Precision planetary reducer

Abstract

The application discloses a precision planetary reducer, and relates to the field of gearboxes, which comprises a shell, a first-stage planetary transmission unit and a second-stage planetary transmission unit; the first-stage planetary transmission unit and the second-stage planetary transmission unit are both installed on the shell; the first-stage planetary transmission unit is connected with the second-stage planetary transmission unit; the second-stage planetary transmission unit comprises a double-arm planet carrier, a second-stage planetary pin shaft, a second-stage planetary gear and a fixing screw; the double-arm planet carrier is rotatably matched with the shell; the double-arm planet carrier is provided with a first hole and a second hole which are in communication; one end of the second-stage planetary pin shaft is provided with a first notch, the other end of the second-stage planetary pin shaft is arranged in the first hole and is in contact with the end face of the second hole; the second-stage planetary gear is rotatably matched with the second-stage planetary pin shaft; the fixing screw is screw-connected with the double-arm planet carrier, and the end cap of the fixing screw is clamped with the first notch. The application can effectively limit the circumferential rotation of the planetary pin shaft, improve the stability of the planetary pin shaft, reduce the abrasion and prolong the service life.

Description

Technical Field

[0001] This utility model relates to the field of gearboxes, and more specifically, to a precision planetary reducer. Background Technology

[0002] In existing technologies, the connection methods between the planetary carrier and the sun gear in precision planetary reducers mainly include interference fit, saddle pin fit, spline fit, and welded fit. Among these, interference fit requires a large interference amount, making dimensional control difficult, and it also demands high surface roughness from both parts, leading to assembly difficulties. Furthermore, as the reducer temperature rises, there is a risk of relative slippage between the two connecting parts. Saddle pin fit carries the risk of detachment during reducer operation, causing reducer malfunction. Spline fits are difficult to machine and have high processing costs. Welded fits are also difficult and costly due to the small size of the parts. Meanwhile, the connection and limiting methods between the planetary pin shafts and the double-arm planetary carrier in precision planetary reducers generally include the following: Form 1: Using an interference fit. This form requires a large interference amount, high surface roughness requirements for both parts, difficult assembly, and a risk of axial slippage with temperature rise. Form 2: Setting a shaft stop or hole stop on the pin end face or inside the hole to restrict the axial movement of the pin. This form reduces the mating area between the pin and the planetary carrier, and the retaining ring is easily damaged, potentially causing damage to the reducer. Form 3: At the junction of the pin and the planetary carrier, the planetary carrier has a radially threaded hole, and the pin is tightened by screwing in a screw. This form is heavily constrained by the structure and space of the planetary carrier, easily affected by impacts, leading to failure, poor reliability, and difficult processing. Form 4: Installing baffles or adjusting plates on the end faces of the planetary carrier and pin for positioning. This has high processing costs and is cumbersome to install. Form 5: Setting a threaded hole on the mating end face of the planetary carrier and pin, adding a washer and bolts to restrict the axial positioning of the pin. The washer is relatively thin and easily deformed by impact. None of the above methods provide circumferential anti-rotation for the pin, and the planetary gear washers also lack circumferential anti-rotation. Summary of the Invention

[0003] The purpose of this invention includes, for example, providing a precision planetary reducer that can effectively limit the circumferential and axial movement of the planetary pins mounted on the double-arm planetary carrier, thereby improving the stability of the planetary pins, reducing wear, and extending service life.

[0004] The embodiments of this utility model can be implemented as follows: In a first aspect, this utility model provides a precision planetary reducer, comprising: The system comprises a housing, a primary planetary transmission unit, and a secondary planetary transmission unit; both the primary and secondary planetary transmission units are mounted on the housing; the output of the primary planetary transmission unit is connected to the input of the secondary planetary transmission unit. The secondary planetary transmission unit includes a double-arm planetary carrier, a secondary planetary pin, a secondary planetary gear, and a fixing screw. The double-arm planetary carrier is rotatably fitted to the housing. The double-arm planetary carrier has a first hole and a second hole that communicate with each other, the diameter of the first hole being larger than the diameter of the second hole. One end of the secondary planetary pin has a first notch, and the other end of the secondary planetary pin passes through the first hole and contacts the end face of the second hole. The secondary planetary gear is rotatably fitted to the secondary planetary pin. The fixing screw is screwed to the double-arm planetary carrier, and the end cap of the fixing screw engages with the first notch.

[0005] In an optional embodiment, the first notch is configured as an arc-shaped notch, and the cylindrical surface of the arc-shaped notch is coaxially arranged with the outer peripheral surface of the end cap.

[0006] In an optional embodiment, the double-arm planetary carrier is provided with a second notch, the second notch communicating with the first notch, and the end cap being embedded in the second notch.

[0007] In an optional embodiment, the secondary planetary transmission unit further includes a first washer, which is sleeved on the secondary planetary pin shaft. The double-arm planetary carrier and the secondary planetary gear cooperate to clamp the first washer. The fixing screw is inserted into the first washer to restrict the first washer from rotating around the axis of the secondary planetary pin shaft.

[0008] In an optional embodiment, the first gasket is provided with a first anti-rotation hole, and the fixing screw passes through the first anti-rotation hole.

[0009] In an optional embodiment, the secondary planetary transmission unit further includes a second washer, which is sleeved on the outside of the secondary planetary pin. The second washer and the first washer are distributed on both sides of the secondary planetary gear, and the double-arm planetary carrier and the secondary planetary gear cooperate to clamp the second washer.

[0010] In an optional embodiment, the secondary planetary transmission unit further includes an anti-rotation component, which is connected to both the second washer and the double-arm planetary carrier to restrict the second washer from rotating about the axis of the secondary planetary pin.

[0011] In an optional embodiment, the anti-rotation element is configured as a threaded element.

[0012] In an optional implementation, the primary planetary transmission unit includes a single-arm planet carrier; The secondary planetary transmission unit also includes a secondary sun gear, and the single-arm planetary carrier is connected to the secondary sun gear. The single-arm planetary carrier and the secondary sun gear are fixed relative to each other in the circumferential direction of the secondary sun gear; the secondary sun gear meshes with the secondary planetary gear.

[0013] In an optional embodiment, the precision planetary reducer further includes a saddle screw, through which the single-arm planet carrier and the second-stage sun gear are fixedly connected.

[0014] The beneficial effects of this utility model embodiment include, for example: In summary, the precision planetary reducer provided in this embodiment has a secondary planetary pin that passes through the first hole of the double-arm planetary carrier and contacts the end face of the second hole. A fixing screw is fixedly connected to the double-arm planetary carrier, and the end cap of the fixing screw contacts the end face of the secondary planetary pin away from the second hole. Thus, the fixing screw and the double-arm planetary carrier cooperate to clamp the secondary planetary pin, preventing axial movement. Simultaneously, the end cap of the fixing screw engages in the first notch, allowing the fixing screw to rotate normally relative to the first notch, thereby securing it to the double-arm planetary carrier. The rotation of the secondary planetary pin is restricted by the end cap, achieving circumferential anti-rotation of the secondary planetary pin. When the secondary planetary gears rotate, the secondary planetary pin will not rotate relative to the double-arm planetary carrier, resulting in a stable structure, low wear, and long service life. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a cross-sectional schematic diagram of the precision planetary reducer in this embodiment; Figure 2 This is a partial schematic diagram of the secondary planetary transmission unit in this embodiment; Figure 3 This is a schematic diagram illustrating the engagement of the single-arm planetary carrier and the second-stage sun gear in this embodiment; Figure 4 This is a schematic diagram of the structure of the double-arm planetary carrier in this embodiment; Figure 5 This is a cross-sectional schematic diagram of the double-arm planetary carrier of this embodiment; Figure 6 This is a schematic diagram of the secondary planetary pin in this embodiment; Figure 7 This is a schematic diagram of the fixing screw in this embodiment.

[0017] icon: 100 - Housing; 200 - First-stage planetary transmission unit; 210 - First-stage sun gear; 220 - First-stage gear ring; 230 - Single-arm planetary carrier; 240 - First-stage planetary gear; 250 - First-stage planetary pin; 300 - Second-stage planetary transmission unit; 310 - Second-stage sun gear; 320 - Second-stage gear ring; 330 - Double-arm planetary carrier; 331 - First hole; 332 - Second hole; 333 - Second notch; 334 - First threaded hole; 335 - Clearance notch; 3351 - First inner wall; 3352 - Second inner wall; 336 - Second threaded hole; 340 - Second-stage planetary gear; 350 - Second-stage planetary pin; 351 - First notch; 360 - Fixing screw; 361 - End cap; 362 - Screw part; 370 - First washer; 371 - First anti-rotation hole; 380 - Second washer; 381 - Second anti-rotation hole; 390 - Anti-rotation component; 400 - Screw with seam. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0020] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0021] In the description of this utility model, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product is usually placed during use, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0022] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0023] It should be noted that, where there is no conflict, the features in the embodiments of this utility model can be combined with each other.

[0024] Please refer to Figure 1 This embodiment provides a precision planetary reducer, which includes a housing 100, a primary planetary transmission unit 200, and a secondary planetary transmission unit 300. Both the primary and secondary planetary transmission units 200 are mounted on the housing 100. The output of the primary planetary transmission unit 200 is connected to the input of the secondary planetary transmission unit 300. The secondary planetary transmission unit 300 includes a double-arm planetary carrier 330, a secondary planetary pin 350, secondary planetary gears 340, and fixing screws 360. The double-arm planetary carrier 330 is rotatable from the housing 100. The planetary carrier 330 is provided with a first hole 331 and a second hole 332 that are interconnected. The diameter of the first hole 331 is larger than the diameter of the second hole 332. One end of the secondary planetary pin 350 is provided with a first notch 351. The other end of the secondary planetary pin 350 passes through the first hole 331 and contacts the end face of the second hole 332. The secondary planetary gear 340 is rotatably engaged with the secondary planetary pin 350. The fixing screw 360 is screwed into the planetary carrier 330. The end cap 361 of the fixing screw 360 is engaged with the first notch 351.

[0025] As described above, the working principle of the precision planetary reducer provided in this embodiment is as follows: Power input devices such as motors can be connected to the input section of the primary planetary transmission unit 200, and the output section of the secondary planetary transmission unit 300 can be connected to the actuator. After the motor starts, the torque is transmitted through the output section of the primary planetary transmission unit 200 to the input section of the secondary planetary transmission unit 300, and then through the output section of the secondary planetary transmission unit 300 to the actuator, thereby driving the actuator to rotate at a set speed.

[0026] It should be understood that the secondary planetary pin 350 passes through the first hole 331 of the double-arm planetary carrier 330 and contacts the end face of the second hole 332. The fixing screw 360 is fixedly connected to the double-arm planetary carrier 330, and the end cap 361 of the fixing screw 360 contacts the end face of the secondary planetary pin 350 away from the second hole 332. Thus, the fixing screw 360 and the double-arm planetary carrier 330 cooperate to clamp the secondary planetary pin 350, preventing axial movement of the secondary planetary pin 350. Simultaneously, the end cap 361 of the fixing screw 360 engages in the first notch 351, allowing the fixing screw 360 to rotate normally relative to the first notch 351, thereby securing it to the double-arm planetary carrier 330. The rotation of the secondary planetary pin 350 is restricted by the end cap 361, thus achieving circumferential anti-rotation of the secondary planetary pin 350. When the second-stage planetary gear 340 rotates, the second-stage planetary pin 350 will not rotate relative to the double-arm planetary carrier 330, resulting in a stable structure, low wear, and long service life.

[0027] The following embodiments illustrate the details of the precision planetary reducer of this application by way of example.

[0028] Please refer to Figures 1-7 In this embodiment, optionally, the precision planetary reducer includes a housing 100, a primary planetary transmission unit 200, a secondary planetary transmission unit 300, and a seam screw 400. Both the primary planetary transmission unit 200 and the secondary planetary transmission unit 300 are connected to the housing 100. The output of the primary planetary transmission unit 200 is connected to the input of the secondary planetary transmission unit 300 via the seam screw 400. The number of seam screws 400 is designed as needed and is not specifically limited in this embodiment.

[0029] Please combine Figure 1 In this embodiment, optionally, the primary planetary transmission unit 200 includes a primary sun gear 210, a primary ring gear 220, a single-arm planetary carrier 230, three primary planetary gears 240, and three primary planetary pins 250. The primary sun gear 210 meshes with all three primary planetary gears 240. The three primary planetary gears 240 are rotatably mounted on the same side of the single-arm planetary carrier 230 via three primary planetary pins 250. The primary ring gear 220 is fixed inside the housing 100, and all three primary planetary gears 240 are located within and mesh with the primary ring gear 220. With this design, when power is input to the primary sun gear 210, the primary sun gear 210 drives the primary planetary gears 240 to rotate. While rotating on their own axes, the primary planetary gears 240 also revolve around the axis of the primary sun gear 210 under the action of the primary ring gear 220, thereby driving the single-arm planetary carrier 230 to rotate around the axis of the primary sun gear 210. The single-arm planetary carrier 230 is also the output part of the first-stage planetary transmission unit 200. Through the single-arm planetary carrier 230, torque can be output to the second-stage planetary transmission unit 300.

[0030] It should be understood that in some embodiments, the number of first-stage planetary gears 240 and first-stage planetary pins 250 is designed as needed and is not limited to three.

[0031] Please combine Figure 1 , Figure 2 , Figures 4-7 In this embodiment, optionally, the secondary planetary transmission unit 300 includes a secondary sun gear 310, a secondary ring gear 320, a double-arm planetary carrier 330, three secondary planetary gears 340, three secondary planetary pins 350, three fixing screws 360, three first washers 370, three second washers 380, and three anti-rotation components 390. The three secondary planetary pins 350, three fixing screws 360, and three first washers 370 are in one-to-one correspondence, and the three secondary planetary pins 350, three second washers 380, and three anti-rotation components 390 are also in one-to-one correspondence. Please refer to... Figure 3 The secondary sun gear 310 is fixedly connected to the single-arm planetary carrier 230 via three slit screws 400 to achieve torque transmission; that is, the secondary sun gear 310 can be understood as the input part of the secondary planetary transmission unit 300. The secondary sun gear 310 simultaneously meshes with three secondary planetary gears 340, which are rotatably connected to the double-arm planetary carrier 330 via three secondary planetary pins 350. The secondary gear ring 320 is fixed inside the housing 100, and the three secondary planetary gears 340 are all located within the space enclosed by the secondary gear ring 320 and mesh with it. Three first washers 370 are respectively fitted onto the outside of the three secondary planetary pins 350, and three second washers 380 are respectively fitted onto the outside of the three secondary planetary pins 350. The first washers 370 and second washers 380 on the same secondary planetary pin 350 are located on both sides of the corresponding secondary planetary gear 340. Three fixing screws 360 and three anti-rotation components 390 are all fixedly connected to the double-arm planetary carrier 330. The three fixing screws 360 respectively cooperate with the three secondary planetary pins 350, which can restrict the axial movement and circumferential rotation of the secondary planetary pins 350. At the same time, the three fixing screws 360 also cooperate with the three first washers 370, which restrict the rotation of the first washers 370 around the secondary planetary pins 350. The three anti-rotation components 390 respectively cooperate with the three second washers 380, which restrict the rotation of the second washers 380 around the secondary planetary pins 350.

[0032] Optionally, the double-arm planetary carrier 330 is provided with mounting holes for mounting secondary planetary pins 350. The number of mounting holes is the same as the number of secondary planetary pins 350 and they correspond one-to-one. Each mounting hole includes a connected and coaxial first hole 331 and a second hole 332. Both the first hole 331 and the second hole 332 can be circular through holes, and the diameter of the first hole 331 is larger than the diameter of the second hole 332. Furthermore, the side of the double-arm planetary carrier 330 away from the second hole 332 is provided with a second notch 333 that communicates with the corresponding first hole 331. The second notch 333 can be an arc-shaped notch. At the same time, a first threaded hole 334 is provided in the area enclosed by each second notch 333, and the anti-rotation screw hole can be screwed into the first threaded hole 334. The outer circumferential surface of the double-arm planetary carrier 330 is provided with a clearance notch 335 corresponding to the first hole 331. The clearance notch 335 provides installation space for the second-stage planetary gear 340, the first washer 370, and the second washer 380, and ensures that the second-stage planetary gear 340 extends out of the clearance notch 335 and can mesh with the second-stage gear ring 320. Simultaneously, the clearance notch 335 has a first inner wall 3351 and a second inner wall 3352 that are axially opposite to each other on the double-arm planetary carrier 330. A first threaded hole 334 penetrates the first inner wall 3351, and a second threaded hole 336 is provided on the second inner wall 3352. The second threaded hole 336 allows the anti-rotation component 390 to be screwed in. The second threaded hole 336 can be coaxial with the first threaded hole 334.

[0033] Optionally, the secondary planetary pin 350 has a first end and a second end. The second end is provided with a first notch 351, which can be an arc-shaped notch and is eccentrically positioned with respect to the secondary planetary pin 350. The cylindrical surface of the first notch 351 is coaxial with the first threaded hole 334. The first end of the secondary planetary pin 350 passes through the first hole 331 and can contact the end face of the second hole 332, thereby restricting the secondary planetary pin 350 from entering the second hole 332.

[0034] Optionally, the first gasket 370 is provided with a first anti-rotation hole 371, and the second gasket 380 is provided with a second anti-rotation hole 381.

[0035] Optionally, the fixing screw 360 is a large-head screw, that is, the fixing screw 360 includes an integral end cap 361 and a screw portion 362. The end cap 361 can be a round cap, and the end cap 361 and the screw portion 362 are coaxially arranged. The outer diameter of the end cap 361 is approximately the same as the diameter of the circle in which the first notch 351 is located.

[0036] The assembly structure of the two-stage planetary transmission unit 300 provided in this embodiment is as follows: The secondary planetary pin 350 passes through the first hole 331 and contacts the end face of the second hole 332. The first notch 351 and the second notch 333 are connected and substantially flush. A first washer 370 and a second washer 380 are both sleeved on the outer side of the secondary planetary pin 350. The first washer 370 is clamped between the secondary planetary gear 340 and the first inner wall 3351, and can rotate relative to the secondary planetary pin 350, thereby aligning the first threaded hole 334 with the first anti-rotation hole 371. The second washer 380 is clamped between the second inner wall 3352 and the secondary planetary gear 340, and can rotate relative to the secondary planetary pin 350, thereby aligning the second anti-rotation hole 381 with the second threaded hole 336. The screw portion 362 of the fixing screw 360 is screwed into the first threaded hole 334 from the second notch 333 side. The end cap 361 of the fixing screw 360 can be inserted into the second notch 333 and engaged with the first notch 351. The end cap 361 and the double-arm planetary carrier 330 cooperate to clamp the secondary planetary pin 350, restricting the axial movement of the secondary planetary pin 350. Simultaneously, the end cap 361 and the first notch 351 cooperate to restrict the rotation of the secondary planetary pin 350. An anti-rotation component 390 passes through the second anti-rotation hole 381 and is screwed into the second threaded hole 336. The anti-rotation component 390 can be an internal hexagon screw. The anti-rotation component 390 is screwed into the second threaded hole 336 and always passes through the second anti-rotation hole 381, thereby restricting the rotation of the second washer 380 relative to the secondary planetary pin 350.

[0037] In this way, the axial movement and circumferential rotation of the secondary planetary pin 350, the first washer 370, and the second washer 380 are all constrained, and the structure is stable and reliable.

[0038] The precision planetary gear reducer provided in this embodiment has at least the following advantages: 1. The single-arm planetary carrier 230 and the second-stage sun gear 310 are connected by a saddle screw 400, which is simple, reliable, easy to process, and low in cost; 2. The first notch 351 on the secondary planetary pin 350 engages with the end cap 361 of the fixing screw 360, which can effectively prevent the secondary planetary pin 350 from rotating circumferentially and improve the running stability of the reducer. 3. The two ends of the secondary planetary pin 350 contact the inner wall of the double-arm planetary carrier 330 and the end cap 361 of the fixing screw 360 respectively, which can effectively prevent the axial movement of the secondary planetary pin 350 and reduce the possibility of gearbox failure. 4. The first washer 370 and the second washer 380 are respectively engaged with the double-arm planetary carrier 330 by the fixing screw 360 and the anti-rotation component 390, which can prevent the first washer 370 and the second washer 380 from rotating and reduce the wear of the parts.

[0039] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A precision planetary gear reducer, characterized in that, include: The system comprises a housing (100), a primary planetary transmission unit (200), and a secondary planetary transmission unit (300); both the primary planetary transmission unit (200) and the secondary planetary transmission unit (300) are mounted on the housing (100); the output of the primary planetary transmission unit (200) is connected to the input of the secondary planetary transmission unit (300). The secondary planetary transmission unit (300) includes a double-arm planetary carrier (330), a secondary planetary pin (350), a secondary planetary gear (340), and a fixing screw (360); the double-arm planetary carrier (330) is rotatably fitted with the housing (100); the double-arm planetary carrier (330) is provided with an interconnected first hole (331) and a second hole (332), the diameter of the first hole (331) being larger than the diameter of the second hole (332); the secondary planetary pin (350) is... One end of the second-stage planetary pin (350) is provided with a first notch (351), and the other end of the second-stage planetary pin (350) passes through the first hole (331) and contacts the end face of the second hole (332); the second-stage planetary gear (340) is rotatably engaged with the second-stage planetary pin (350); the fixing screw (360) is screwed into the double-arm planetary carrier (330), and the end cap (361) of the fixing screw (360) is engaged with the first notch (351).

2. The precision planetary reducer according to claim 1, characterized in that: The first notch (351) is configured as an arc-shaped notch, and the cylindrical surface of the arc-shaped notch is coaxially arranged with the outer peripheral surface of the end cap (361).

3. The precision planetary reducer according to claim 1, characterized in that: The double-arm planetary carrier (330) is provided with a second notch (333), the second notch (333) is connected to the first notch (351), and the end cap (361) is embedded in the second notch (333).

4. The precision planetary reducer according to claim 1, characterized in that: The secondary planetary transmission unit (300) further includes a first washer (370), which is sleeved on the secondary planetary pin (350). The double-arm planetary carrier (330) and the secondary planetary gear (340) cooperate to clamp the first washer (370). The fixing screw (360) is inserted into the first washer (370) to restrict the first washer (370) from rotating around the axis of the secondary planetary pin (350).

5. The precision planetary reducer according to claim 4, characterized in that: The first gasket (370) is provided with a first anti-rotation hole (371), and the fixing screw (360) passes through the first anti-rotation hole (371).

6. The precision planetary reducer according to claim 4, characterized in that: The secondary planetary transmission unit (300) further includes a second washer (380), which is sleeved on the outside of the secondary planetary pin (350). The second washer (380) and the first washer (370) are distributed on both sides of the secondary planetary gear (340). The double-arm planetary carrier (330) and the secondary planetary gear cooperate to clamp the second washer (380).

7. The precision planetary reducer according to claim 6, characterized in that: The secondary planetary transmission unit (300) further includes an anti-rotation component (390), which is connected to both the second washer (380) and the double-arm planetary carrier (330) to restrict the second washer (380) from rotating about the axis of the secondary planetary pin (350).

8. The precision planetary reducer according to claim 7, characterized in that: The anti-rotation component (390) is configured as a threaded component.

9. The precision planetary reducer according to any one of claims 1-8, characterized in that: The primary planetary transmission unit (200) includes a single-arm planet carrier (230); The secondary planetary transmission unit (300) further includes a secondary sun gear (310), the single-arm planetary carrier (230) is connected to the secondary sun gear (310) in a transmission connection, the single-arm planetary carrier (230) and the secondary sun gear (310) are fixed relative to each other in the circumferential direction of the secondary sun gear (310); the secondary sun gear (310) meshes with the secondary planetary gear (340).

10. The precision planetary reducer according to claim 9, characterized in that: The precision planetary reducer also includes a saddle screw (400), through which the single-arm planet carrier (230) and the secondary sun gear (310) are fixedly connected.

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