Microminiature high-precision speed reducer for robot joint

The utility model discloses a microminiature high-precision speed reducer for a robot joint, which comprises a needle shell, a cycloidal gear, a rear planet carrier, three eccentric shafts, a rolling needle, an input flange, a front planet carrier, an input shaft end cover, an involute planet gear, an involute input gear shaft, a cylindrical taper pin and a locking screw, the meshing precision is superior to that of two-differential-tooth meshing, full-tooth rolling friction of the cycloidal gear, the roller pin and the pin shell is relieved, and the rigidity is good; the high transmission chain error and return difference requirements can be met more easily through single-difference tooth meshing, the rigidity is better, the tooth space is smaller, and the conditions of shaking and overlarge damping vibration in the use process of the speed reducer can be avoided. The miniature high-precision speed reducer for the robot joint is reasonable in structure, has the advantages of being small in size, high in prec