Joint actuator and planetary gear reducing mechanism thereof

Abstract

The utility model discloses a planetary gear reducing mechanism which comprises a first-stage planetary transmission mechanism and a second-stage planetary transmission mechanism. The first-stage planetary transmission mechanism comprises a first-stage sun wheel shaft, a first-stage planet carrier and a first-stage gear ring; a first-stage sun gear is arranged on the first-stage sun gear shaft; a plurality of first-stage planet wheel shafts are arranged on the first-stage planet carrier, and first-stage planet wheels meshed with the first-stage sun wheel and the first-stage gear ring are arranged on the first-stage planet wheel shafts; the second-stage planetary transmission mechanism comprises a second-stage sun wheel shaft, a second-stage planet carrier and a second-stage gear ring; a second-stage sun gear is arranged on the second-stage sun gear shaft; the second-stage planet carrier comprises an inner planet carrier and an output planet carrier and is provided with a plurality of second-stage planet wheel shafts, the second-stage planet wheel shafts are provided with large planet gears meshed with the second-stage sun wheel and small planet gears meshed with the gear ring, and the pitch diameter of the large planet gears is larger than that of the small planet gears; and the first-stage planet carrier is in transmission connection with the second-stage sun wheel shaft. The utility model further discloses a joint actuator.

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