Two-stage gear ring output planetary reducer

Abstract

The invention relates to a two-stage gear ring output planetary reducer which comprises a sun gear, a planetary gear, a fixed seat and a movable gear ring. The fixing base is provided with a first inner hole, the first inner hole is provided with first transmission teeth in the circumferential direction, and the planetary gear is meshed between the sun gear and the first transmission teeth. The movable gear ring is rotatably arranged on the fixed seat, second transmission teeth are arranged on the inner side of the movable gear ring in the circumferential direction, and the planetary gear is further meshed with the second transmission teeth; the sun gear is used for driving the planetary gear to revolve around the center line of the sun gear when being driven to rotate, so that the planetary gear drives the movable gear ring to rotate around the center line of the sun gear through the second transmission gear. According to the technical scheme, the axial length of the planetary reducer can be reduced, the size can be saved, the cost can be reduced, the reduction ratio can be increased, and large-torque output can be achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of speed reducer, in particular to a two-stage gear ring output planetary reducer. BACKGROUND

[0002] The conventional large speed ratio planetary reducer in the prior art generally needs to be achieved through several levels of series connection, wherein the planetary gears of each level of speed reduction mechanism need to be equipped with a planetary gear mounting rack to facilitate the installation of each level of planetary gear. For example, for a two-stage planetary reducer, it has a first planetary speed reduction structure and a second planetary speed reduction structure connected in series, the first planetary speed reduction structure has a first planetary gear mounting rack, the second planetary speed reduction structure has a second planetary gear mounting rack, and the first planetary gear mounting rack and the second planetary gear mounting rack are sequentially assembled in the axial direction. This kind of assembly mode will increase the length of the speed reducer in the axial direction, so it is necessary to solve this problem. SUMMARY

[0003] Therefore, the present application provides a two-stage gear ring output planetary reducer, which mainly solves the technical problem of how to reduce the axial length of the speed reducer.

[0004] To achieve the above-mentioned purpose, the present application mainly provides the following technical scheme:

[0005] The embodiment of the present application provides a two-stage gear ring output planetary reducer, which comprises a sun gear, a planetary gear, a fixed seat and a movable gear ring.

[0006] The fixed seat has a first inner hole, the first inner hole has a first transmission gear along the circumferential direction, and the planetary gear is engaged between the sun gear and the first transmission gear; the movable gear ring is rotatably arranged on the fixed seat, the inner side of the movable gear ring has a second transmission gear along the circumferential direction, and the planetary gear is also engaged with the second transmission gear.

[0007] The sun gear is used to drive the planetary gear to revolve around the center line of the sun gear when the sun gear is driven to rotate, so that the planetary gear drives the movable gear ring to rotate around the center line of the sun gear through the second transmission gear.

[0008] In some embodiments, the first transmission gear and the second transmission gear are sequentially arranged along the axial direction of the sun gear.

[0009] The planetary gear has a first segment and a second segment along the axial direction of the sun gear; the planetary gear is engaged between the sun gear and the first transmission gear through the first segment, and is engaged with the second transmission gear through the second segment.

[0010] In some embodiments, the secondary ring gear output planetary reducer further comprises a planetary mounting frame;

[0011] The planetary gears are rotatably mounted on the planetary mounting frame;

[0012] The secondary ring gear output planetary reducer further comprises a driving shaft, the driving shaft is fixedly connected with the sun gear, and the driving shaft is used to drive the sun gear to rotate;

[0013] The first inner hole of the fixed seat has a light hole section, a first bearing is sleeved between the planetary mounting frame and the light hole section, the light hole section supports the outer ring of the planetary mounting frame through the first bearing, and the driving shaft and the planetary mounting frame are sleeved with a second bearing, and the driving shaft supports the inner ring of the planetary mounting frame through the second bearing.

[0014] In some embodiments, the movable ring gear has an annular protrusion extending in the axial direction, the planetary mounting frame is located on the inner side of the movable ring gear, and a third bearing is sleeved between the annular protrusion and the planetary mounting frame;

[0015] The third bearing and the first bearing are sequentially arranged along the center line of the sun gear.

[0016] In some embodiments, the planetary mounting frame has a two-half structure, and the two halves of the planetary mounting frame are detachably connected;

[0017] The planetary gears are rotatably mounted between the two halves of the planetary mounting frame.

[0018] In some embodiments, the secondary ring gear output planetary reducer outputs power through the movable ring gear.

[0019] In some embodiments, the movable ring gear is located in the first inner hole, the first inner hole has a support hole section, a first annular groove is directly arranged on the inner wall of the support hole section, a second annular groove is directly arranged on the outer wall of the movable ring gear, the first annular groove is opposite to the second annular groove, and a roller mounting space is formed between the first annular groove and the second annular groove;

[0020] A roller is mounted in the roller mounting space, and a part of the roller is located in the first annular groove and another part of the roller is located in the second annular groove; and the fixed seat supports the movable ring gear through the roller.

[0021] In some embodiments, the outer edge of the movable ring gear is provided with a notch, the notch is in communication with the first annular groove, and the roller is used to enter and exit the roller mounting space through the notch.

[0022] The gap is provided with a blocking piece, which is detachable.

[0023] In some embodiments, the blocking piece has a first surface, wherein when the blocking piece is blocked at the gap, the first surface constitutes part of the groove wall of the first ring groove.

[0024] In some embodiments, the two-stage gear ring output planetary reducer further comprises a stator seat, a stator, a rotor and a connecting piece;

[0025] The stator seat is fixedly connected with the fixed seat, the stator seat has a second inner hole, and the end surface of the stator seat has an annular groove, the annular groove has opposite first and second annular groove walls, the first annular groove wall is closer to the second inner hole than the second annular groove wall, and the stator sleeve is fixed on the first annular groove wall;

[0026] The middle part of the connecting piece has a protruding column, the protruding column is sleeved in the second inner hole and rotationally fitted, the outer edge of the connecting piece is fixedly connected with the rotor, and the rotor is located in the annular groove and sleeved between the stator and the second annular groove wall;

[0027] The connecting piece is drivingly connected with the sun gear, and the stator is used to drive the rotor to rotate, so that the rotor drives the sun gear to rotate through the connecting piece.

[0028] Through the above technical solution, the two-stage gear ring output planetary reducer has at least the following beneficial effects:

[0029] 1. The sun gear, the planetary gear and the first transmission gear cooperatively form a primary reduction structure, and the planetary gear and the second transmission gear cooperatively form a secondary reduction structure, the primary reduction structure and the secondary reduction structure share the planetary gear, so that at least one planetary gear mounting frame can be saved, the axial length of the planetary reducer is reduced, the volume is saved, and the cost is reduced. In addition, the primary reduction structure and the secondary reduction structure share the planetary gear, which can increase the reduction ratio and achieve large torque output.

[0030] 2. The inner wall of the support hole section, the roller and the outer wall of the movable gear ring cooperatively form a bearing structure, which saves the outer ring and the inner ring of the conventional bearing, so that the number of parts is reduced. In addition, by taking the fixed seat as the outer ring of the bearing structure and taking the movable gear ring as the inner ring of the bearing structure, the structural strength of the fixed seat and the movable gear ring is greater than that of the outer ring and the inner ring of the conventional bearing structure, so that the strength of the bearing structure formed in the above example is greater.

[0031] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of a two-stage ring gear output planetary reducer provided in an embodiment of the present invention;

[0034] Figure 2 This is a cross-sectional view of a two-stage ring gear output planetary reducer provided in an embodiment of the present invention;

[0035] Figure 3 It is a schematic diagram showing that the planetary gear is engaged with both the first and second transmission teeth;

[0036] Figure 4 yes Figure 3 Exploded view of the middle structure;

[0037] Figure 5 This is a schematic diagram illustrating the sealing of the notch on the movable gear ring by the sealing component;

[0038] Figure 6 yes Figure 5 Exploded view of the middle structure;

[0039] Figure 7 This is a schematic diagram illustrating the removal of the sealing component from the movable gear ring;

[0040] Figure 8 This is an assembly diagram of the fixed seat, rollers, and movable gear ring.

[0041] Reference numerals: 1. Fixed base; 2. Planetary mount; 3. Movable gear ring; 4. Stator base; 5. Sun gear; 6. Planetary gear; 7. Drive shaft; 8. Second bearing; 9. First bearing; 10. Third bearing; 11. First base body; 12. Second base body; 14. Stator; 15. Rotor; 16. Connector; 17. Protrusion; 18. Sealing component; 19. Screw; 20. Roller; 31. Annular protrusion; 32. Second transmission gear; 33. Notch; 41. Annular groove; 42. Second inner hole; 101. Smooth hole section; 102. Support hole section; 103. First transmission gear; 111. Second annular groove; 181. First surface; 201. First roller; 202. Second roller; 301. Threaded hole; 302. First annular groove. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0044] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0045] like Figures 1 to 8 As shown, an embodiment of the present invention provides a two-stage planetary gear reducer with a ring gear output, comprising a sun gear 5, a planet gear 6, a fixed base 1, and a movable ring gear 3. The fixed base 1 has a first inner hole, which has first transmission teeth 103 along its circumference. The number of first transmission teeth 103 is plurality of, and they are evenly distributed in a circular pattern along the circumference of the first inner hole.

[0046] The aforementioned planetary gear 6 meshes between the sun gear 5 and the first transmission teeth 103. The movable ring gear 3 is rotatably arranged on the fixed seat 1. The inner side of the movable ring gear 3 has a plurality of second transmission teeth 32 distributed in a circle along the circumference.

[0047] The aforementioned planetary gear 6 also meshes with the second transmission teeth 32. When the sun gear 5 is driven to rotate, the planetary gear 6 is driven to revolve around the center line of the sun gear 5, and the planetary gear 6 drives the movable ring gear 3 to rotate around the center line of the sun gear 5 through the second transmission teeth 32.

[0048] The aforementioned fixed seat 1 is a fixed part. When the sun gear 5 drives the planetary gear 6 to revolve around the center line of the sun gear 5, the planetary gear 6 also rotates. Since the planetary gear 6 meshes with the movable ring gear 3, the planetary gear 6 can drive the movable ring gear 3 to rotate when revolving.

[0049] In the aforementioned example, the sun gear 5, the planetary gear 6, and the first transmission teeth 103 form a first-stage reduction structure, and the planetary gear 6 and the second transmission teeth 32 form a second-stage reduction structure. The first-stage reduction structure and the second-stage reduction structure share the planetary gear 6. Thus, at least one planetary gear 6 mounting frame can be saved, the axial length of the planetary reduction machine can be reduced, the volume can be saved, and the cost can be reduced.

[0050] In addition, the way that the first-stage reduction structure and the second-stage reduction structure share the planetary gear 6 can also increase the reduction ratio and achieve large-torque output.

[0051] It should be noted that the aforementioned second-stage ring gear outputs the power of the planetary reduction machine through the movable ring gear 3.

[0052] As shown in Figure 1 and Figure 2 The aforementioned movable ring gear 3 can be provided with a threaded hole 301. The number of threaded holes 301 can be two or more, and the threaded holes 301 are uniformly distributed in a circle around the circumference of the movable ring gear 3. The threaded hole 301 is used for threaded connection with a screw. The movable ring gear 3 is connected to an external component through the screw to drive the external component to rotate.

[0053] The number of the aforementioned planetary gears 6 can be two or more, and the planetary gears 6 are uniformly distributed in a circle around the center line of the sun gear 5. A larger number of planetary gears 6 can improve the stability of transmission.

[0054] In some embodiments, as shown in Figures 2 to 4As shown, the aforementioned first transmission tooth 103 and second transmission tooth 32 are arranged sequentially along the axial direction of the sun gear 5. The aforementioned planetary gear 6 has a first segment and a second segment sequentially along the axial direction of the sun gear 5. The planetary gear 6 meshes between the sun gear 5 and the first transmission tooth 103 through the first segment, and meshes with the second transmission tooth 32 through the second segment.

[0055] It should be noted that the planetary teeth on both the first and second segments mentioned above have the same structure. However, the number of teeth on the first transmission tooth 103 and the second transmission tooth 32 mentioned above are different.

[0056] In the above example, the planetary gear 6 meshes with the first transmission gear 103 and the second transmission gear 32 through its different shaft segments to achieve the respective deceleration functions of the aforementioned first-stage reduction structure and second-stage reduction structure.

[0057] In some embodiments, the aforementioned planetary gear 6 has a third segment in the axial direction, which meshes between the sun gear 5 and the second drive gear 32.

[0058] In the above example, the sun gear 5 and the second transmission tooth 32 are distributed on both sides of the planetary gear 6. Since a part of the planetary gear 6 in the axial direction, namely the third segment, meshes between the sun gear 5 and the second transmission tooth 32, the part of the sun gear 5 that meshes with the third segment can provide support for the side of the planetary gear 6 that is away from the second transmission tooth 32, so that the force on the planetary gear 6 can be more even and the wear of the planetary gear 6 can be reduced.

[0059] It should be noted here that the third paragraph mentioned above contains a portion of the first paragraph that is close to the second paragraph and a portion of the second paragraph that is close to the first paragraph.

[0060] In some implementations, such as Figure 2 As shown, the aforementioned two-stage ring gear output planetary reducer also includes a planetary mount 2 and a drive shaft 7. The aforementioned planetary gear 6 is rotatably mounted on the planetary mount 2. The drive shaft 7 is fixedly connected to the sun gear 5; for example, the sun gear 5 can be integrally formed on the drive shaft 7, with the centerline of the sun gear 5 coinciding with the axis of the drive shaft 7. The drive shaft 7 is used to drive the sun gear 5 to rotate. The aforementioned planetary mount 2 is rotatably fitted between the aforementioned first inner bore and the drive shaft 7. The aforementioned first inner bore has a through-hole section 101, and a first bearing 9 is fitted between the planetary mount 2 and the through-hole section 101, allowing the through-hole section 101 to provide support for the outer ring of the planetary mount 2 through the first bearing 9. A second bearing 8 is fitted between the drive shaft 7 and the planetary mount 2, allowing the drive shaft 7 to provide support for the inner ring of the planetary mount 2 through the second bearing 8.

[0061] In the above example, the first bearing 9 cooperates with the second bearing 8, both of which provide support for the outer ring and the inner ring of the planet carrier 2, so that the planet carrier 2 can be stably supported, and the planet gear 6 can drive the planet carrier 2 to rotate stably.

[0062] In some embodiments, as shown in Figures 2 to 4 The aforementioned movable ring gear 3 has an annular protrusion 31 extending in the axial direction. The planet carrier 2 is located on the inner side of the movable ring gear 3. The third bearing 10 is sleeved between the annular protrusion 31 and the planet carrier 2. The third bearing 10 and the first bearing 9 are arranged in sequence along the center line of the sun gear 5.

[0063] In the above example, the first bearing 9 cooperates with the third bearing 10, both of which are arranged in sequence along the axial direction of the planet carrier 2, so that the support stability of the planet carrier 2 can be improved.

[0064] In some embodiments, as shown in Figure 2 The aforementioned planet carrier 2 can have a two-piece structure, and the two halves of the planet carrier 2 can be detachably connected, for example, by screws 19. The aforementioned planet gear 6 is rotatably mounted between the two halves of the planet carrier 2.

[0065] In the above example, by mounting the planet gear 6 between the two halves of the planet carrier 2, the planet carrier 2 can provide shell protection for the planet gear 6. In addition, since the two halves of the planet carrier 2 are detachably connected, the disassembly and assembly of the planet gear 6 are facilitated.

[0066] In some embodiments, as shown in Figure 8 The aforementioned movable ring gear 3 is located in a first inner hole, which has a support hole section 102, and the inner wall of the support hole section 102 is directly provided with a first annular groove 302. The outer wall of the movable ring gear 3 is directly provided with a second annular groove 111. The first annular groove 302 is opposite to the second annular groove 111, and a roller mounting space is formed therebetween. A roller 20 is mounted in the roller mounting space, and a part of the roller 20 is located in the first annular groove 302, and another part of the roller 20 is located in the second annular groove 111. The groove walls of the first annular groove 302 and the second annular groove 111 both provide support for the roller 20. The aforementioned fixed seat 1 provides support for the movable ring gear 3 through the roller 20.

[0067] In the above example, the inner wall of the support hole section 102, the roller 20 and the outer wall of the movable ring gear 3 cooperatively form a bearing structure, which eliminates the outer ring and the inner ring of the conventional bearing relative to the prior art, so that the number of parts can be reduced; in addition, by taking the fixed seat 1 as the outer ring of the bearing structure and taking the movable ring gear 3 as the inner ring of the bearing structure, the structural strength of the fixed seat 1 and the movable ring gear 3 is greater than that of the outer ring and the inner ring of the conventional bearing structure, so that the strength of the bearing structure formed in the above example is greater.

[0068] In some embodiments, as shown in Figure 7 The aforementioned roller 20 includes a first roller 201 and a second roller 202, the center line of the first roller 201 and the center line of the second roller 202 are perpendicular, and the first roller 201 and the second roller 202 are alternately arranged to form a cross roller structure.

[0069] In some embodiments, as shown in Figures 5 to 7 The outer edge of the aforementioned movable ring gear 3 is provided with a gap 33, and the gap 33 is in communication with the first ring groove 302. The roller 20 is used to enter and exit the roller installation space through the gap 33. The aforementioned gap 33 is also provided with a plugging piece 18, which is detachable, for example, the plugging piece 18 can be detachably connected with the movable ring gear 3 through a screw 19.

[0070] In the above example, the roller 20 can be installed into the roller installation space through the aforementioned gap 33, and a part of the roller 20 is located in the first ring groove 302, and another part of the roller 20 is located in the second ring groove 111. After the roller 20 is installed, the gap 33 is plugged with the plugging piece 18 to prevent the roller 20 from coming out of the gap 33. Through the gap 33, the assembly of the roller 20 is facilitated.

[0071] In some embodiments, as shown in Figure 8 The aforementioned plugging piece 18 has a first surface 181. When the plugging piece 18 is plugged at the gap 33, the first surface 181 constitutes part of the groove wall of the aforementioned first ring groove 302.

[0072] In the above example, since the first surface 181 constitutes part of the groove wall of the first ring groove 302, it is equivalent to directly opening the aforementioned gap 33 at the groove wall of the first ring groove 302, so that the effect of the communication between the gap 33 and the first ring groove 302 can be achieved.

[0073] In some embodiments, as shown in Figure 1 and Figure 3As shown, the aforementioned fixing base 1 can be a spliced ​​structure. The fixing base 1 has a first base body 11 and a second base body 12 along the axial direction, and the first base body 11 and the second base body 12 are detachably connected. The aforementioned first annular groove 302 is provided on the first base body 11 (e.g., Figure 8 As shown, the aforementioned first transmission gear 103 is disposed on the second seat 12 (as shown). Figure 4 As shown, the aforementioned first inner hole penetrates the first seat 11 and the second seat 12.

[0074] In the above example, designing the fixing base 1 as a spliced ​​structure facilitates the processing of the fixing base 1.

[0075] In some implementations, such as Figure 2 As shown, the aforementioned two-stage gear ring output planetary reducer also includes a stator base 4, a stator 14, a rotor 15, and a connecting member 16. The stator base 4 is fixedly connected to the aforementioned fixed base 1, for example, by means of screws 19. The stator base 4 has a second inner hole 42, and an annular groove 41 on its end face. The annular groove 41 has opposing first and second annular groove walls, with the first annular groove wall closer to the second annular groove wall than the second annular groove wall. The stator 14 is fitted onto the first annular groove wall. The connecting member 16 has a protrusion 17 in its middle. The protrusion 17 is fitted into the second inner hole 42, and the second inner hole 42 is rotatably fitted. A bearing can be fitted between the protrusion 17 and the hole wall of the second inner hole 42. The outer edge of the connecting member 16 is fixedly connected to the rotor 15. The rotor 15 is located within the annular groove 41 and is fitted between the stator 14 and the wall of the second annular groove 41.

[0076] The aforementioned connector 16 is driven to the sun gear 5. When the drive shaft 7 is fixed on the sun gear 5, the drive shaft 7 is fitted into the connecting hole of the protrusion 17. The stator 14 is used to drive the rotor 15 to rotate, so that the rotor 15 drives the sun gear 5 to rotate via the connector 16.

[0077] The aforementioned connector 16 may be disc-shaped, and the connector 16 covers the opening of the annular groove 41.

[0078] In the above example, both the stator 14 and the rotor 15 are located in the annular groove 41 of the stator base 4. The connector 16 covers the opening of the annular groove 41, which can cover both the stator 14 and the rotor 15 in the annular groove 41 to provide housing protection for the stator 14 and the rotor 15.

[0079] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A two-stage ring gear output planetary reduction machine characterized by, The sun gear (5), the planetary gear (6), the fixed seat (1) and the movable ring gear (3) are included. The fixed seat (1) has a first inner hole with a first transmission tooth (103) in the circumferential direction, and the planetary gear (6) is engaged between the sun gear (5) and the first transmission tooth (103); The movable ring gear (3) is rotatably arranged on the fixed seat (1), and the inner side of the movable ring gear (3) has a second transmission tooth (32) in the circumferential direction, and the planetary gear (6) is also engaged with the second transmission tooth (32); Wherein, the sun gear (5) is used for driving the sun gear (5) to rotate around the center line of the sun gear (5) when the sun gear (5) is driven to rotate, so that the planetary gear (6) drives the movable ring gear (3) to rotate around the center line of the sun gear (5) through the second transmission tooth (32).

2. The two-stage ring gear output planetary reducer of claim 1, wherein The first transmission tooth (103) and the second transmission tooth (32) are arranged in sequence along the axial direction of the sun gear (5); The planetary gear (6) has a first segment and a second segment in sequence along the axial direction of the sun gear (5); The planetary gear (6) is engaged between the sun gear (5) and the first transmission tooth (103) through the first segment, and is engaged with the second transmission tooth (32) through the second segment.

3. The two-stage ring gear output planetary reducer of claim 1, wherein, It also includes a planetary mounting bracket (2); The planetary gear (6) is rotatably mounted on the planetary mounting bracket (2); The two-stage ring gear output planetary reducer further comprises a driving shaft (7), the driving shaft (7) is fixedly connected with the sun gear (5), and the driving shaft (7) is used for driving the sun gear (5) to rotate; The planetary mounting bracket (2) is rotatably sleeved between the first inner hole and the driving shaft (7), The first inner hole of the fixed seat (1) has a light hole segment (101), a first bearing (9) is sleeved between the planetary mounting bracket (2) and the light hole segment (101), so that the light hole segment (101) supports the outer ring of the planetary mounting bracket (2) through the first bearing (9); The second bearing (8) is sleeved between the driving shaft (7) and the planetary mounting bracket (2), and the driving shaft (7) supports the inner ring of the planetary mounting bracket (2) through the second bearing (8).

4. The two-stage ring gear output planetary reducer of claim 3, wherein The movable ring gear (3) has an annular protrusion (31) extending in the axial direction, the planetary mounting bracket (2) is located on the inner side of the movable ring gear (3), and a third bearing (10) is sleeved between the annular protrusion (31) and the planetary mounting bracket (2); Wherein, the third bearing (10) and the first bearing (9) are arranged in sequence along the center line of the sun gear (5).

5. The two-stage ring gear output planetary reducer of claim 3, wherein The planetary mounting frame (2) is a two-half structure, and the two halves of the planetary mounting frame (2) are detachably connected; The planetary gear (6) is rotatably mounted between the two halves of the planetary mounting frame (2).

6. The two-stage ring gear output planetary reducer according to any one of claims 1 to 5, wherein the two-stage ring gear output planetary reducer outputs power through the movable ring gear (3).

7. The two-stage ring gear output planetary reducer according to any one of claims 1 to 5, wherein the movable ring gear (3) is located in the first inner hole, the first inner hole has a support hole section (102), the inner wall of the support hole section (102) is directly provided with a first annular groove (302), the outer wall of the movable ring gear (3) is directly provided with a second annular groove (111), the first annular groove (302) is opposite to the second annular groove (111), and a roller mounting space is formed between the first annular groove (302) and the second annular groove (111); The roller (20) is mounted in the roller mounting space, and a part of the roller (20) is located in the first annular groove (302) and another part of the roller (20) is located in the second annular groove (111); the fixed seat (1) supports the movable ring gear (3) through the roller (20).

8. The two-stage ring gear output planetary reducer according to claim 7, wherein an outer edge of the movable ring gear (3) is provided with a notch (33), the notch (33) is in communication with the first annular groove (302); wherein the roller (20) is used to enter and exit the roller mounting space through the notch (33); The notch (33) is provided with a plugging piece (18), and the plugging piece (18) is detachable.

9. The two-stage ring gear output planetary reducer according to claim 8, wherein the plugging piece (18) has a first surface (181), wherein when the plugging piece (18) is plugged at the notch (33), the first surface (181) constitutes part of the groove wall of the first annular groove (302). Further comprising a stator seat (4), a stator (14), a rotor (15) and a connecting piece (16); The stator seat (4) is fixedly connected with the fixed seat (1), the stator seat (4) has a second inner hole (42), and the stator seat (4) has an annular groove (41) on the end face, the annular groove (41) has opposite first and second annular groove walls, the first annular groove wall is closer to the second inner hole (42) than the second annular groove wall, and the stator (14) is sleeved on the first annular groove wall; The middle part of the connecting piece (16) has a protruding column (17); the protruding column (17) is sleeved in the second inner hole (42), and the second inner hole (42) is rotationally fitted; the outer edge of the connecting piece (16) is fixedly connected with the rotor (15), the rotor (15) is located in the annular groove (41), and is sleeved between the stator (14) and the second annular groove wall; ​ 10. The two-stage ring gear output planetary reducer of any one of claims 1 to 5, 8, 9, wherein, ​ ​ ​ The connecting piece (16) is in driving connection with the sun gear (5); wherein the stator (14) is used to drive the rotor (15) to rotate, so that the rotor (15) drives the sun gear (5) to rotate through the connecting piece (16).

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