CN112431914B

CN112431914B - Precision positioning self-locking bearing speed reducer

Info

Publication number: CN112431914B
Application number: CN202011303028.4A
Authority: CN
Inventors: 何金仙
Original assignee: Individual
Current assignee: Zhong Zhihai
Priority date: 2020-11-19
Filing date: 2020-11-19
Publication date: 2022-03-15
Anticipated expiration: 2040-11-19
Also published as: CN112431914A

Abstract

The invention discloses a precise positioning self-locking bearing reducer which comprises an inner gear ring, a sun gear, a planet gear and a power source, wherein the inner gear ring is arranged on the outer gear ring; the inner gear ring comprises a fixed inner gear ring and an output inner gear ring which is used for power output and is positioned above the fixed inner gear ring, and the number of gear teeth of the fixed inner gear ring is greater than or less than that of the output inner gear ring; the planet gear is arranged in the inner gear ring, and the outer side of the planet gear is respectively meshed with the fixed inner gear ring and the output inner gear ring; the sun gear is fixed at the center of the inner gear ring and is meshed with the inner side of the planet gear; the lower end of the output inner gear ring is inserted into a slot at the top of the fixed inner gear ring; a connecting cover connected with the fixed inner gear ring is sleeved on the outer side of the output inner gear ring; a plurality of balls distributed annularly are embedded between the outer wall of the output inner gear ring and the fixed inner gear ring as well as the connecting cover, and the connecting cover presses the output inner gear ring through the balls; one end of the sun wheel is connected with the power source. The invention has simple structure, high concentricity of the fixed inner gear ring and the output inner gear ring and improved precision.

Description

Precision positioning self-locking bearing speed reducer

Technical Field

The invention relates to the technical field of speed reducers, in particular to a precise positioning self-locking bearing speed reducer.

Background

In the field of mechanical technology, a retarder is an independent closed transmission between a prime mover and a working machine. Used for reducing the rotating speed and increasing the torque to meet the working requirement.

Currently, the core driver of industry 4.0 is industrial automation, aiming to facilitate the flattened fusion of industry and life. Industrial robots, as an indispensable key to industry 4.0, have formed an industrial chain with great potential. The reducer at the joint of the robot, which is one of the core components of the industrial robot, has become a highly new and popular technology industry at home and abroad due to high technology, high added value and high return rate. However, the existing speed reducers have the defects of complex structure, low positioning precision, low transmission efficiency and the like.

Application No. 202010649998.3 discloses auto-lock planetary reducer, including internal tooth ring, sun gear, planet wheel and planet carrier: the inner gear ring comprises a fixed inner gear ring and an output inner gear ring which is used for power output and is positioned above the fixed inner gear ring, and the number of gear teeth of the fixed inner gear ring is greater than or less than that of the output inner gear ring; the planet gear is arranged on the planet carrier, and the outer side of the planet gear is respectively meshed with the fixed inner gear ring and the output inner gear ring; the sun wheel is fixed at the center of the inner gear ring and meshed with the inner side of the planet wheel; one end of the sun wheel is used for being connected with a power source, so that the sun wheel drives the planet wheel to rotate along the inner rings of the fixed inner gear ring and the output inner gear ring when rotating, and synchronously drives the output inner gear ring to rotate to output power; a third bearing is arranged on the outer side of the inner gear ring; the outer ring of the third bearing is connected with the fixed inner gear ring, and the inner ring of the third bearing is connected with the output inner gear ring.

Such a reducer as described above has certain advantages, but it also has certain problems, such as: because the fixed inner gear ring is connected with the output inner gear ring through the third bearing, if the third bearing has a clearance, the concentricity between the fixed inner gear ring and the output inner gear ring can not be controlled, so that the precision of the speed reducer is reduced, and the production cost can be increased if a precision bearing with zero clearance is purchased to connect the fixed inner gear ring and the output inner gear ring.

Therefore, improvements in the prior art are needed.

Disclosure of Invention

Aiming at the problems in the prior art, the invention aims to provide a fine positioning self-locking bearing speed reducer which is simple in structure, does not adopt a bearing to connect a fixed inner gear ring and an output inner gear ring, can realize zero clearance in the radial direction and the axial direction when the two inner gear rings are matched and rotate, improves the concentricity of the fixed inner gear ring and the output inner gear ring, and further improves the precision.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a fine positioning self-locking bearing speed reducer comprises an inner gear ring, a sun gear, a planet gear and a power source; the inner gear ring comprises a fixed inner gear ring and an output inner gear ring which is used for power output and is positioned above the fixed inner gear ring, and the number of gear teeth of the fixed inner gear ring is greater than or less than that of the output inner gear ring; the planet gear is arranged in the inner gear ring, and the outer side of the planet gear is respectively meshed with the fixed inner gear ring and the output inner gear ring; the sun wheel is fixed at the center of the inner gear ring and meshed with the inner side of the planet wheel; the lower end of the output inner gear ring is inserted into a slot at the top of the fixed inner gear ring; a connecting cover connected with the fixed inner gear ring is sleeved on the outer side of the output inner gear ring; a plurality of balls distributed in an annular shape are embedded between the outer wall of the output inner gear ring and the fixed inner gear ring as well as the connecting cover, and the connecting cover presses the output inner gear ring through the balls; one end of the sun wheel is connected with the power source.

For the additional structure of the above technical scheme, the following scheme is also included:

as a specific embodiment, a first positioning notch is arranged at the outer side of the bottom of the connecting cover; a first positioning part corresponding to the first positioning notch extends upwards from the outer side of the top of the fixed inner gear ring; the first positioning part is clamped into the first positioning notch.

As a specific embodiment, a dustproof oil seal is further embedded between the inner wall of the connecting cover and the outer wall of the output inner gear ring.

As a specific embodiment, the output inner gear ring comprises a main body and an inserting part which are integrally formed; the insertion part is positioned outside the bottom surface of the main body; the gear teeth of the output inner gear ring are arranged on the main body, and the insertion part is inserted into the slot; a second positioning gap is formed between the inserting part and the main body, a second positioning part corresponding to the second positioning gap is arranged at the top of the fixed inner gear ring, and the second positioning part is clamped into the second positioning gap.

As a specific embodiment, a plurality of balls are respectively embedded in an embedding groove corresponding to the balls; the embedded groove is composed of a first embedded groove, a second embedded groove and a third embedded groove, the first embedded groove is located on the outer wall of the lower end of the output inner gear ring, the second embedded groove is located at the upper end of the inserting groove, and the third embedded groove is located at the lower end of the connecting cover.

Furthermore, an oil groove is communicated with the side wall of the embedding groove, and lubricating oil is arranged in the oil groove.

As a specific embodiment, the fine positioning self-locking bearing reducer further comprises an upper gland and a lower gland; the upper gland and the lower gland are respectively connected to the inner side of the output inner gear ring and the inner side of the fixed inner gear ring, the upper gland and the lower gland respectively abut against the upper end and the lower end of the planet wheel, and the upper gland and the lower gland are respectively covered at the upper end and the lower end of the sun wheel.

Furthermore, a first bearing is sleeved at the upper end of the sun gear, and the upper gland is tightly pressed on the first bearing; the lower end of the sun gear is sleeved with a second bearing, and the lower gland is tightly pressed on the second bearing.

Furthermore, a positioning step which corresponds to the upper gland and is used for being clamped into the edge of the upper gland is arranged on the inner wall of the output inner gear ring, and a first mounting groove which is positioned above the positioning step is also arranged on the inner wall of the output inner gear ring; a first clamp spring is installed in the first installation groove, the outer side of the first clamp spring is embedded into the first installation groove, and the inner side of the first clamp spring is tightly pressed on the upper gland; a third positioning notch which corresponds to the lower gland and is used for being clamped into the edge of the lower gland is arranged on the inner wall of the fixed inner gear ring, and a second mounting groove which is positioned below the third positioning notch is also arranged on the inner wall of the fixed inner gear ring; install the second jump ring in the second mounting groove, the outside embedding of second jump ring is in the second mounting groove, the inboard of second jump ring compresses tightly on the lower pressure cover.

Further, the upper gland and the output inner gear ring are integrally formed; the lower gland and the fixed inner gear ring are integrally formed.

The invention has the beneficial effects that:

the invention has the advantages of simple structure, small volume, strong impact resistance, large torque, high positioning precision, small vibration, large reduction ratio, long service life, high rotation precision, high repeated positioning precision and the like.

According to the invention, the bearing structure similar to a bearing can be formed among the fixed inner gear ring, the connecting cover and the output inner gear ring by arranging the balls and the connecting cover, and the bearing structure can realize zero clearance in the radial direction and the axial direction through precise adjustment, so that the concentricity between the fixed inner gear ring and the output inner gear ring is higher, the precision is further improved, compared with the prior art, the cost brought by purchasing an expensive precise bearing can be saved, and the production and the manufacture are more convenient.

And thirdly, the positions of the fixed inner gear ring and the output inner gear ring can be conveniently fixed by arranging the connecting cover and the balls, and the assembly is simple and rapid.

The gear teeth number of the fixed inner gear ring and the gear teeth number of the output inner gear ring are set to be different, so that the transmission ratio of the whole fine positioning self-locking bearing speed reducer is formed; simultaneously, through the fixed inner ring gear with different numbers of teeth and the meshing of output inner ring gear with the sun gear respectively for output inner ring gear also can not rotate when receiving the exogenic action, has self-locking function promptly.

By arranging the oil groove and the lubricating oil, the output inner gear ring can rotate more smoothly, zero-clearance rotation of the output inner gear ring is conveniently realized, abrasion is prevented, and the service life of the output inner gear ring is prolonged.

According to the invention, the sun wheel and the planet wheel can be conveniently fixed by arranging the upper gland, the lower gland, the first bearing and the second bearing, and the rotation of the sun wheel and the planet wheel can not be influenced.

The invention can be used in industrial robot joint, digit control machine tool, precision positioning and other high-end fields.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is an exploded view of the present invention;

FIG. 3 is a longitudinal cross-sectional view of the present invention;

FIG. 4 is an enlarged view taken at A in FIG. 3;

FIG. 5 is an enlarged view at B in FIG. 3;

FIG. 6 is an enlarged view at C in FIG. 3;

fig. 7 is a partial structural schematic diagram of the present invention.

Reference numerals:

1. a sun gear; 2. a planet wheel; 3. fixing the inner gear ring; 30. a slot; 31. a first positioning portion; 32. a second positioning portion; 33. a third positioning notch; 34. a second mounting groove; 4. an output inner gear ring; 41. a main body; 42. a plug-in part; 43. a second positioning notch; 44. positioning a step; 45. a first mounting groove; 5. a ball bearing; 6. a power source; 7. a connecting cover; 71. a first positioning notch; 8. embedding a groove; 81. an oil sump; 9. a dustproof oil seal; 10. a gland is arranged; 11. a lower gland; 12. a first bearing; 13. a second bearing; 14. a first clamp spring; 15. a second clamp spring; 16. the motor is connected with the cover.

Detailed Description

The invention will be further elucidated with reference to the drawings and the embodiments, which are exemplary only and do not limit the scope of the invention.

As shown in fig. 1-7, the planetary gear set comprises an inner gear ring, a sun gear 1, a planet gear 2 and a power source 6; the inner gear ring comprises a fixed inner gear ring 3 and an output inner gear ring 4 which is used for power output and is positioned above the fixed inner gear ring 3, and the number of gear teeth of the fixed inner gear ring 3 is greater than or less than that of the output inner gear ring 4; the planet wheel 2 is arranged in the inner gear ring, and the outer side of the planet wheel 2 is respectively meshed with the fixed inner gear ring 3 and the output inner gear ring 4; the sun wheel 1 is fixed at the center of the inner gear ring and is meshed with the inner side of the planet wheel 2; the lower end of the output inner gear ring 4 is inserted into a slot 30 at the top of the fixed inner gear ring 3; the outer side of the output inner gear ring 4 is sleeved with a connecting cover 7 connected with the fixed inner gear ring 3, specifically, the connecting cover 7 is connected with the top of the fixed inner gear ring 3, and the connecting cover 7 is annular; a plurality of balls 5 distributed in an annular shape are embedded between the outer wall of the output inner gear ring 4 and the fixed inner gear ring 3 and the connecting cover 7, and the connecting cover 7 presses the output inner gear ring 4 through the balls 5 to prevent the output inner gear ring 4 from being separated; one end of the sun gear 1 is connected with a power source 6, so that the sun gear 1 drives the planet gear 2 to rotate along the inner rings of the fixed inner gear ring 3 and the output inner gear ring 4 when rotating, and synchronously drives the output inner gear ring to rotate to output power. In this embodiment, the power source 6 is a motor, and the power source 6 is connected to the fixed inner ring gear 3 through a motor connecting cover 16. Specifically, the lower end of the sun gear 1 is a spline and the spline is used for connecting the power source 6. It will be appreciated by those skilled in the art that the balls 5 could be replaced by rollers. The gear teeth number of the fixed inner gear ring 3 and the gear teeth number of the output inner gear ring 4 are set to be different, so that the transmission ratio of the whole precision positioning self-locking bearing speed reducer is formed; besides the output inner toothed ring 4 and the fixed inner toothed ring 3, the ball 5 and the connecting cover 7 are arranged, so that the fixed inner toothed ring 3 and the output inner toothed ring 4 can be conveniently fixed, a bearing structure similar to a bearing can be formed between the fixed inner toothed ring 3 and the connecting cover 7 and the output inner toothed ring 4, and the bearing structure can realize zero clearance in the radial direction and the axial direction through precision adjustment, therefore, compared with the prior art, the setting mode not only improves the precision, but also can save the cost brought by purchasing an expensive precision bearing, and the production and the manufacture are more convenient; meanwhile, the fixed inner gear ring 3 and the output inner gear ring 4 of the fine positioning self-locking bearing speed reducer with the structure are respectively meshed with the planet gear 2, and the gear tooth number of the fixed inner gear ring 3 is different from that of the output inner gear ring 4, namely the fixed inner gear ring 3 and the output inner gear ring 4 are respectively restricted by the planet gear 2, so that the output inner gear ring 4 cannot rotate under the action of external force, namely the speed reducer has the self-locking function.

In the present embodiment, three planet wheels 2 are provided.

Preferably, as shown in fig. 4, a first positioning notch 71 is formed at the outer side of the bottom of the connecting cover 7; a first positioning part 31 corresponding to the first positioning notch 71 extends upwards from the outer side of the top of the fixed inner gear ring 3; the first positioning portion 31 is engaged with the first positioning notch 71. Through above setting up can be spacing between connecting lid 7 and fixed inner ring gear 3, can prevent to a certain extent that connecting lid 7 from outwards swinging, and then cause not hard up of ball 5 and output inner ring gear 4.

Preferably, a dust-proof oil seal 9 is further embedded between the inner wall of the connecting cover 7 and the outer wall of the output inner gear ring 3. Can play dirt-proof effect through setting up dustproof oil blanket 9.

The output inner gear ring 4 comprises a main body 41 and an inserting part 42 which are integrally formed; the plug part 42 is positioned outside the bottom surface of the main body 41; the gear teeth of the output inner gear ring 4 are arranged on the main body 41, and the insertion part 42 is inserted into the slot 30; a second positioning notch 43 is formed between the insertion part 42 and the main body 41, a second positioning part 32 corresponding to the second positioning notch 43 is arranged on the top of the fixed inner ring gear 3, and the second positioning part 32 is clamped into the second positioning notch 43. Through above setting up can conveniently fix a position output inner gear ring 4, made things convenient for the equipment to cooperation through between second location breach 43 and the second location portion 32 can further improve the stability between fixed inner gear ring 3 and the output inner gear ring 4.

As shown in fig. 4, the plurality of balls 5 are respectively inserted into an insertion groove 8 corresponding to the balls 5; the insert groove 8 is composed of a first insert groove located on the outer wall of the lower end of the output inner ring gear 4, i.e., the first insert groove is located on the insertion portion 41, a second insert groove located on the upper end of the insertion groove 30, and a third insert groove located on the lower end of the connecting cover 7. More specifically, the first groove is semicircular in cross section, and the second and third grooves are each quarter-circular in cross section, so that a groove 8 corresponding to the shape of the ball 5 can be formed. The connecting cover 7 is connected with the fixed inner gear ring 3 through screws. Through the arrangement, the fixed inner gear ring 3 and the output inner gear ring 4 can be conveniently fixed, and the arrangement mode is convenient to assemble and convenient to produce and manufacture.

An oil groove 81 is also communicated with the side wall of the fitting groove 8, and lubricating oil is provided in the oil groove 81. Through setting up oil groove 81 and lubricating oil can let output inner ring gear 4 rotate more smoothly, and the convenient zero play of output inner ring gear 4 that realizes is rotatory, has prevented wearing and tearing to its life has been prolonged. Specifically, the oil groove 81 is provided on a side wall of the first fitting groove.

As shown in fig. 3, the fine positioning self-locking bearing reducer further comprises an upper gland 10 and a lower gland 11; the upper gland 10 and the lower gland 11 are respectively connected to the inner side of the output inner gear ring 4 and the inner side of the fixed inner gear ring 3, the upper gland 10 and the lower gland 11 respectively abut against the upper end and the lower end of the planet wheel 2, and the upper gland 10 and the lower gland 11 are respectively covered on the upper end and the lower end of the sun wheel 2. Specifically, the upper gland 10 and the lower gland 11 are each provided with a through hole in the middle thereof for insertion of the output shaft of the power source 6. The planet wheel 2 and the sun wheel 1 can be conveniently fixed by arranging the upper gland 10 and the lower gland 11.

Preferably, as shown in fig. 3, a first bearing 12 is sleeved on the upper end of the sun gear 1, and the upper gland 10 is pressed on the first bearing 12; a second bearing 13 is sleeved on the lower end of the sun gear 1, and the lower gland 11 is pressed on the second bearing 13. More specifically, the inner ring of the first bearing 12 abuts against the upper end of the sun gear 1, and the outer ring of the first bearing 12 abuts against the upper gland 10; the inner ring of the second bearing 13 abuts against the lower end of the sun wheel 1, while the outer ring of the second bearing 13 abuts against the lower gland 11. Through the arrangement, the sun gear 1 can be conveniently fixed, meanwhile, the sun gear 1 can be rotated more smoothly, and the precision of the speed reducer is improved.

As shown in fig. 5 and 6, a positioning step 44 corresponding to the upper gland 10 and used for being clamped into the edge of the upper gland 10 is arranged on the inner wall of the output inner ring gear 4, a first mounting groove 45 located above the positioning step 44 is further arranged on the inner wall of the output inner ring gear 4, and specifically, the gear teeth of the output inner ring gear 4 are located below the positioning step 44; a first snap spring 14 is arranged in the first mounting groove 45, the outer side of the first snap spring 14 is embedded into the first mounting groove 45, and the inner side of the first snap spring 14 is pressed on the upper gland 10; a third positioning notch 33 which corresponds to the lower gland 11 and is used for being clamped into the edge of the lower gland 11 is arranged on the inner wall of the fixed inner gear ring 3, a second mounting groove 34 which is positioned below the third positioning notch 33 is also arranged on the inner wall of the fixed inner gear ring 3, and specifically, gear teeth of the fixed inner gear ring 3 are positioned above the third positioning notch 33; a second clip spring 15 is installed in the second mounting groove 34, the outer side of the second clip spring 15 is inserted into the second mounting groove 34, and the inner side of the second clip spring 15 is pressed against the lower cover 11. Can be used for fixed gland 10 and lower gland 11 respectively through setting up first jump ring 14 and second jump ring 15, when the installation, at first install gland 10 and lower gland 11, correspond first jump ring 14 and second jump ring 15 after that install in first mounting groove 33 and second mounting groove 34 can, just so can prevent to go up gland 10 and lower gland 11 and do axial motion, the assembly process is simple swift. However, it will be appreciated by those skilled in the art that the upper cover 10 may be formed integrally with the output inner ring gear 4, and the lower cover 11 may be formed integrally with the fixed inner ring gear 3, so that the provision of the first and second clamp springs 14 and 15 can be eliminated.

The working principle of the invention is described below in order to understand the invention:

firstly, fix fixed inner ring gear 4, when power supply 6 drive sun gear 1 rotates, sun gear 1 drives planet wheel 2 and rotates along the inner circle of fixed inner ring gear 3 and output inner ring gear 4, and because the number of teeth of fixed inner ring gear 3 is different with the number of teeth of output inner ring gear 4, make output inner ring gear 5 also synchronous rotation and be used for power take off, the difference of the number of teeth of fixed inner ring gear 3 and the number of teeth of output inner ring gear 4 can form this fine positioning self-locking bearing reduction gear's drive ratio promptly. It should be noted that, when the number of gear teeth of the output inner ring gear 4 is designed to be larger than that of the fixed inner ring gear 3, the rotation direction of the output inner ring gear 4 is the same as the rotation direction of the output shaft of the power source 6; when the number of gear teeth of the output inner ring gear 4 is designed to be smaller than that of the fixed inner ring gear 3, the rotation direction of the output inner ring gear 4 is opposite to the rotation direction of the output shaft of the power source 6.

In conclusion, the transmission ratio of the whole fine positioning self-locking bearing speed reducer is formed by setting the number of gear teeth of the fixed inner gear ring 3 and the number of gear teeth of the output inner gear ring 4 to be different; the bearing structure similar to a bearing can be formed between the fixed inner gear ring 3 and the output inner gear ring 4 while the fixed inner gear ring 3 and the output inner gear ring 4 can be conveniently fixed by arranging the balls 5 and the connecting cover 7, and the bearing structure can realize zero clearance in the axial direction and the radial direction through precision adjustment, so that the concentricity between the fixed inner gear ring 3 and the output inner gear ring 4 is higher, the precision is improved, the cost brought by purchasing an expensive precision bearing can be saved, and the production and the manufacture are more convenient; the fixed inner gear ring 3 and the output inner gear ring 4 with different gear tooth numbers are respectively meshed with the sun gear 1, so that the output inner gear ring 4 cannot rotate under the action of external force, namely, the self-locking function is realized; and through setting up gland 10, gland 11, first bearing 12 and second bearing 13 then can conveniently fix sun gear 1 and planet wheel 2, and this kind of mounting means is simple convenient and swift, has improved the preparation efficiency.

The present invention is not limited to the above-described embodiments, and various modifications and variations of the present invention are intended to be included within the scope of the claims and the equivalent technology of the present invention if they do not depart from the spirit and scope of the present invention.

Claims

1. The utility model provides a fine positioning auto-lock bearing reduction gear, is including inner tooth ring, sun gear, planet wheel and power supply, its characterized in that:

the inner gear ring comprises a fixed inner gear ring and an output inner gear ring which is used for power output and is positioned above the fixed inner gear ring, and the number of gear teeth of the fixed inner gear ring is greater than or less than that of the output inner gear ring; the planet gear is arranged in the inner gear ring, and the outer side of the planet gear is respectively meshed with the fixed inner gear ring and the output inner gear ring; the sun wheel is fixed at the center of the inner gear ring and meshed with the inner side of the planet wheel; the lower end of the output inner gear ring is inserted into a slot at the top of the fixed inner gear ring; a connecting cover connected with the fixed inner gear ring is sleeved on the outer side of the output inner gear ring; a plurality of balls distributed in an annular shape are embedded between the outer wall of the output inner gear ring and the fixed inner gear ring as well as the connecting cover, and the connecting cover presses the output inner gear ring through the balls; the balls are respectively embedded into an embedding groove corresponding to the balls; an oil groove is communicated with the side wall of the embedding groove, and lubricating oil is arranged in the oil groove; one end of the sun wheel is connected with the power source.

2. The fine positioning self-locking bearing speed reducer according to claim 1, wherein:

a first positioning notch is formed in the outer side of the bottom of the connecting cover; a first positioning part corresponding to the first positioning notch extends upwards from the outer side of the top of the fixed inner gear ring; the first positioning part is clamped into the first positioning notch.

3. The fine positioning self-locking bearing speed reducer according to claim 1, wherein:

and a dustproof oil seal is also embedded between the inner wall of the connecting cover and the outer wall of the output inner gear ring.

4. The fine positioning self-locking bearing speed reducer according to claim 1, wherein:

the output inner gear ring comprises a main body and an inserting part which are integrally formed; the insertion part is positioned outside the bottom surface of the main body; the gear teeth of the output inner gear ring are arranged on the main body, and the insertion part is inserted into the slot; a second positioning gap is formed between the inserting part and the main body, a second positioning part corresponding to the second positioning gap is arranged at the top of the fixed inner gear ring, and the second positioning part is clamped into the second positioning gap.

5. The fine positioning self-locking bearing speed reducer according to claim 1, wherein:

the embedded groove is composed of a first embedded groove, a second embedded groove and a third embedded groove, the first embedded groove is located on the outer wall of the lower end of the output inner gear ring, the second embedded groove is located at the upper end of the inserting groove, and the third embedded groove is located at the lower end of the connecting cover.

6. The fine positioning self-locking bearing speed reducer according to claim 1, wherein:

the fine positioning self-locking bearing reducer also comprises an upper gland and a lower gland; the upper gland and the lower gland are respectively connected to the inner side of the output inner gear ring and the inner side of the fixed inner gear ring, the upper gland and the lower gland respectively abut against the upper end and the lower end of the planet wheel, and the upper gland and the lower gland are respectively covered at the upper end and the lower end of the sun wheel.

7. The fine positioning self-locking bearing reducer according to claim 6, wherein:

a first bearing is sleeved at the upper end of the sun gear, and the upper gland is tightly pressed on the first bearing; the lower end of the sun gear is sleeved with a second bearing, and the lower gland is tightly pressed on the second bearing.

8. The fine positioning self-locking bearing reducer according to claim 6, wherein:

the inner wall of the output inner gear ring is provided with a positioning step which corresponds to the upper gland and is used for being clamped into the edge of the upper gland, and the inner wall of the output inner gear ring is also provided with a first mounting groove which is positioned above the positioning step; a first clamp spring is installed in the first installation groove, the outer side of the first clamp spring is embedded into the first installation groove, and the inner side of the first clamp spring is tightly pressed on the upper gland; a third positioning notch which corresponds to the lower gland and is used for being clamped into the edge of the lower gland is arranged on the inner wall of the fixed inner gear ring, and a second mounting groove which is positioned below the third positioning notch is also arranged on the inner wall of the fixed inner gear ring; install the second jump ring in the second mounting groove, the outside embedding of second jump ring is in the second mounting groove, the inboard of second jump ring compresses tightly on the lower pressure cover.

9. The fine positioning self-locking bearing reducer according to claim 6, wherein:

the upper gland and the output inner gear ring are integrally formed; the lower gland and the fixed inner gear ring are integrally formed.