The invention relates to a planetary
reducer for a joint, belongs to the technical field of transmission machinery, and solves the problems that a planetary
reducer in the prior art is large in overall weight and low in
torque density. The planetary
gear train comprises two stages of planetary gear trains, the first-stage planetary
gear train comprises four first-stage planetary gears, and the second-stage planetary
gear train comprises five second-stage planetary gears; the first-stage sun gear serves as a power input part, the output end of the first-stage
planet carrier is coaxially and fixedly connected with the second-stage sun gear, and the second-stage
planet carrier serves as a final output component of the speed
reducer. The multi-
planet differential design of the first-stage four planet gears and the second-stage five planet gears is adopted, the weight of the whole
machine is reduced, and the
torque density can be increased by about 15%.