42) sleeved on the annular flange (211) is arranged in the first mounting hole.

3. The reducer according to claim 1, wherein a first tooth portion is formed on an outer surface of the rotating shaft (31) in a protruding manner, and a cross section of the rotating shaft (31) is in a gear shape; a first ring body (51) is arranged in the first bearing (41); the inner hole of the first ring body (51) is matched with the rotating shaft (31) in shape, and the outer diameter of the first ring body (51) is matched with the inner diameter of the first bearing (41).

4. A reducer according to claim 3, wherein the speed reduction mechanism comprises: a fixed inner gear ring (61) which is fixedly connected to the shell (11) and provided with a plurality of second tooth parts on the inner wall in a surrounding manner, a rotary inner gear ring (62) provided with a plurality of third tooth parts on the inner wall in a surrounding manner, a first gear (32), a second gear (33) arranged on the first gear (32) and a rotating table (34); the fixed inner gear ring (61) is sleeved on the outer side of the rotating shaft (31), and the rotating shaft (31) and the inner wall of the fixed inner gear ring (61) are arranged at intervals; the rotary type inner gear ring (62) is sleeved on the outer side of the rotating shaft (31), and the rotating shaft (31) and the inner wall of the rotary type inner gear ring (62) are arranged at intervals; the number of the first gears (32) and the second gears (33) is multiple, and the first gears (32) and the second gears (33) are arranged in a one-to-one correspondence manner; the fixed inner gear ring (61) and the rotating shaft (31) are coaxially arranged, the axis of each first gear (32) and the axis of each second gear (33) are respectively arranged in parallel with the rotating shaft (31), and each first gear (32) and the corresponding second gear (33) are coaxially arranged; each first gear (32) is respectively positioned between the fixed inner gear ring (61) and the rotating shaft (31), and each first gear (32) is respectively meshed with a first tooth part of the rotating shaft (31) and a second tooth part of the fixed inner gear ring (61); each second gear (33) is positioned between the rotary inner gear ring (62) and the rotating shaft (31), and each second gear (33) is meshed with a third tooth part of the rotary inner gear ring (62); the output end cover (12) is connected to the rotary inner gear ring (62).

5. The speed reducer of claim 4, wherein the speed reduction mechanism further comprises: a rotating table (34); each of the second gears (33) is provided on the rotating table (34) so as to rotate about the axis of the second gear (33).

6. The reducer according to claim 5, wherein the rotary inner gear ring (62) is provided with a clamping groove (621), and the output end cover (12) is provided with a boss (122) inserted in the clamping groove (621).

7. The reducer according to claim 6, wherein the number of the card slots (621) is plural, and the number of the bosses (122) is plural; the clamping grooves (621) and the bosses (122) are arranged in a one-to-one correspondence mode.

8. The reducer according to claim 5, wherein the rotating table (34) is provided with a through hole, the rotating shaft (31) is arranged in the through hole in a penetrating manner, and the rotating shaft (31) and the inner wall of the through hole are arranged at intervals.

9. A reducer according to claim 4, in which the first gear (32) and the second gear (33) are integrally formed.

10. The speed reducer according to any one of claims 1 to 9, further comprising: and the encoder (7) is arranged on the shell (11) and positioned outside one end of the rotating shaft (31).

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