Multistage pinwheel output pin swing planetary transmission speed reducer

The utility model relates to a multistage pinwheel output pin swing planetary transmission speed reducer, which is a multistage planetary speed reducer constructed by a first-stage transmission and a second-stage transmission or a multistage transmission on the basis of a basic pinwheel output pin swing planetary transmission type; an output shaft of the previous stage is directly connected with an input shaft of the next stage; the parts of the shaft system of the speed reducer are supported by an interstage connecting flange, and meanwhile the connecting flange is used for connecting two transmission devices; and the input shaft, the output shaft, the pinwheel and the pin on each stage are all supported effectively and stably. The speed reducer has the advantages that: the bearing capacity of the complete machine is at least doubled, and meanwhile the transmission ratio and the working speed using range are increased, the balance of force and moment in the transmission process is realized, the rigidity of the system is improved, the transmission accuracy and the vibration resistance are improved, the longer working life is obtained and the cost performance is improved.