CN116357722A

CN116357722A - High-precision speed reducer with adjustable output shaft angle

Info

Publication number: CN116357722A
Application number: CN202310636246.7A
Authority: CN
Inventors: 殷爱国; 孔霞; 张介禄
Original assignee: Jiangsu Tailong Decelerator Machinery Co Ltd
Current assignee: Jiangsu Tailong Decelerator Machinery Co Ltd
Priority date: 2023-06-01
Filing date: 2023-06-01
Publication date: 2023-06-30
Anticipated expiration: 2043-06-01
Also published as: CN116357722B

Abstract

The invention discloses a high-precision speed reducer with an adjustable output shaft angle, which relates to the technical field of speed reducers and comprises a speed reducer body and a base, wherein the bottom of the speed reducer body is arranged at the top of the base, and a protective sleeve is arranged on one side of the speed reducer body. In the invention, the output shaft, the regulating mechanism and the limiting mechanism are the alignment mechanism additionally arranged on the original output end of the speed reducer, the output function of the output end of the speed reducer is replaced by the additionally arranged output shaft connected with the output end of the speed reducer, and the output end of the speed reducer body is connected with the rotating sleeve which can deviate along with the output end in the speed reducer body, and the locking rod of the limiting mechanism on the output end has the locking function, so that the output shaft is kept fixed, the condition of angular deviation is avoided, and the stable connection between the output end and the power equipment is ensured.

Description

High-precision speed reducer with adjustable output shaft angle

Technical Field

The invention relates to the technical field of speed reducers, in particular to a high-precision speed reducer with an adjustable output shaft angle.

Background

The speed reducer is an independent component consisting of a gear transmission, a worm transmission and a gear-worm transmission enclosed in a rigid shell, is commonly used as a speed reduction transmission device between a driving element and a working machine, and is widely applied to modern machinery.

In the prior art, as in the precision speed reducer of the Chinese patent application No. CN106826905A, the precision speed reducer comprises a middle meshing disc and an output disc, wherein the output disc is meshed with the middle meshing disc, the middle meshing disc moves in a manner that the middle meshing disc revolves around the axis of the output disc under the action of external power, and in the process of revolving the middle meshing disc, the middle meshing disc does not rotate; the first teeth on the middle meshing disk and the second teeth on the output disk have tooth number difference, and the swinging middle meshing disk pushes the output disk to rotate by utilizing the tooth number difference between the first teeth and the second teeth.

However, in actual use, the sizes of parts are changed due to long-term wear, so that the worm wheel and the worm inside the speed reducer are meshed, and deviation or gaps exist; meanwhile, the worm is connected with the power equipment through the driving piece, and the angles are fixed, so that the worm wheel can deviate along with the running of the speed reducer and the existence of gaps between the worm wheel and the worm, so that the deviation of the angles of the output ends is caused, and the output precision of the speed reducer is influenced.

Disclosure of Invention

The invention aims to provide a high-precision speed reducer with an adjustable output shaft angle, which aims to solve the problems that in the practical use, the sizes of parts are changed due to long-term use abrasion, so that the worm wheel and the worm inside the speed reducer are meshed, and deviation or gaps exist; meanwhile, the worm is connected with the power equipment through the driving piece, and the angles are fixed, so that the worm wheel can deviate along with the running of the speed reducer and the existence of gaps between the worm wheel and the worm, and the problem of deviation of the angles of the output ends is caused.

In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a high-precision speed reducer with an adjustable output shaft angle, includes speed reducer body and base, speed reducer body installs at the base top bottom, speed reducer body installs and is provided with the protective sheath in one side, speed reducer body is provided with the input shaft in one side, be provided with stop gear on the protective sheath, the inside output shaft that is provided with of base, output shaft one end is provided with adjustment mechanism, stop gear one end is connected with the rotary joint, output shaft surface cover has positioning bearing; the adjusting mechanism comprises a limiting sleeve shell, a rotating sleeve and an installing sleeve, wherein the installing sleeve is installed inside a protecting sleeve, one end of the rotating sleeve is connected with the output end of a speed reducer body, a rotating block is arranged inside the limiting sleeve shell, a plurality of limiting holes are formed in the surface of the limiting sleeve shell, a second limiting arc-shaped groove is formed in the outer surface of the rotating block, a plurality of first limiting arc-shaped grooves are formed in the inner surface of the rotating sleeve, limiting balls are arranged inside the limiting holes, the limiting balls are located inside the first limiting arc-shaped grooves and the second limiting arc-shaped grooves, an inner tooth groove is formed inside the rotating block, one end of the output shaft is fixedly connected with a linkage rod, and one end of the linkage rod extends to the inside of the rotating block; the limiting mechanism comprises a limiting frame and a sliding block, the limiting frame penetrates through the protective sleeve, the limiting frame is fixedly connected with the protective sleeve, a sliding groove is formed in one side of the limiting frame, the sliding block is arranged inside the sliding groove in a sliding mode, one end of the sliding block is fixedly connected with a movable rod, one end of the movable rod penetrates through the limiting frame, and one end of the limiting frame is fixedly connected with a limiting block.

Preferably, the rotary joint comprises a second rotary frame, a central block and a first rotary frame, wherein the central block is positioned on the inner sides of the second rotary frame and the first rotary frame, the rotary pipes are rotatably arranged on one side of the second rotary frame and one side of the first rotary frame, the two rotary pipes are fixedly connected with a second connecting rod and a first connecting rod respectively at opposite ends of the rotary pipes, the first rotary rods are arranged on two sides of the first rotary frame, the first rotary rods are rotatably connected with the central block, the second rotary rods are arranged on two sides of the second rotary frame, and the second rotary rods are rotatably connected with the central block.

Preferably, the first rotating rod is fixedly connected with the first rotating frame, the second rotating rod is fixedly connected with the second rotating frame, and the tangential surfaces of the second rotating frame and the first rotating frame are of concave structures.

Preferably, the limiting frame is penetrated by one end of the locking rod, one end of the locking rod is abutted against the sliding block, the locking rod is in threaded connection with the limiting frame, and the aperture of a through hole formed by penetrating one end of the movable rod through the limiting frame is smaller than the diameter of a section of the limiting block.

Preferably, the limiting frame is fixedly arranged on the surface of the protective sleeve, and three limiting mechanisms are uniformly distributed on the surface of one end of the protective sleeve.

Preferably, the positioning bearing comprises an outer ring and an inner ring, the inner surface of the outer ring is inwards sunken to be provided with a second ball groove, the outer surface of the inner ring is inwards sunken to be provided with a first ball groove, a plurality of limiting balls are arranged between the outer ring and the inner ring, and the limiting balls are positioned between the first ball groove and the second ball groove.

Preferably, the first connecting rod is fixedly connected with the outer surface of the outer ring, and one end of the second connecting rod is fixedly connected with the sliding block.

Preferably, the protrusions are uniformly distributed on the outer surface of the linkage rod to form an external spline structure, and the outer surface of the linkage rod is meshed with the internal tooth grooves.

Preferably, six limiting balls are arranged between the rotating sleeve and the limiting sleeve shell, the first limiting arc grooves are formed by inwards sinking the inner surface of the rotating sleeve, the second limiting arc grooves are formed by inwards sinking the outer surface of the rotating block, the number of the first limiting arc grooves is the same as that of the second limiting arc grooves, the tangent plane of the rotating block is of a plum blossom-shaped structure, and limiting grooves are formed in the rotating sleeve.

Preferably, the limiting sleeve shell section is of an annular structure, and the limiting sleeve shell is located between the rotating sleeve and the mounting sleeve.

Compared with the prior art, the invention has the beneficial effects that:

1. in the invention, the output shaft, the regulating mechanism and the limiting mechanism are the alignment mechanism additionally arranged on the original output end of the speed reducer, the output function of the output end of the speed reducer is replaced by the additionally arranged output shaft connected with the output end of the speed reducer, and the output end of the speed reducer body is connected with the rotating sleeve which can deviate along with the output end in the speed reducer body, and the locking rod of the limiting mechanism on the output end has the locking function, so that the output shaft is kept fixed, the condition of angular deviation is avoided, and the stable connection between the output end and the power equipment is ensured.

2. According to the invention, the installation sleeve, the limiting sleeve shell, the rotating block and the limiting ball are arranged between the rotating sleeve and the output shaft, when the angle of the output end of the speed reducer body changes, the angle between the rotating sleeve and the output shaft also changes, at the moment, the limiting balls are respectively positioned in the limiting holes, and through the limiting of the first limiting arc-shaped groove and the second limiting arc-shaped groove, even if the angle of the rotating sleeve changes, the limiting ball is driven to move when the limiting sleeve shell rotates based on the existence of the limiting holes, and the limiting ball is driven to move by the rotating sleeve due to the existence of the first limiting arc-shaped groove, so that when the rotating block rotates, the linkage rod is driven to rotate together, and the output shaft can be driven to rotate when the linkage rod rotates, so that the normal output and rotation of the output shaft are ensured.

3. According to the invention, when the locking rod is twisted to release the positioning of the sliding block, the angle of the output shaft can be adjusted at will, and when the angle of the output shaft is adjusted, the locking rod is twisted again to position the sliding block, and when the sliding block cannot move, the positioning bearing can ensure the positioning effect of the positioning output shaft, so that the rotating sleeve is prevented from driving the output shaft to deviate together, and the function of quick disassembly and debugging is realized.

Drawings

FIG. 1 is a schematic perspective view of a high-precision speed reducer with an adjustable output shaft angle;

FIG. 2 is a schematic view of a part of the structure of a high-precision speed reducer with an adjustable output shaft angle;

FIG. 3 is a schematic diagram of the internal structure of a rotating sleeve of the high-precision speed reducer with an adjustable output shaft angle;

FIG. 4 is a schematic view of a part of the structure of an adjusting mechanism of a high-precision speed reducer with an adjustable output shaft angle;

FIG. 5 is a schematic view of a rotary joint structure of a high-precision speed reducer with an adjustable output shaft angle;

FIG. 6 is a schematic diagram of a limiting mechanism of a high-precision speed reducer with an adjustable output shaft angle;

FIG. 7 is a schematic diagram showing the positional relationship between a positioning bearing and an output shaft of a high-precision speed reducer with an adjustable output shaft angle;

FIG. 8 is a schematic structural view of an adjusting mechanism of a high-precision speed reducer with an adjustable output shaft angle;

FIG. 9 is a schematic diagram of a turning block and a linkage rod of a high-precision speed reducer with an adjustable output shaft angle;

FIG. 10 is a schematic diagram of an exploded structure of a rotary joint of a high-precision speed reducer with an adjustable output shaft angle according to the present invention;

FIG. 11 is a schematic diagram showing the connection structure between the rotating sleeve of the high-precision speed reducer with an adjustable output shaft angle and the original output shaft of the speed reducer body;

fig. 12 is a schematic diagram showing a connection structure between a rotating joint and an outer ring and a sliding block of a high-precision speed reducer with an adjustable output shaft angle.

In the figure: 1. a speed reducer body; 2. an input shaft; 3. a base; 4. a protective sleeve; 5. an output shaft; 6. a limiting mechanism; 61. a limiting frame; 62. a sliding block; 63. a sliding groove; 64. a movable rod; 65. a limiting block; 66. a locking lever; 7. an adjusting mechanism; 71. a linkage rod; 72. a rotating sleeve; 721. a first limit arc groove; 722. a limit groove; 73. a mounting sleeve; 74. a limiting sleeve shell; 741. a limiting hole; 75. a rotating block; 751. the second limiting arc groove; 752. an inner spline; 76. a limit ball; 8. a rotating joint; 81. a center block; 82. a first connecting rod; 83. a first rotating lever; 84. a second rotating lever; 85. a first rotating frame; 86. a second turret; 87. a rotary tube; 88. a second connecting rod; 9. positioning a bearing; 91. an outer ring; 92. an inner ring; 93. limiting balls; 94. a first ball groove; 95. and a second ball groove.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Embodiment one: referring to fig. 1-9, the present invention provides a technical solution: the utility model provides a high-precision speed reducer with an adjustable output shaft angle, includes speed reducer body 1 and base 3, and speed reducer body 1 installs at base 3 top bottom, and speed reducer body 1 installs in one side and is provided with protective sheath 4, and speed reducer body 1 side is provided with input shaft 2, is provided with stop gear 6 on the protective sheath 4, and base 3 is inside to be provided with output shaft 5, and output shaft 5 one end is provided with adjustment mechanism 7, and stop gear 6 one end is connected with knuckle 8, and output shaft 5 surface cover has positioning bearing 9; the adjusting mechanism 7 comprises a limiting sleeve shell 74, a rotating sleeve 72 and a mounting sleeve 73, wherein the mounting sleeve 73 is mounted in the protective sleeve 4, one end of the rotating sleeve 72 is connected with the output end of the speed reducer body 1, a rotating block 75 is arranged in the limiting sleeve shell 74, a plurality of limiting holes 741 are formed in the surface of the limiting sleeve shell 74, a second limiting arc groove 751 is formed in the outer surface of the rotating block 75, a plurality of first limiting arc grooves 721 are formed in the inner surface of the rotating sleeve 72, limiting balls 76 are arranged in the limiting holes 741, the limiting balls 76 are located on the inner sides of the first limiting arc grooves 721 and the second limiting arc grooves 751, an inner tooth groove 752 is formed in the rotating block 75, a linkage rod 71 is fixedly connected to one end of the output shaft 5, and one end of the linkage rod 71 extends into the rotating block 75; the limiting mechanism 6 comprises a limiting frame 61 and a sliding block 62, wherein the limiting frame 61 penetrates through the protective sleeve 4, the limiting frame 61 is fixedly connected with the protective sleeve 4, a sliding groove 63 is formed in one side of the limiting frame 61, the sliding block 62 is arranged inside the sliding groove 63 in a sliding mode, one end of the sliding block 62 is fixedly connected with a movable rod 64, one end of the movable rod 64 penetrates through the limiting frame 61, and one end of the limiting frame 61 is fixedly connected with a limiting block 65.

The working principle of the embodiment is as follows: first, the speed reducer body 1 is inevitably worn when used for a long time, and the wear may cause the change of the sizes of parts, thereby causing the engagement between the worm wheel and the worm inside the speed reducer, and causing deviation or clearance. Because the clearance exists, the worm wheel can appear certain angle skew for the installation angle of the output shaft 5 that is driven by the worm wheel to rotate together also can change, however, because the output of speed reducer body 1 is connected with rotating sleeve 72, so after wearing and tearing appear, rotating sleeve 72 can appear the skew together along with the inside output of speed reducer body 1, output shaft 5, adjustment mechanism 7 and stop gear 6 are the alignment mechanism that adds on original speed reducer output, the output function of speed reducer output will be replaced by the output shaft 5 that links to each other with it that adds, and output shaft 5 passes through locating bearing 9, stop gear 6's spacing, and the locking lever 66 on the stop gear 6 possesses the locking function, consequently, when rotating sleeve 72 takes place the angle skew, output shaft 5 can not appear the skew, guarantee the stable connection between output shaft 5 and the power equipment.

Finally, based on the existence of the limiting hole 741, when the limiting sleeve shell 74 rotates, the limiting ball 76 is driven to move, and because of the existence of the first limiting arc groove 721, the rotating sleeve 72 can also drive the limiting ball 76 to move, then, when the limiting ball 76 moves, because of the existence of the second limiting arc groove 751, the limiting ball 76 can drive the rotating block 75 to rotate, and when the rotating block 75 rotates, because the spline on the surface of the linkage rod 71 is meshed with the inner tooth groove 752 inside the rotating block 75, when the rotating block 75 rotates, the output shaft 5 is driven to rotate through the linkage rod 71.

Embodiment two: according to fig. 2, 4, 5, 6 and 10, the rotary joint 8 comprises a second rotary frame 86, a central block 81 and a first rotary frame 85, wherein the central block 81 is positioned on the inner sides of the second rotary frame 86 and the first rotary frame 85, a rotary pipe 87 is rotatably arranged on one side of the second rotary frame 86 and one side of the first rotary frame 85, a second connecting rod 88 and a first connecting rod 82 are fixedly connected to opposite ends of the two rotary pipes 87 respectively, a first rotary rod 83 is arranged on two sides of the first rotary frame 85, the first rotary rod 83 is rotatably connected with the central block 81, a second rotary rod 84 is arranged on two sides of the second rotary frame 86, and the second rotary rod 84 is rotatably connected with the central block 81; the first rotating rod 83 is fixedly connected with the first rotating frame 85, the second rotating rod 84 is fixedly connected with the second rotating frame 86, and the tangential surfaces of the second rotating frame 86 and the first rotating frame 85 are of concave structures; one side of the limiting frame 61 is provided with a locking rod 66, one end of the locking rod 66 penetrates through the limiting frame 61, one end of the locking rod 66 is abutted against the sliding block 62, the locking rod 66 is connected with the limiting frame 61 through threads, and the aperture of a through hole formed by one end of the movable rod 64 penetrating through the limiting frame 61 is smaller than the diameter of a section of the limiting block 65; the limiting frame 61 is fixedly arranged on the surface of the protective sleeve 4, and three limiting mechanisms 6 are uniformly distributed on the surface of one end of the protective sleeve 4.

The working principle of the embodiment is as follows: when the locking rod 66 is screwed to release the positioning of the sliding block 62, the angle of the output shaft 5 can be adjusted at will, and because the first rotating rod 83 is rotationally connected with the central block 81, the first rotating rod 83 can rotate relative to the central block 81, and the output shaft 5 of the first rotating frame 85 can start to rotate by taking the axle center of the first rotating rod 83 as the circle center; similarly, the second rotating rod 84 can rotate relative to the center block 81, so that the second rotating frame 86 rotates around the axis of the second rotating rod 84, because the first rotating rod 83 and the second rotating rod 84 are connected to the center block 81 at a vertical angle. In addition, the first rotating frame 85 and the second rotating frame 86 are opposite to each other, and are respectively connected with the first connecting rod 82 and the second connecting rod 88 in a rotating way through the rotating pipe 87, so that the angle of the positioning bearing 9 can be conveniently and randomly adjusted, in the adjusting process, the sliding block 62 can move in the sliding groove 63, the sliding block 62 can drive the movable rod 64 to move together, the support of the limiting block 65 is larger than the aperture of the through hole formed by the movable rod 64 penetrating through the limiting frame 61, and the limiting block 65 is prevented from falling. Finally, after the angle of the output shaft 5 is adjusted, the locking rod 66 can be screwed to position the sliding block 62, and when the sliding block 62 cannot move, the positioning bearing 9 can ensure the positioning effect of positioning the output shaft 5, so that the rotating sleeve 72 is prevented from driving the output shaft 5 to deviate together.

Embodiment III: as shown in fig. 6, 7, 8, 9, 11 and 12, the positioning bearing 9 comprises an outer ring 91 and an inner ring 92, a second ball groove 95 is concavely arranged on the inner surface of the outer ring 91, a first ball groove 94 is concavely arranged on the outer surface of the inner ring 92, a plurality of limiting balls 93 are arranged between the outer ring 91 and the inner ring 92, and the limiting balls 93 are positioned between the first ball groove 94 and the second ball groove 95; the first connecting rod 82 is fixedly connected with the outer surface of the outer ring 91, and one end of the second connecting rod 88 is fixedly connected with the sliding block 62; the outer surface of the linkage rod 71 is uniformly distributed with protrusions to form an external spline structure, and the outer surface of the linkage rod 71 is meshed with the internal tooth grooves 752; six limiting balls 76 are arranged between the rotating sleeve 72 and the limiting sleeve shell 74, a first limiting arc groove 721 is formed by inwards sinking the inner surface of the rotating sleeve 72, a second limiting arc groove 751 is formed by inwards sinking the outer surface of the rotating block 75, the number of the first limiting arc grooves 721 is the same as that of the second limiting arc grooves 751, the tangential surface of the rotating block 75 is of a plum blossom-shaped structure, and a limiting groove 722 is formed in the rotating sleeve 72; the limiting sleeve 74 has an annular cross section, and the limiting sleeve 74 is located between the rotating sleeve 72 and the mounting sleeve 73.

The whole working principle of the device is as follows: first, the speed reducer body 1 is inevitably worn when used for a long time, and the wear may cause the change of the sizes of parts, thereby causing the engagement between the worm wheel and the worm inside the speed reducer, and causing deviation or clearance. Because the clearance exists, the worm wheel can appear certain angle skew for the installation angle of the output shaft 5 that is driven by the worm wheel to rotate together also can change, however, because the output of speed reducer body 1 is connected with rotating sleeve 72, so after wearing and tearing appear, rotating sleeve 72 can appear the skew together along with the inside output of speed reducer body 1, output shaft 5, adjustment mechanism 7 and stop gear 6 are the alignment mechanism that adds on original speed reducer output, the output function of speed reducer output will be replaced by the output shaft 5 that links to each other with it that adds, and output shaft 5 passes through locating bearing 9, stop gear 6's spacing, and the locking lever 66 on the stop gear 6 possesses the locking function, consequently, when rotating sleeve 72 takes place the angle skew, output shaft 5 can not appear the skew, guarantee the stable connection between output shaft 5 and the power equipment.

Because there are the installation cover 73, spacing cover shell 74, turning block 75 and spacing ball 76 between turning cover 72 and output shaft 5, so when the output end angle of speed reducer body 1 appears changing, also can appear the angle change between turning cover 72 and the output shaft 5, at this moment, spacing ball 76 is located spacing hole 741 inside respectively, and through the spacing of first spacing arc wall 721 and second spacing arc wall 751, so, even when the angle change appears in turning cover 72, based on the existence of spacing hole 741, spacing cover shell 74 rotates, can drive spacing ball 76 to remove, again because of the existence of first spacing arc wall 721, turning cover 72 also can drive spacing ball 76 to remove, then, when spacing ball 76 removes, because of the existence of second spacing arc wall 751, spacing ball 76 can drive turning block 75, when turning block 75 rotates, because the spline on gangbar 71 surface and the inside internal tooth groove 752 of turning block 75 mesh, consequently, when turning block 75 rotates, will drive output shaft 5 through gangbar 71 and rotate, so as to guarantee the normal output of output shaft 5 and rotation.

The output shaft 5 can rotate relative to the positioning bearing 9 during rotation, and the limiting balls 93 can slide in the first ball grooves 94 and the second ball grooves 95, and the outer ring 91 is positioned through the three first connecting rods 82, so that the output shaft 5 can be positioned, the output shaft 5 can be ensured to normally rotate, the rotating block 75 can rotate at random in the limiting sleeve 74, and the limiting sleeve 74 can also be driven to rotate together.

Because, after the speed reducer body 1 is connected with the motor, the rotation speed output by the original output end of the speed reducer body 1 is the motor input rotation speed/rotation speed ratio, when the speed reducer body 1 is further transmitted to the rotating sleeve 72, the rotation speed is not changed, and when the rotating sleeve 72 rotates, the limit ball 76, the limit sleeve 74 and the like are utilized to indirectly drive the output shaft 5 to rotate, a structure similar to the rotation speed change inside the speed reducer body 1 does not exist, and when the rotating sleeve 72 drives the output shaft 5, the angular speed is not changed, so that the angular speeds of the rotating sleeve 72 and the output shaft 5 are the same, the rotation speeds of the rotating sleeve 72 and the output shaft 5 are the same, and then the rotation speed of the original output end of the speed reducer body 1 is the same as the rotation speeds of the output shaft 5 and the rotating sleeve 72.

Finally, the limiting ball 76 is located inside the limiting hole 741 and is limited by the first limiting arc groove 721 and the second limiting arc groove 751, so that when the rotating block 75 rotates inside the limiting sleeve 74, the angle of the output shaft 5 can be adjusted, the angle of the output shaft 5 can be prevented from being changed under the condition that abrasion occurs inside the speed reducer body 1, the angle of the output shaft 5 can be adjusted at will according to actual use conditions, and the output shaft 5 can be conveniently connected with working equipment.

Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.

Claims

1. The utility model provides a high-accuracy speed reducer of output shaft angularly adjustable, includes speed reducer body (1) and base (3), speed reducer body (1) bottom is installed at base (3) top, speed reducer body (1) one side installation is provided with protective sheath (4), speed reducer body (1) one side is provided with input shaft (2), its characterized in that: the novel protective sleeve is characterized in that a limiting mechanism (6) is arranged on the protective sleeve (4), an output shaft (5) is arranged in the base (3), an adjusting mechanism (7) is arranged at one end of the output shaft (5), a rotary joint (8) is connected to one end of the limiting mechanism (6), and a positioning bearing (9) is sleeved on the surface of the output shaft (5);

the adjusting mechanism (7) comprises a limiting sleeve shell (74), a rotating sleeve (72) and a mounting sleeve (73), wherein the mounting sleeve (73) is mounted inside a protective sleeve (4), one end of the rotating sleeve (72) is connected with the output end of a speed reducer body (1), a rotating block (75) is arranged inside the limiting sleeve shell (74), a plurality of limiting holes (741) are formed in the surface of the limiting sleeve shell (74), a second limiting arc groove (751) is formed in the outer surface of the rotating block (75), a plurality of first limiting arc grooves (721) are formed in the inner surface of the rotating sleeve (72), limiting balls (76) are arranged inside the limiting holes (741), the limiting balls (76) are located inside the first limiting arc grooves (721) and the second limiting arc grooves (751), an inner tooth groove (752) is formed inside the rotating block (75), one end of the output shaft (5) is fixedly connected with a linkage rod (71), and one end of the linkage rod (71) extends to the inside the rotating block (75).

Stop gear (6) are including spacing (61) and sliding block (62), spacing (61) run through protective sheath (4), and spacing (61) and protective sheath (4) fixed connection, sliding tray (63) have been seted up to spacing (61) one side, sliding block (62) slip sets up inside sliding tray (63), sliding block (62) one end fixedly connected with movable rod (64), spacing (61) are run through to movable rod (64) one end, spacing (61) one end fixedly connected with stopper (65).

2. The high-precision speed reducer with an adjustable output shaft angle according to claim 1, wherein: the rotary joint (8) comprises a second rotary frame (86), a center block (81) and a first rotary frame (85), wherein the center block (81) is located on the inner side of the second rotary frame (86) and the inner side of the first rotary frame (85), a rotary pipe (87) is installed on one side of the second rotary frame (86) and one side of the first rotary frame (85) in a rotary mode, two opposite ends of the rotary pipe (87) are fixedly connected with a second connecting rod (88) and a first connecting rod (82) respectively, first rotary rods (83) are arranged on two sides of the first rotary frame (85), the first rotary rods (83) are connected with the center block (81) in a rotary mode, and second rotary rods (84) are arranged on two sides of the second rotary frame (86) and are connected with the center block (81) in a rotary mode.

3. The high-precision speed reducer with an adjustable output shaft angle according to claim 2, wherein: the first rotating rod (83) is fixedly connected with the first rotating frame (85), the second rotating rod (84) is fixedly connected with the second rotating frame (86), and the tangential surfaces of the second rotating frame (86) and the first rotating frame (85) are of concave structures.

4. The high-precision speed reducer with an adjustable output shaft angle according to claim 2, wherein: the utility model discloses a limiting device, including spacing (61), fixed knot, stopper (65) tangent plane diameter, fixed knot, stopper (61), fixed knot, locking lever (66) are provided with one side of spacing (61), locking lever (66) one end runs through spacing (61), locking lever (66) one end butt sliding block (62), locking lever (66) and spacing (61) pass through threaded connection, through-hole aperture that spacing (61) were run through to movable knot (64) one end forms is less than stopper (65) tangent plane diameter.

5. The high-precision speed reducer with an adjustable output shaft angle according to claim 1, wherein: the limiting frame (61) is fixedly arranged on the surface of the protective sleeve (4), and three limiting mechanisms (6) are uniformly distributed on the surface of one end of the protective sleeve (4).

6. The high-precision speed reducer with an adjustable output shaft angle according to claim 1, wherein: the positioning bearing (9) comprises an outer ring (91) and an inner ring (92), a second ball groove (95) is formed in the inner surface of the outer ring (91) in an inward recessed mode, a first ball groove (94) is formed in the outer surface of the inner ring (92) in an inward recessed mode, a plurality of limiting balls (93) are arranged between the outer ring (91) and the inner ring (92), and the limiting balls (93) are located between the first ball groove (94) and the second ball groove (95).

7. The high-precision speed reducer with an adjustable output shaft angle according to claim 2, wherein: the first connecting rod (82) is fixedly connected with the outer surface of the outer ring (91), and one end of the second connecting rod (88) is fixedly connected with the sliding block (62).

8. The high-precision speed reducer with an adjustable output shaft angle according to claim 1, wherein: the outer surface of the linkage rod (71) is uniformly distributed with protrusions to form an external spline structure, and the outer surface of the linkage rod (71) is meshed with the internal tooth grooves (752).

9. The high-precision speed reducer with an adjustable output shaft angle according to claim 1, wherein: six limiting balls (76) are arranged between the rotating sleeve (72) and the limiting sleeve shell (74), the first limiting arc grooves (721) are formed by inwards sinking the inner surface of the rotating sleeve (72), the second limiting arc grooves (751) are formed by inwards sinking the outer surface of the rotating block (75), the number of the first limiting arc grooves (721) is the same as that of the second limiting arc grooves (751), the section of the rotating block (75) is of a plum blossom-shaped structure, and limiting grooves (722) are formed in the rotating sleeve (72).

10. The high-precision speed reducer with an adjustable output shaft angle according to claim 9, wherein: the limiting sleeve (74) is of an annular structure in section, and the limiting sleeve (74) is located between the rotating sleeve (72) and the mounting sleeve (73).