High-precision speed reducer and test tool

Abstract

The high-precision speed reducer comprises a shell, a first bearing, a second bearing, an input shaft, a first sun gear, a transfer planet carrier and an output planet carrier are arranged in the shell, and at least three transfer planet gears meshed with the first sun gear are rotationally connected to the transfer planet carrier. The transfer planet carrier is coaxially and fixedly connected with a second sun gear, the output planet carrier is rotationally connected with at least three output planet gears meshed with the second sun gear, the inner gear ring is meshed with the transfer planet carrier and the output planet gears, the inner gear ring is made of flexible materials, and under the load, the inner gear ring can slightly elastically deform, so that the output planet gears are driven to rotate. The planetary reducer can automatically adapt to uneven stress caused by errors, teeth which are not in contact originally also participate in meshing through tiny deformation of the planetary reducer, and therefore loads concentrated on one or more teeth are evenly distributed to more teeth, the planetary reducer can transmit larger torque, and the transmission efficiency of the planetary reducer is improved. The planetary reducer has the effect of improving the bearing capacity of the planetary reducer.

Description

Technical Field

[0001] This application relates to the field of mechanical transmission design and manufacturing technology equipment, and in particular to a high-precision reducer and testing fixture. Background Technology

[0002] Planetary reducers are efficient and compact gear transmission devices. Their core structure is similar to the orbit of planets around the sun in the solar system, enabling them to achieve high reduction ratios and high torque output.

[0003] A planetary gear reducer mainly consists of four basic components: a sun gear, planet gears, a planet carrier, and an internal gear ring. When the motor drives the sun gear to rotate at high speed, it causes the meshing planet gears to rotate. While rotating, the planet gears are forced to revolve around the internal teeth of the internal gear ring. This revolving motion drives the planet carrier to rotate at a lower speed, thus achieving speed reduction. Planetary gear reducers typically use an internal gear ring made of a rigid material.

[0004] Regarding the aforementioned technologies, the use of internal gear rings made of rigid materials results in only a few teeth of the planetary reducer bearing the majority of the load during operation, causing stress concentration and significantly reducing the load-bearing capacity of the gears. Summary of the Invention

[0005] To improve the load-bearing capacity of planetary reducers, this application provides a high-precision reducer and testing fixture.

[0006] The first aspect of this application provides a high-precision speed reducer, which adopts the following technical solution:

[0007] A high-precision reducer includes a housing, an inner wall of which is connected to a first bearing, an inner ring of which is connected to an input shaft, a first sun gear coaxially fixedly connected to the input shaft, a planetary carrier inside the housing, at least three planetary gears rotatably connected to the planetary carrier, the planetary gears being evenly distributed along the center of the planetary carrier and meshing with the first sun gear, a second sun gear coaxially fixedly connected to the end of the planetary carrier opposite to the first sun gear, an inner wall of the housing is connected to a second bearing, an inner ring of which is connected to an output planetary carrier, at least three output planetary gears rotatably connected to the output planetary carrier, the output planetary gears being evenly distributed along the center of the output planetary carrier and meshing with the second sun gear, and an internal gear ring fixedly connected to the inner wall of the housing, the internal gear ring meshing with the planetary gears and the output planetary gears, the internal gear ring being made of a flexible material.

[0008] By adopting the above technical solution, the internal gear ring in this application is made of flexible material. Under load, the internal gear ring will undergo slight elastic deformation, automatically adapting to the uneven force caused by error. Through its own slight deformation, the teeth that were not originally in contact also participate in meshing, thereby distributing the load concentrated on one or a few teeth evenly to more teeth. The planetary reducer can transmit greater torque, which helps to improve the load-bearing capacity of the planetary reducer.

[0009] Optionally, the output planetary carrier includes an output wheel disk and a fixed frame that are fixedly connected to each other. The fixed frame has mounting holes that correspond one-to-one with the number and position of the output planetary gears. A fixed shaft is provided in the mounting hole. One end of the fixed shaft is fixedly connected to the output wheel disk, and the other end is fixedly connected to the fixed frame. The inner ring of the output planetary gear is provided with a planetary bearing for connecting the output planetary gear and the fixed shaft.

[0010] By adopting the above technical solution and setting a fixed frame, the output planetary gear is changed from single-sided support to double-sided support, thereby improving the stability and accuracy of the output planetary gear and helping to improve the load-bearing capacity and transmission accuracy of the entire planetary reducer.

[0011] Optionally, the housing includes an input flange, an intermediate section, and an output flange, with the output flange integrally formed with the second bearing.

[0012] By adopting the above technical solution, the output flange and the second bearing are integrally formed, making the overall structure more compact and reducing subsequent assembly processes, which helps to reduce the production cost of planetary reducers.

[0013] Secondly, this application also provides a high-precision reducer testing fixture, which adopts the following technical solution:

[0014] A high-precision reducer testing fixture includes the aforementioned high-precision reducer and a base. An input flange has multiple connecting slots, and an output flange has multiple connecting holes. A first fixing plate and a second fixing plate are slidably connected to the base. The plane of the first fixing plate is parallel to the plane of the input flange, and the plane of the second fixing plate is parallel to the plane of the output flange. The first fixing plate has snap-fit ​​connectors, the number and position of which correspond one-to-one with the connecting slots, and the shape and size of the snap-fit ​​connectors are adapted to the connecting slots. The second fixing plate has snap-fit ​​rods, the number and position of which correspond one-to-one with the connecting holes, and the outer diameter of the snap-fit ​​rods is adapted to the connecting holes. A bidirectional threaded rod for driving the movement of the first and second fixing plates is rotatably connected to the base. One end of the bidirectional threaded rod is threadedly connected to the first fixing plate, and the other end is threadedly connected to the second fixing plate. A fixed motor for driving the bidirectional threaded rod to rotate is fixedly connected to the base.

[0015] By adopting the above technical solution, various indicators of the planetary reducer need to be tested during the production and design process. During testing, the planetary reducer needs to be fixed on a test bench, typically with bolts securing the input and output flanges. This method requires the installation and removal of multiple sets of bolts, affecting testing efficiency. In this application, by setting a first and second fixing plate adapted to the input and output flanges, and driving the movement of the first and second fixing plates via a bidirectional threaded rod and a fixed motor, rapid installation and removal of the planetary reducer during the testing phase is achieved, thus improving the testing efficiency of the planetary reducer.

[0016] Optionally, the card connector is provided with a fixing airbag, the card connector surface is provided with a fixing port, the first fixing plate is provided with a driving groove at one end near the input flange, the driving groove is provided with a driving airbag, and a vent pipe is sealed between the driving airbag and the fixing airbag.

[0017] By adopting the above technical solution, when the first fixed plate contacts the surface of the input flange, it squeezes the driving airbag, and the gas in the driving airbag flows into the fixed airbag, causing the fixed airbag to expand. The expanded fixed airbag deforms and is gradually squeezed out from the fixed opening, and squeezes against the inner wall of the connecting groove, which helps to further increase the stability of the fixed planetary reducer, thereby improving the test accuracy.

[0018] Optionally, the locking rod includes a fixed rod and a movable rod arranged coaxially. One end of the movable rod is fixedly connected to the second fixed plate, and the other end is slidably connected to the fixed rod. Multiple locking feet for locking the output flange are arranged around the movable rod inside the fixed rod. Multiple parallel connecting rods are arranged between the locking feet and the movable rod. The two ends of the connecting rods are respectively hinged to the locking feet and the movable rod. A guide plate for guiding the movement direction of the locking feet is provided inside the movable rod. An inlet and outlet for the locking feet to enter and exit are provided on the surface of the fixed rod. A return spring is connected between the movable rod and the fixed rod. When the return spring is in its natural state, the locking feet are completely located inside the fixed rod, and the angle between the connecting rod and the movable rod near the middle section is greater than zero degrees and less than ninety degrees. When the movable rod abuts against the guide plate, the angle between the connecting rod and the movable rod near the middle section is less than or equal to ninety degrees. A locking ring is fixedly connected to the movable rod. The outer diameter of the locking ring is larger than the inner diameter of the connecting hole. The locking ring is located at the end of the inlet and outlet away from the middle section.

[0019] By adopting the above technical solution, when fixing the planetary reducer, the second fixing plate slides towards the output flange under the drive of the bidirectional threaded rod. The end of the fixing rod passes through the connecting hole first, so that the planetary reducer is fixed in a direction perpendicular to its sliding direction. When the snap ring abuts against the output flange, the second fixing plate continues to move, the movable rod begins to slide relative to the fixed rod, the snap foot moves away from the movable rod and protrudes from the inlet and outlet, and the snap foot abuts against the end of the output flange away from the second fixing plate, so that the planetary reducer is further fixed in a direction parallel to its sliding direction, which helps to enhance the fixing effect of the planetary reducer.

[0020] In summary, this application includes at least one of the following beneficial technical effects:

[0021] 1. The internal gear ring in this application is made of flexible material, which avoids the stress concentration phenomenon caused by rigid material internal gear ring. The flexible material internal gear ring will undergo slight elastic deformation under load, automatically adapting to the uneven force caused by error, allowing the teeth that were not originally in contact to participate in meshing, thereby distributing the load concentrated on one or a few teeth evenly to more teeth, which helps to improve the load-bearing capacity of the planetary reducer.

[0022] 2. During the production and design process of planetary reducers, it is often necessary to test various indicators to confirm whether their performance meets the design standards. During testing, the planetary reducer needs to be fixed to the test bench with bolts. The process of loading and unloading with bolts is too cumbersome. This application provides a first fixed plate and a second fixed plate, and realizes the movement and position self-locking of the first fixed plate and the second fixed plate through a bidirectional threaded rod and a fixed motor. This enables the planetary reducer to be quickly disassembled and assembled during the testing phase, which helps to improve the testing efficiency of the planetary reducer. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of this application.

[0024] Figure 2 This is a schematic diagram of the internal structure of Embodiment 1 of this application.

[0025] Figure 3 This is a schematic diagram of the internal structure of the fixing frame used to illustrate Embodiment 1 of this application.

[0026] Figure 4 This is a schematic diagram of the internal structure of the fixed shaft used in Embodiment 1 of this application.

[0027] Figure 5 This is a schematic diagram of the overall structure of Embodiment 2 of this application.

[0028] Figure 6 This is a schematic diagram of the internal structure of the first fixing plate in Embodiment 2 of this application.

[0029] Figure 7 yes Figure 6 An enlarged schematic diagram of part A in the middle.

[0030] Figure 8 This is a schematic diagram of the internal structure of Embodiment 2 of this application.

[0031] Figure 9 yes Figure 8 Enlarged schematic diagram of part B.

[0032] Explanation of reference numerals in the attached drawings: 1. Housing; 11. Input flange; 111. Connecting groove; 12. Intermediate section; 13. Output flange; 131. Connecting hole; 21. First bearing; 22. Input shaft; 31. First sun gear; 32. Intermediate planetary carrier; 33. Intermediate planetary gear; 41. Second sun gear; 42. Second bearing; 43. Output planetary gear; 5. Output planetary carrier; 51. Output disc; 52. Fixing frame; 521. Mounting port; 522. Fixing shaft; 523. Planetary bearing; 6. Internal gear ring; 7. Base 71. Bidirectional threaded rod; 72. Fixed motor; 73. Input motor; 74. Torque sensor; 75. Magnetic powder brake; 8. First fixed plate; 81. Snap connector; 811. Fixed airbag; 812. Fixed port; 82. Drive slot; 821. Drive airbag; 83. Vent pipe; 9. Second fixed plate; 91. Snap rod; 911. Fixed rod; 912. Movable rod; 913. Snap foot; 914. Connecting rod; 915. Guide plate; 916. Return spring; 917. Inlet / outlet; 918. Snap ring. Detailed Implementation

[0033] The present application will be further described in detail below with reference to all the accompanying drawings.

[0034] The first aspect of this application discloses a high-precision speed reducer.

[0035] Example 1:

[0036] Reference Figure 1 and Figure 2 This application discloses a high-precision reducer, which includes a housing 1 made of metal, serving to support and protect the internal structure. A first bearing 21 and an internal gear ring 6 are mounted on the inner wall of the housing 1. The internal gear ring 6 is made of a flexible material and undergoes slight elastic deformation under load to automatically adapt to uneven force distribution caused by errors. Through this slight deformation, teeth that were not originally in contact participate in meshing, thereby distributing the load to more teeth. This allows the planetary reducer to transmit greater torque, improving its load-bearing capacity.

[0037] Reference Figure 2and Figure 3 An input shaft 22 is mounted on the inner wall of the first bearing 21, and a first sun gear 31 is coaxially and fixedly connected to the input shaft 22. The connecting end of the input shaft 22 is hollow, used to connect to the shaft of the power input end and transmit torque to the first sun gear 31. A planetary carrier 32 is provided inside the housing 1. The planetary carrier 32 is coaxially arranged with the first sun gear 31, and three planetary gears 33 are rotatably connected to the planetary carrier 32. The rotation axis of the planetary gears 33 is parallel to the first sun gear 31, and the planetary gears 33 mesh with the first sun gear 31. The planetary gears 33 are evenly distributed along the center of the planetary carrier 32. An internal gear ring 6 meshes with the planetary gears 33. When the first sun gear 31 rotates, it drives the three planetary gears 33 to rotate, and under the action of the internal gear ring 6, the planetary gears 33 rotate around the edge of the first sun gear 31, thereby driving the planetary carrier 32 to rotate.

[0038] Reference Figure 2 and Figure 3 The intermediate planetary carrier 32 is coaxially fixedly connected to the end opposite to the first sun gear 31 with a second sun gear 41. The inner wall of the housing 1 is equipped with a second bearing 42. The inner ring of the second bearing 42 is connected to the output planetary carrier 5. Four output planet gears 43 are rotatably connected to the output planetary carrier 5. The rotation axis of the output planet gears 43 is parallel to and meshes with the second sun gear 41. The output planet gears 43 are evenly distributed along the center of the output planetary carrier 5. The internal gear ring 6 meshes with the output planet gears 43. When the second sun gear 41 rotates, it drives the four output planet gears 43 to rotate and, under the action of the internal gear ring 6, causes the output planet gears 43 as a whole to rotate around the edge of the second sun gear 41, thereby driving the output planetary carrier 5 to rotate.

[0039] Reference Figure 3 and Figure 4 The output planetary carrier 5 includes an output disc 51 and a fixed frame 52. The output disc 51 and the fixed frame 52 are coaxially and fixedly connected. The fixed frame 52 has mounting holes 521, which are correspondingly arranged with the output planetary gears 43, and each output planetary gear 43 is installed in its corresponding mounting hole 521. A fixed shaft 522 is provided in the mounting hole 521. One end of the fixed shaft 522 is fixedly connected to the output disc 51, and the other end is fixedly connected to the fixed frame 52. Planetary bearings 523 are installed on the inner wall of the output planetary gears 43 to connect the output planetary gears 43 and the fixed shaft 522. This changes the support of the output planetary gears 43 from one side to two sides, improving the operational stability and accuracy of the output planetary gears 43, and helping to improve the load-bearing capacity and transmission accuracy of the planetary reducer.

[0040] Reference Figure 2 and Figure 3The housing 1 includes an input flange 11, an intermediate section 12 and an output flange 13. The output flange 13 is integrally formed with the second bearing 42, making the overall structure more compact and reducing subsequent assembly processes, which helps to reduce the production cost of the planetary reducer.

[0041] The implementation principle of a high-precision reducer in this application embodiment is as follows: the internal gear ring 6 of the planetary reducer is made of flexible material, which undergoes slight elastic deformation during operation, thereby automatically adapting to the uneven force on the internal gears. This avoids the stress concentration phenomenon caused by using a rigid material internal gear ring 6, allowing teeth that were not originally in contact to participate in meshing, distributing the load evenly to more teeth, and helping to improve the load-bearing capacity of the planetary reducer.

[0042] The second aspect of this application discloses a high-precision speed reducer testing fixture.

[0043] Example 2:

[0044] Reference Figure 5 This application discloses a high-precision reducer testing fixture, including the aforementioned high-precision reducer and a base 7. The base 7 is used to support and install various testing equipment. An input motor 73, two torque sensors 74, and a magnetic particle brake 75 are sequentially mounted on the base 7. The input motor 73, torque sensors 74, and magnetic particle brake 75 are all prior art, and their connection and usage methods will not be described in detail in this embodiment. A first fixing plate 8 and a second fixing plate 9 are slidably connected on the base 7. Both the first fixing plate 8 and the second fixing plate 9 are disposed between the two torque sensors 74. The plane of the first fixing plate 8 is parallel to the plane of the input flange 11, and the plane of the second fixing plate 9 is parallel to the plane of the output flange 13.

[0045] Reference Figure 1 , Figure 2 and Figure 6During the production and design of planetary reducers, various indicators must be tested to ensure that the planetary reducer meets design standards. Testing requires fixing the planetary reducer on a test bench and securing the input flange 11 and output flange 13 with bolts. This method requires disassembling and reassembling multiple sets of bolts, affecting testing efficiency. In this embodiment, the input flange 11 has four connecting slots 111 for bolt connection during planetary reducer installation, and the output flange 13 has four connecting holes 131 for bolt connection during planetary reducer installation. The connecting holes 131 penetrate the output flange 13. The first fixing plate 8 has four snap-fit ​​connectors 81, whose positions correspond one-to-one with the connecting slots 111, and whose shapes and sizes are adapted to the connecting slots 111. The second fixing plate 9 has four snap-fit ​​rods 91, whose positions correspond one-to-one with the connecting holes 131, and whose outer diameters are adapted to the inner diameters of the connecting holes 131. During testing, the planetary reducer is placed between the first fixed plate 8 and the second fixed plate 9, and the first fixed plate 8 and the second fixed plate 9 are slid towards each other to clamp the planetary reducer. The snap-fit ​​connector 81 is snapped into the connecting groove 111, and the snap-fit ​​rod 91 is snapped into the connecting hole 131. This allows for quick assembly and disassembly of the planetary reducer during the testing phase, which helps to improve the testing efficiency of the planetary reducer.

[0046] Reference Figure 5 A bidirectional threaded rod 71 is rotatably connected to the base 7. The rotation axis of the bidirectional threaded rod 71 is parallel to the sliding direction of the first fixed plate 8 and the second fixed plate 9. One end of the bidirectional threaded rod 71 is threadedly connected to the first fixed plate 8, and the other end is threadedly connected to the second fixed plate 9. Rotating the bidirectional threaded rod 71 simultaneously drives the first fixed plate 8 and the second fixed plate 9 to slide towards or away from each other. A fixed motor 72 is installed on the base 7. The output shaft of the fixed motor 72 is coaxially and fixedly connected to the bidirectional threaded rod 71. The fixed motor 72 is used to drive the bidirectional threaded rod 71 to rotate. This further improves the assembly and disassembly efficiency of the planetary reducer.

[0047] Reference Figure 1 and Figure 7The snap-fit ​​connector 81 is hollow, and a fixing airbag 811 is disposed inside the snap-fit ​​connector 81. A fixing opening 812 is opened on the surface of the snap-fit ​​connector 81. A drive groove 82 is opened at the end of the first fixing plate 8 near the input flange 11. A drive airbag 821 is disposed inside the drive groove 82. A vent pipe 83 is sealed between the drive airbag 821 and the fixing airbag 811. When the first fixing plate 8 contacts the surface of the input flange 11, it compresses the drive airbag 821, causing the gas in the airbag to gradually flow into the fixing airbag 811. The fixing airbag 811 expands, and the expanded fixing airbag 811 deforms. The deformed part is gradually squeezed out from the fixing opening 812 and pressed against the inner wall of the connecting groove 111, which helps to further increase the stability of the fixed planetary reducer and thus improve the test accuracy.

[0048] Reference Figure 8 and Figure 9 The snap-fit ​​rod 91 includes a fixed rod 911 and a movable rod 912, which are coaxially arranged. The outer diameter of the fixed rod 911 is larger than the outer diameter of the movable rod 912, and the outer diameter of the fixed rod 911 is perpendicular to the connecting hole 131 (see reference). Figure 1 The inner diameter of the movable rod 912 is adapted to the second fixed plate 9. One end of the movable rod 912 is fixedly connected to the second fixed plate 9, and the other end is slidably connected to the fixed rod 911. The fixed rod 911 is provided with multiple locking feet 913, which are arranged around the movable rod 912 and are used to lock the output flange 13 during testing. Two connecting rods 914 are provided between the locking feet 913 and the movable rod 912. The two connecting rods 914 are arranged parallel to each other and their two ends are hinged to the locking feet 913 and the movable rod 912, respectively. The fixed rod 911 is provided with a guide plate 915 to guide the movement direction of the locking feet 913. The surface of the fixed rod 911 has inlets and outlets 917, the number and position of which correspond one-to-one with the locking feet 913, for the corresponding locking feet 913 to enter and exit the surface of the fixed rod 911. A return spring 916 connects the movable rod 912 and the fixed rod 911. When the return spring 916 is in its natural state, the locking foot 913 is completely inside the fixed rod 911, and the angle between the connecting rod 914 and the end of the movable rod 912 near the middle section 12 is greater than zero degrees and less than ninety degrees. When the movable rod 912 abuts against the guide plate 915, the angle between the connecting rod 914 and the end of the movable rod 912 near the middle section 12 is less than or equal to ninety degrees. The movable rod 912 is fixedly connected to a locking ring 918, the outer diameter of which is larger than the connecting hole 131 (refer to...). Figure 1 The inner diameter of the ) is such that the snap ring 918 is located at the end of the inlet / outlet 917 away from the middle section 12.

[0049] Reference Figure 8 and Figure 9When fixing the planetary reducer, the second fixing plate 9 slides towards the output flange 13 under the drive of the bidirectional threaded rod 71. The movable rod 912 and the fixed rod 911 move in the same direction. The end of the fixed rod 911 passes through the connecting hole 131 first (see reference). Figure 1 At this point, the planetary reducer is fixed perpendicular to its sliding direction. The fixed rod 911 continues to move, and stops moving when the snap ring 918 abuts against the output flange 13. The second fixed plate 9 and the fixed rod 911 continue to move, and the movable rod 912 begins to slide relative to the fixed rod 911, causing the connecting rod 914 and the locking foot 913 to move. After the locking foot 913 abuts against the guide plate 915, it begins to move away from the movable rod 912 and protrudes from the inlet / outlet 917. The locking foot 913 abuts against the end of the output flange 13 away from the second fixed plate 9. At this point, the planetary reducer is further fixed parallel to its sliding direction, which helps to enhance the fixing effect of the planetary reducer.

[0050] The implementation principle of a high-precision reducer testing fixture in this application embodiment is as follows: When testing a planetary reducer, the planetary reducer is placed between the first fixed plate 8 and the second fixed plate 9. The fixed motor 72 is started, and the fixed motor 72 drives the bidirectional threaded rod 71 to rotate. The rotating bidirectional threaded rod 71 drives the first fixed plate 8 and the second fixed plate 9 to slide towards each other, clamping the planetary reducer. The snap-fit ​​connector 81 is snapped into the connecting groove 111, and the snap-fit ​​rod 91 is snapped into the connecting hole 131, further fixing the planetary reducer. This realizes the rapid assembly and disassembly of the planetary reducer during the testing stage, which helps to improve the testing efficiency of the planetary reducer.

[0051] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A high-precision reducer, comprising a housing (1), characterized in that: The inner wall of the housing (1) is connected to a first bearing (21), and the inner ring of the first bearing (21) is connected to an input shaft (22). The input shaft (22) is coaxially fixedly connected to a first sun gear (31). A transit planetary carrier (32) is provided inside the housing (1). At least three transit planetary gears (33) are rotatably connected to the transit planetary carrier (32). The transit planetary gears (33) are evenly distributed along the center of the transit planetary carrier (32) and mesh with the first sun gear (31). The end of the transit planetary carrier (32) away from the first sun gear (31) is coaxially fixedly connected to... There is a second sun gear (41), and a second bearing (42) is connected to the inner wall of the housing (1). The inner ring of the second bearing (42) is connected to an output planet carrier (5). At least three output planet gears (43) are rotatably connected on the output planet carrier (5). The output planet gears (43) are evenly distributed along the center of the output planet carrier (5) and mesh with the second sun gear (41). An internal gear ring (6) is fixedly connected to the inner wall of the housing (1). The internal gear ring (6) meshes with the intermediate planet gear (33) and the output planet gear (43). The internal gear ring (6) is made of flexible material.

2. The high-precision reducer according to claim 1, characterized in that: The output planetary carrier (5) includes an output wheel (51) and a fixed frame (52) that are fixedly connected to each other. The fixed frame (52) has mounting holes (521) that correspond one-to-one with the number and position of the output planetary gears (43). A fixed shaft (522) is provided in the mounting hole (521). One end of the fixed shaft (522) is fixedly connected to the output wheel (51), and the other end is fixedly connected to the fixed frame (52). The inner ring of the output planetary gear (43) is provided with a planetary bearing (523) for connecting the output planetary gear (43) and the fixed shaft (522).

3. The high-precision reducer according to claim 1, characterized in that: The housing (1) includes an input flange (11), an intermediate section (12) and an output flange (13), with the output flange (13) integrally formed with the second bearing (42).

4. A high-precision reducer testing fixture, characterized in that: The high-precision reducer as described in claim 3 further includes a base (7), an input flange (11) with multiple connecting grooves (111), an output flange (13) with multiple connecting holes (131), a first fixing plate (8) and a second fixing plate (9) slidably connected to the base (7), the plane of the first fixing plate (8) being parallel to the plane of the input flange (11), the plane of the second fixing plate (9) being parallel to the plane of the output flange (13), and the first fixing plate (8) having snap-fit ​​connectors (81) in number and position corresponding one-to-one with the connecting grooves (111). The shape and size of 81) are adapted to the connecting groove (111). The second fixing plate (9) is provided with snap-fit ​​rods (91) in number and position corresponding to the connecting holes (131). The outer diameter of the snap-fit ​​rod (91) is adapted to the connecting hole (131). A bidirectional threaded rod (71) for driving the first fixing plate (8) and the second fixing plate (9) is rotatably connected to the base (7). One end of the bidirectional threaded rod (71) is threaded to the first fixing plate (8), and the other end is threaded to the second fixing plate (9). A fixed motor (72) for driving the bidirectional threaded rod (71) to rotate is fixedly connected to the base (7).

5. The high-precision reducer testing fixture according to claim 4, characterized in that: The snap-fit ​​connector (81) is provided with a fixing airbag (811), and a fixing port (812) is opened on the surface of the snap-fit ​​connector (81). A drive groove (82) is opened at one end of the first fixing plate (8) near the input flange (11). A drive airbag (821) is provided in the drive groove (82), and a vent pipe (83) is sealed between the drive airbag (821) and the fixing airbag (811).

6. The high-precision reducer testing fixture according to claim 4, characterized in that: The locking rod (91) includes a fixed rod (911) and a movable rod (912) arranged coaxially. One end of the movable rod (912) is fixedly connected to the second fixed plate (9), and the other end is slidably connected inside the fixed rod (911). Multiple locking feet (913) for locking the output flange (13) are arranged around the movable rod (912) inside the fixed rod (911). Multiple parallel connecting rods (914) are arranged between the locking feet (913) and the movable rod (912). The two ends of the connecting rods (914) are respectively hinged to the locking feet (913) and the movable rod (912). A guide plate (915) for guiding the movement direction of the locking feet (913) is provided inside the fixed rod (911). An inlet and outlet for the locking feet (913) to enter and exit are provided on the surface of the fixed rod (911). (917) A return spring (916) is connected between the movable rod (912) and the fixed rod (911). When the return spring (916) is in its natural state, the locking foot (913) is completely inside the fixed rod (911) and the angle between the connecting rod (914) and the movable rod (912) near the middle section (12) is greater than zero degrees and less than ninety degrees. When the movable rod (912) abuts against the guide plate (915), the angle between the connecting rod (914) and the movable rod (912) near the middle section (12) is less than or equal to ninety degrees. The movable rod (912) is fixedly connected to a locking ring (918). The outer diameter of the locking ring (918) is greater than the inner diameter of the connecting hole (131). The locking ring (918) is located at the end of the inlet / outlet (917) away from the middle section (12).

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