Actuator with planetary reducer, and robot joint

An actuator with a planetary reducer, comprising:

• a housing, a motor, and the planetary reducer, wherein
• the planetary reducer comprises an inner ring gear fixed in a matched manner to the housing, and further comprises a sun gear, a planetary carrier, and a planetary gear;
• the sun gear, the planetary carrier, and the planetary gear are all located at an inner side of the inner ring gear;
• the planetary gear is pivotally connected to the planetary carrier and is meshed between the sun gear and the inner ring gear;
• a mounting chamber is formed between the inner ring gear and the housing;
• the inner ring gear is provided with a projecting support rib arranged annularly;
• and an inner side surface of the projecting support rib is provided with a pressing member detachably fixed to the projecting support rib;
• the motor is disposed inside the mounting chamber, and comprises a stator fixed in a matched manner to the housing and a rotor matched with the stator;
• and the rotor is synchronously connected to the sun gear through a connection carrier;
• and
• the connection carrier comprises an outer carrier and an inner carrier;
• an outer periphery of the outer carrier is fixedly connected to the rotor, and an inner periphery of the outer carrier spans above an end portion of the projecting support rib and extends to an inner side of the projecting support rib;
• an outer periphery of the inner carrier is fixedly connected to the inner periphery of the outer carrier through a bolt;
• the inner carrier is configured to be embedded into the projecting support rib through an opening at the end portion of the projecting support rib;
• a bearing is provided between the projecting support rib and the inner carrier to pivotally connect the connection carrier to the projecting support rib;
• and an outer ring of the bearing is clamped between the pressing member and the projecting support rib, and an inner ring of the bearing is clamped between the outer carrier and the inner carrier.