Self-adaptive load planetary reduction stage worm and gear reduction motor

Abstract

The invention discloses a self-adaptive load planetary reduction level worm and gear reduction motor, which comprises a speed regulating motor, a speed reducer and an electric control system, a worm is coaxially fixed on a rotating shaft of the speed regulating motor, a shell is fixed with the speed reducer, a worm gear is coaxially fixed on an input shaft of the speed reducer, and the worm gear is coaxially fixed on the output shaft of the speed reducer. A first supporting seat and a second supporting seat are sequentially fixed to the left portion of the speed reducer from left to right, an output shaft of the speed reducer is externally connected with a load, and the worm is meshed with the worm gear. A mechanical structure is used for sensing the rotating speed of the input shaft, the size of centrifugal force is used as a triggering condition, so that first sliding arms are gathered or separated, and a first hydraulic transmission mechanism can be triggered to perform different actions; and then the first planetary speed reducing mechanism or the second planetary speed reducing mechanism is selected for reducing the speed of the input shaft, and when the second planetary speed reducing mechanism is used for reducing the speed, a mechanical structure is used for sensing the rotating speed of the second transmission shaft.

Description

Technical Field

[0001] The present invention relates to a speed reduction motor, and more particularly to a planetary reduction stage worm and worm gear speed reduction motor with self - adapting load. Background Art

[0002] A speed reduction motor is a motor with a speed reduction mechanism added on the basis of a common motor to achieve the purpose of reducing the output speed and increasing the output torque. For some special occasions, the load weight driven by the speed reduction motor is in a changing state. At this time, it is necessary to adjust the output speed and torque as needed. Most of the existing speed reduction motors that can adapt to the load weight and change the speed and torque use a manual speed regulation mechanism or an electronic speed regulation mechanism. The manual speed regulation mechanism is similar to a manual - transmission car, and the output speed and torque are changed by manually shifting different gears; while the electronic speed regulation mechanism is similar to an automatic - transmission car, and different gears are changed according to electronic signals to achieve the change of the output speed and torque. The former cannot achieve the purpose of automatic adaptation, requires manual control during operation, and is not convenient enough. The latter relies on electronic signals and uses an electric drive to switch multiple gears, which requires a more complex and sensitive electronic control system, is easy to be damaged, and has a higher cost, highlighting the deficiencies of the existing technology. Summary of the Invention

[0003] The purpose of the present invention is to provide a planetary reduction stage worm and worm gear speed reduction motor with self - adapting load, so as to solve the technical problem that the existing speed reduction motors cannot achieve the balance of automatic adaptation to the load, convenient use, not easy to be damaged and low cost.

[0004] To achieve the above - mentioned purpose, the present invention adopts the following technical solutions: A self-adaptive load planetary reduction worm gear reduction motor, comprising a speed regulating motor, a reducer and an electronic control system, wherein a worm is coaxially fixed to the rotating shaft of the speed regulating motor, and the housing is fixed to the reducer, a worm wheel is coaxially fixed to the input shaft of the reducer, and a No. 1 support seat and a No. 2 support seat are fixed on the left part in sequence from left to right, an external load is connected to the output shaft of the reducer, the worm is meshed with the worm wheel, a No. 1 support seat and a No. 2 support seat are jointly installed with a No. 1 hydraulic transmission mechanism, an electric drive telescopic mechanism is installed on the No. 1 support seat, a No. 1 support plate is coaxially fixed to the input shaft, and a No. 1 contact plate is coaxially slidably connected, a plurality of No. 1 sliding arms are radially slidably connected at equal angles to the No. 1 support plate, a No. 1 tension spring is respectively fixed between each of the No. 1 sliding arms and the No. 1 support plate, and rollers are respectively rotatably connected, the No. 1 sliding arm has a tendency to approach the axis of the No. 1 support plate under the elastic tension of the No. 1 tension spring, and the No. 1 hydraulic transmission mechanism The right part of the structure drives an outer contact ring No. 1 and an inner contact ring No. 1 which are movable left and right and rotatably connected respectively. When the No. 1 hydraulic transmission mechanism is pressed inwardly by the roller and released from being pressed inwardly, the outer contact ring No. 1 can move leftward and rightward respectively, and when the No. 1 hydraulic transmission mechanism is pressed outwardly by the roller and released from being pressed, the inner contact ring No. 1 can move leftward and rightward respectively. The electric drive telescopic mechanism controls the No. 1 contact plate to move left and right, and can rotate compared with the No. 1 contact plate. When the No. 1 outer contact ring and the No. 1 inner contact ring move to the left to a certain position, they can fit and rub with the No. 1 contact plate. The reducer is equipped with a first planetary reduction mechanism and a second planetary reduction mechanism. The second planetary reduction mechanism is transmission-connected with the No. 1 inner contact ring and the output shaft. The first planetary reduction mechanism is transmission-connected with the No. 1 outer contact ring and the output shaft, and the transmission ratio is less than the transmission ratio of the second planetary reduction mechanism. The speed regulating motor, the electric drive telescopic mechanism and the electric control system are electrically connected, and the electric control system is externally connected to a power supply.

[0005] Based on the above technical solution, the first hydraulic drive mechanism includes a first inner hydraulic chamber, a first outer hydraulic chamber, a second inner hydraulic chamber, a second outer hydraulic chamber, a first inner piston, a first outer piston, a second outer piston, a second inner piston, a first inner arc plate, a first outer arc plate, a second outer elastic member, a first outer support ring, a second inner elastic member, and a first inner support ring. A plurality of first inner hydraulic chambers and first outer hydraulic chambers are arranged at equal angles in a circumferential direction from the inside to the outside with respect to the input shaft on the first support seat. A plurality of second inner hydraulic chambers and second outer hydraulic chambers are arranged at equal angles in a circumferential direction from the inside to the outside with respect to the input shaft on the second support seat. Each of the first inner hydraulic chambers is connected to a first inner piston in a radially sealed reciprocating sliding manner with respect to the input shaft. Each of the first outer hydraulic chambers is connected to a first outer piston in a radially sealed reciprocating sliding manner with respect to the input shaft. Each of the second outer hydraulic chambers is connected to a second outer piston in an axially sealed reciprocating sliding manner with respect to the input shaft. Each of the second inner hydraulic chambers is connected to a second inner piston in an axially sealed reciprocating sliding manner with respect to the input shaft. One end of each of the first inner pistons away from the input shaft is fixed with a first inner arc plate. One end of each of the first outer pistons close to the input shaft is fixed with a first outer arc plate. Each of the first inner hydraulic chambers is connected to each of the second outer hydraulic chambers through a pipeline, and hydraulic oil is stored in the chamber formed by the first inner piston, the second outer hydraulic chamber, and the second outer piston. Each of the first outer hydraulic chambers is connected to each of the second inner hydraulic chambers through a pipeline, and hydraulic oil is stored in the chamber formed by the first outer piston, the second inner hydraulic chamber, and the second inner piston. A second outer elastic member is fixed between each of the second outer pistons and the second support seat, and a first outer support ring is fixed together. The first outer support ring has a tendency to move to the right under the elastic force of the second outer elastic member. A second inner elastic member is fixed between each of the second inner pistons and the second support seat, and a first inner support ring is fixed together. The first inner support ring has a tendency to move to the right under the elastic force of the second inner elastic member. The first outer support ring is rotatably connected coaxially with the first outer contact ring. The first inner support ring is rotatably connected coaxially with the first inner contact ring.

[0006] Based on the above technical solution, the electric drive telescopic mechanism includes an electromagnet, a permanent magnet, a support plate, and a first compression spring. An electromagnet is fixed to the right end of the first support seat. A permanent magnet is fixed to the left end of the first contact disk. The electromagnet and the permanent magnet correspond to each other left and right. The input shaft is coaxially fixed with a support plate. A first compression spring is fixed together between the first support plate and the first contact disk. The first contact disk has a tendency to move to the right under the elastic repulsive force of the first compression spring.

[0007] Based on the above technical solution, the first planetary reduction mechanism includes a first external gear ring, a first transmission cylinder, a first transmission shaft, a first external gear, a second external gear, a first limiting ring, a first external friction ring, a fifth support seat, a sixth support seat, a second sun gear column, a second transmission cylinder, a second planetary carrier, a second planetary gear, a third active contact ring, a second external gear ring, a second internal gear cylinder, a third transmission cylinder, a third driven contact ring, and a third driven contact disc. The first external contact ring is coaxially fixed with the first external gear ring. The sixth support seat is rotatably connected with a plurality of horizontally cylindrical first transmission cylinders at equal circumferential angles with respect to the input shaft. Each of the first transmission cylinders is coaxially and axially slidably connected with a first transmission shaft. Each of the first transmission shafts is coaxially fixed with a first external gear and a second external gear from left to right in sequence. The left and right ends of the first external gear and the left and right ends of the second external gear are each coaxially fixed with a first limiting ring. Each of the first external gears meshes with the first external gear ring. The first external gear ring is inserted into the first limiting rings at the left and right ends of the first external gear with a gap. The left end of the first support seat is fixed with a first external friction ring and a first internal friction ring. The right end of the first external contact ring can be in frictional contact with the left end of the first external friction ring. The right end of the first internal contact ring can be in frictional contact with the left end of the first internal friction ring. The fifth support seat and the sixth support seat are fixed to the right part of the reducer from left to right in sequence. The fifth support seat is coaxially fixed with a second sun gear column with respect to the input shaft and is coaxially and axially slidably connected with a second transmission cylinder with respect to the input shaft. The second transmission cylinder is coaxially rotatably connected with a second planetary carrier. The second planetary carrier is rotatably connected with a plurality of second planetary gears at equal circumferential angles with respect to the input shaft. The left end of the right part of the second planetary carrier is fixed with a third active contact ring. The second planetary carrier is coaxially rotatably connected with a second external gear ring with respect to the input shaft. The second external gear ring meshes with each of the second external gears and is inserted into the first limiting rings at the left and right ends of the second external gears. The right end of the second external gear ring is coaxially fixed with a second internal gear cylinder. Each of the second planetary gears meshes with both the second sun gear column and the second internal gear cylinder. The sixth support seat is coaxially rotatably connected with a third transmission cylinder with respect to the input shaft. The left part of the third transmission cylinder is coaxially fixed with a third driven contact ring, and the right part is coaxially fixed with a third driven contact disc. The right end of the third driven contact disc is coaxially fixed with the output shaft of the reducer. When the first external contact ring moves leftward to be in frictional contact with the first contact disc, it can drive the first external gear, the first transmission shaft, the second external gear, the second external gear ring, and the second internal gear cylinder to move leftward through the first limiting ring, so that the third active contact ring moves leftward to be in frictional contact with the third driven contact ring. When the first external contact ring moves rightward to be in frictional contact with the first external friction ring, it can drive the first external gear, the first transmission shaft, the second external gear, the second external gear ring, and the second internal gear cylinder to move rightward through the first limiting ring, so that the third active contact ring moves rightward to be separated from the third driven contact ring.The number of teeth of the second inner gear cylinder (53) > the number of teeth of the second sun gear column > the number of teeth of a single second planetary gear.,

[0008] On the basis of the above technical solution, the second planetary reduction mechanism includes a third support seat, a fourth support seat, a second hydraulic transmission mechanism, a second transmission shaft, a first sun gear, a second support disc, a second limit ring, a second outer contact ring, a first planetary carrier, a second sliding arm, a roller, a second tension spring, a first internal gear cylinder, a fourth transmission cylinder, a first planetary gear, a hollow shaft, a third transmission shaft, a third active contact cylinder, a third active contact disc, a second internal friction ring, a second external friction ring, a third transmission cylinder, and a third driven contact disc. The third support seat and the fourth support seat are fixedly arranged in sequence from left to right in the middle of the reducer. The third support seat and the fourth support seat jointly install a second hydraulic transmission mechanism. The second support seat is coaxially rotatably connected to the second transmission shaft relative to the input shaft. The left part of the second transmission shaft is coaxially axially slidably connected to the first inner contact ring and is rotatably connected to the third support seat and the fourth support seat. The right part of the second transmission shaft is coaxially axially slidably connected to the first sun gear, and the second support disc is coaxially fixedly arranged on the left part. The second limit rings are coaxially fixedly arranged at the left and right ends of the first sun gear respectively. The right part of the second hydraulic transmission mechanism respectively drives the second outer contact ring and the first planetary carrier which move left and right and are rotatably connected. The second support disc is radially slidably connected with a plurality of second sliding arms at equal angles in the circumferential direction. Each of the second sliding arms is rotatably connected with a roller. The second tension springs are jointly fixedly arranged between each of the second sliding arms and the second support disc respectively. Each of the second sliding arms has a tendency to move towards the axis of the second support disc under the elastic tension of the second tension spring. When each of the second sliding arms approaches each other, the roller can press the second hydraulic transmission mechanism inward and roll friction with it. When the second hydraulic transmission mechanism is pressed inward and released by the roller, the second outer contact ring can move right and left respectively. When the second hydraulic transmission mechanism is pressed outward and released by the roller, the first planetary carrier can move right and left respectively. The first internal gear cylinder is coaxially fixedly arranged at the right end of the second outer contact ring. The fourth transmission cylinder is coaxially rotatably connected to the third support seat relative to the input shaft. The fourth transmission cylinder is slidably connected with the first planetary carrier coaxially. The first planetary carrier is rotatably connected with a plurality of first planetary gears at equal angles in the circumferential direction relative to the input shaft. Each of the first planetary gears is inserted between the second limit rings at the left and right ends of the first sun gear and meshes with the first sun gear and the first internal gear cylinder respectively. The hollow shaft is coaxially fixedly arranged at the right part of the first internal gear cylinder. The third transmission shaft is coaxially fixedly arranged at the right part of the first planetary carrier. The third active contact cylinder is coaxially fixedly arranged at the right part of the hollow shaft and is inserted into the third transmission shaft with a gap. The third active contact disc is coaxially fixedly arranged at the right part of the third transmission shaft. The second internal friction ring and the second external friction ring are fixedly arranged at the right end of the fourth support seat. When the second hydraulic transmission mechanism is not pressed inward by the roller, the second outer contact ring is in frictional contact with the second external friction ring. When the second hydraulic transmission mechanism is not pressed outward by the roller, the first planetary carrier is in frictional contact with the second internal friction ring.When the second outer contact ring moves to the right, it can drive the third active contact cylinder to move to the right through the first inner gear cylinder and the hollow shaft, and finally can fit and friction with the third driven contact disc. When the second outer contact ring moves to the left and fits and frictions with the first outer friction ring, it can drive the third active contact cylinder to move to the left through the first inner gear cylinder and the hollow shaft and separate from the third driven contact disc. When the first planet carrier moves to the right to a certain position, the third active contact disc can fit and friction with the third driven contact disc through the third transmission shaft. When the first planet carrier moves to the left, the third active contact disc can be separated from the third driven contact disc through the third transmission shaft. The number of teeth of the first inner gear cylinder > the number of teeth of the first sun gear > the number of teeth of a single first planet gear.,

[0009] On the basis of the above technical solution, the second hydraulic transmission mechanism includes a third inner hydraulic chamber, a third outer hydraulic chamber, a fourth inner hydraulic chamber, a fourth outer hydraulic chamber, a third inner piston, a third outer piston, a fourth outer piston, a fourth inner piston, a third inner arc plate, a third outer arc plate, a fourth outer elastic member, a second outer support ring, a fourth inner elastic member, and a second inner support ring. A plurality of third inner hydraulic chambers and third outer hydraulic chambers are arranged at equal angles in a circumferential direction from the inside to the outside with respect to the input shaft on the third support seat. A plurality of fourth inner hydraulic chambers and fourth outer hydraulic chambers are arranged at equal angles in a circumferential direction from the inside to the outside with respect to the input shaft on the fourth support seat. Each of the third inner hydraulic chambers is connected with a third inner piston in a radially sealed reciprocating sliding manner with respect to the input shaft. Each of the third outer hydraulic chambers is connected with a third outer piston in a radially sealed reciprocating sliding manner with respect to the input shaft. Each of the fourth outer hydraulic chambers is connected with a fourth outer piston in an axially sealed reciprocating sliding manner with respect to the input shaft. Each of the fourth inner hydraulic chambers is connected with a fourth inner piston in an axially sealed reciprocating sliding manner with respect to the input shaft. The end of each of the third inner pistons away from the input shaft is fixed with a third inner arc plate. The end of each of the third outer pistons close to the input shaft is fixed with a third outer arc plate. Each of the third inner hydraulic chambers is connected with each of the fourth outer hydraulic chambers through a pipeline, and the chamber formed by the third inner piston, the fourth outer hydraulic chamber, and the fourth outer piston stores hydraulic oil. Each of the third outer hydraulic chambers is connected with each of the fourth inner hydraulic chambers through a pipeline, and the chamber formed by the fourth inner hydraulic chamber, the third outer piston, and the fourth inner piston stores hydraulic oil. Each of the fourth outer pistons is jointly fixed with a fourth outer elastic member and a second outer support ring with respect to the fourth support seat. The second outer support ring has a tendency to move to the left under the elastic force of the fourth outer elastic member. Each of the fourth inner pistons is fixed with a fourth inner elastic member and a second inner support ring with respect to the fourth support seat. The second inner support ring has a tendency to move to the left under the elastic force of the fourth inner elastic member. The second outer support ring is rotatably connected coaxially with the second outer contact ring. The second inner support ring is rotatably connected coaxially with the first planet carrier.

[0010] Based on the above technical solution, the first sliding arm and the second sliding arm are respectively provided with storage grooves, and a detachable mounting bolt is threadedly connected in the storage grooves, and a plurality of counterweight blocks are inserted. The counterweight blocks are inserted through the mounting bolts and are always restricted in the storage grooves by the mounting bolts. Horizontal limiting rods are respectively fixed at the left and right ends of the first sliding arm and the second sliding arm. The first support disk and the second support disk are respectively provided with limiting grooves penetrating through the left and right. The limiting rods are inserted into the limiting grooves with a clearance.

[0011] Based on the above technical solution, the number of the first inner hydraulic chamber, the first outer hydraulic chamber, the third inner hydraulic chamber, the third outer hydraulic chamber, the first inner piston, the first outer piston, the first inner arc plate, the first outer arc plate, the third inner piston, the third outer piston, the third inner arc plate and the third outer arc plate is four each, and the number of the first sliding arm and the second sliding arm is eight each. The circumferential gaps between the first inner arc plates, the circumferential gaps between the first outer arc plates, the circumferential gaps between the third inner arc plates and the circumferential gaps between the third outer arc plates are always smaller than the diameter of the roller.

[0012] Based on the above technical solution, the number of the second outer hydraulic chamber, the second inner hydraulic chamber, the fourth outer hydraulic chamber, the fourth inner hydraulic chamber, the second outer piston, the second inner piston, the fourth outer piston and the fourth inner piston is three each. The pipeline includes twenty-eight hydraulic hoses, four adapters and twenty-eight connecting nozzles. The inside of the adapter is hollow and fixedly communicates with seven connecting nozzles. The seven connecting nozzles of the first adapter are connected to the four first inner hydraulic chambers and the three second outer hydraulic chambers through seven hydraulic hoses. The seven connecting nozzles of the second adapter are connected to the four first outer hydraulic chambers and the three second inner hydraulic chambers through seven hydraulic hoses. The seven connecting nozzles of the third adapter are connected to the four third outer hydraulic chambers and the three fourth inner hydraulic chambers through seven hydraulic hoses. The seven connecting nozzles of the fourth adapter are connected to the four third inner hydraulic chambers and the three fourth outer hydraulic chambers through seven hydraulic hoses.

[0013] On the basis of the above technical solution, the speed reducer includes a housing. The rotating shaft of the speed-regulating motor is inserted into the rear part of the housing with a clearance, and the rotating shaft is rotatably connected to the front part of the housing. The outer shell of the speed-regulating motor is fixed to the housing. The first support seat, the second support seat, the third support seat, the fourth support seat, the fifth support seat, and the sixth support seat are sequentially fixed in the housing from left to right. The output shaft is rotatably connected through the right part of the housing. A sensor for monitoring the rotation speed of the output shaft is fixed to the right part of the housing. The sensor is electrically connected to the electronic control system. The third support seat, the fourth support seat, and the fifth support seat are also respectively rotatably connected with a plurality of first transmission cylinders corresponding to the first transmission cylinder where the second support seat is located from left to right. Each first transmission cylinder where the third support seat, the fourth support seat, and the fifth support seat are located is axially slidably connected to the first transmission shaft.

[0014] Compared with the prior art, the present invention has the following advantages: The present invention uses a mechanical structure to sense the rotation speed of the input shaft, and uses the magnitude of the centrifugal force as a trigger condition, so that the first sliding arms gather or separate from each other, thereby triggering the first hydraulic transmission mechanism to perform different actions, and then selecting the first planetary reduction mechanism or the second planetary reduction mechanism to reduce the speed of the input shaft. When using the second planetary reduction mechanism to reduce the speed, a mechanical structure is used to sense the rotation speed of the second transmission shaft, and the magnitude of the centrifugal force is used as a trigger condition, so that the second sliding arms gather or separate from each other, thereby triggering the second hydraulic transmission mechanism to perform different actions, and then outputting to the output shaft through the third active contact cylinder or the third active contact disc for two different speed reductions. Since not too many electronic devices are used, the cost is low and it is not easy to be damaged.

[0015] After the load changes, the electronic control system gradually reduces the speed of the speed-regulating motor from a high speed, and four-stage speed reduction effects can be achieved through the worm gear, the worm, the first planetary reduction mechanism, and the second planetary reduction mechanism, so as to automatically adapt to the needs of the load, make the rotation speed of the speed-regulating motor gradually approach the needs of the load speed, and thus reduce the waste of speed reduction and is convenient to use.

[0016] By adjusting the number of counterweight blocks in the storage tank, when the circumferential movement speeds of the first sliding arm and the second sliding arm reach different speeds, different movement effects can be achieved, so as to match the rotation speeds of the input shaft and the second transmission shaft to achieve different speed reduction effects. The rotation speed of the output shaft can be monitored through the sensor, so as to facilitate knowing the speed reduction effect and increase convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the upper structure after the housing of the present invention is sectioned.

[0018] Figure 2 It is an axonometric structure schematic diagram when the worm gear and the worm of the present invention are matched.

[0019] Figure 3 This is a schematic diagram of the cooperation of the first sun gear, the first planetary gear, the second sun gear column and the second planetary gear of the present invention.

[0020] Figure 4 This is a schematic diagram of the structure of the present invention after being sectioned from the front.

[0021] Figure 5 This is a schematic diagram of the left part of the present invention after being sectioned from the front.

[0022] Figure 6 This is a schematic diagram of the middle part of the present invention after being sectioned from the front.

[0023] Figure 7 This is a schematic diagram of the right part of the present invention after being sectioned from the front.

[0024] Figure 8 This is a schematic diagram of the enlarged partial structure at position A of the present invention.

[0025] In the figure: 1, speed-regulating motor; 4, worm; 5, worm gear; 6, first support base; 7, second support base; 10, first support disk; 11, first contact disk; 12, first sliding arm; 13, first tension spring; 14, roller; 15, first outer contact ring; 16, first inner contact ring; 19, first inner hydraulic chamber; 20, first outer hydraulic chamber; 21, second inner hydraulic chamber; 22, second outer hydraulic chamber; 23, first inner piston; 24, first outer piston; 25, second outer piston; 26, second inner piston; 27, first inner arc-shaped plate; 28, first outer arc-shaped plate; 29, second outer elastic member; 30, first outer support ring; 31, second inner elastic member; 32, first inner support ring; 33, electromagnet; 34, permanent magnet; 35, support plate; 36, first compression spring; 37, first outer gear ring; 38, first transmission cylinder; 39, first transmission shaft; 40, first outer gear; 41, second outer gear; 42, first limiting ring; 44, first outer friction ring; 45, fifth support base; 46, sixth support base; 47, second sun gear column; 48, second transmission cylinder; 49, second planet carrier; 50, second planet gear; 51, third active contact ring; 52, second outer gear ring; 53, second inner gear cylinder; 54, third transmission cylinder; 55, third driven contact ring; 56, third driven contact disk; 57, third support base; 58, fourth support base; 60, second transmission shaft; 61, first sun gear; 62, second support disk; 63, second limiting ring; 64, second outer contact ring; 65, first planet carrier; 66, second sliding arm; 68, second tension spring; 69, first inner gear cylinder; 70, fourth transmission cylinder; 71, first planet gear; 72, hollow shaft; 73, third transmission shaft; 74, third active contact cylinder; 75, third active contact disk; 76, second inner friction ring; 77, second outer friction ring; 78, third inner hydraulic chamber; 79, third outer hydraulic chamber; 80, fourth inner hydraulic chamber; 81, fourth outer hydraulic chamber; 82, third inner piston; 83, third outer piston; 84, fourth outer piston; 85, fourth inner piston; 86, third inner arc-shaped plate; 87, third outer arc-shaped plate; 88, fourth outer elastic member; 89, second outer support ring; 90, fourth inner elastic member; 91, second inner support ring; 92, storage tank; 93, mounting bolt; 94, counterweight; 95, limiting rod; 96, limiting groove; 98, adapter; 99, connecting nozzle; 100, housing; 101, sensor; 102, input shaft; 103, output shaft; 104, first inner friction ring. Detailed implementation manner

[0026] The present invention will be further elaborated in detail below in conjunction with the accompanying drawings and specific embodiments.

[0027] As Figures 1 - 8As shown, an adaptive load planetary reduction stage worm gear reduction motor includes a speed regulating motor 1, a reducer and an electronic control system. The rotating shaft of the speed regulating motor 1 is coaxially fixed with a worm 4, and the housing is fixed to the reducer. The input shaft 102 of the reducer is coaxially fixed with a worm wheel 5, and the left part is fixed with a No. 1 support seat 6 and a No. 2 support seat 7 from left to right in sequence. The output shaft 103 of the reducer is externally connected to the load, the worm 4 is meshed with the worm wheel 5, the No. 1 support seat 6 and the No. 2 support seat 7 are jointly installed with a No. 1 hydraulic transmission mechanism, and the No. 1 support seat 6 is installed An electric drive telescopic mechanism is installed. The input shaft 102 is coaxially fixed with a No. 1 support plate 10, and is coaxially axially slidably connected with a No. 1 contact plate 11. The No. 1 support plate 10 is circumferentially and radially slidably connected with a plurality of No. 1 sliding arms 12. A No. 1 tension spring 13 is respectively fixed between each of the No. 1 sliding arms 12 and the No. 1 support plate 10, and is rotatably connected with a roller 14. The No. 1 sliding arm 12 has a tendency to approach the axis of the No. 1 support plate 10 under the elastic tension of the No. 1 tension spring 13. The right part of the No. 1 hydraulic transmission mechanism drives The outer contact ring 15 and the inner contact ring 16 are movable left and right and rotatably connected. When the outer contact ring 15 is pressed inwardly by the roller 14 and released from the inward pressure, the inner contact ring 16 can be moved left and right respectively, and when the inner contact ring 16 is pressed outwardly by the roller 14 and released from the pressure, the electric drive telescopic mechanism controls the left and right movement of the contact plate 11, and compared with the rotation of the contact plate 11, the outer contact ring 15 and the inner contact ring 16 can be rotated when they move to the left to a certain position. The No. 1 contact disk 11 is in contact with each other for friction, and the reducer is equipped with a first planetary reduction mechanism and a second planetary reduction mechanism, the second planetary reduction mechanism is transmission-connected with the No. 1 inner contact ring 16 and the output shaft 103, the first planetary reduction mechanism is transmission-connected with the No. 1 outer contact ring 15 and the output shaft 103, and the transmission ratio is smaller than that of the second planetary reduction mechanism, the speed regulating motor 1, the electric drive telescopic mechanism and the electric control system are electrically connected, the electric control system is an external power supply, and the electric control system is a known prior art, such as a single-chip microcomputer, a PLC and an industrial computer.

[0028] During use, connect the output shaft 103 to the load. After the load changes, first control the first contact disk 11 to move leftward through the electric drive telescopic mechanism. At this time, neither the first outer contact ring 15 nor the first inner contact ring 16 can be in frictional contact with the first contact disk 11. Then, control the speed-regulating motor 1 to rotate through the electric control system and gradually reach a high speed. After the speed is stable, control the electric drive telescopic mechanism to push the first contact disk 11 to move rightward. At this time, the input shaft 102 rotates through the meshing of the worm 4 and the worm gear 5, that is, primary deceleration is achieved. The input shaft 102 is also in a relatively high-speed state corresponding to the high speed of the speed-regulating motor 1. Therefore, under the action of centrifugal force at this time, the first sliding arms 12 move away from each other, causing the rollers 14 to press outward on the first hydraulic transmission mechanism and releasing the inward pressing on the first hydraulic transmission mechanism. As a result, the first inner contact ring 16 moves leftward, and the first outer contact ring 15 moves rightward, so that the first inner contact ring 16 is in frictional contact with the first contact disk 11, and the two tend to rotate at the same speed. Then, the second planetary reduction mechanism can be used for deceleration with a large transmission ratio, so that a large torque and a low speed are output through the output shaft 103. When the load operates normally, gradually reduce the speed through the electric control system. At this time, the input shaft 102 is in a low-speed state. Therefore, under the elastic tension of the first tension spring 13 at this time, the first hydraulic transmission mechanism is pressed inward and the outward pressing on the first hydraulic transmission mechanism is released. As a result, the first inner contact ring 16 moves rightward, and the first outer contact ring 15 moves leftward, so that the first outer contact ring 15 is in frictional contact with the first contact disk 11, and the two tend to rotate at the same speed. That is, the first planetary reduction mechanism is used for deceleration with a small transmission ratio. Thus, when the speed-regulating motor 1 maintains a low speed, the output shaft 103 can also output a large torque and a low speed, thereby reducing the power consumption of the speed-regulating motor 1.

[0029] The first hydraulic transmission mechanism includes a first inner hydraulic chamber 19, a first outer hydraulic chamber 20, a second inner hydraulic chamber 21, a second outer hydraulic chamber 22, a first inner piston 23, a first outer piston 24, a second outer piston 25, a second inner piston 26, a first inner arc-shaped plate 27, a first outer arc-shaped plate 28, a second outer elastic member 29, a first outer support ring 30, a second inner elastic member 31, and a first inner support ring 32. The first support base 6 is provided with a plurality of first inner hydraulic chambers 19 and first outer hydraulic chambers 20 at equal angular intervals in a circumferential direction from the inside to the outside with respect to the input shaft 102. The second support base 7 is provided with a plurality of second inner hydraulic chambers 21 and second outer hydraulic chambers 22 at equal angular intervals in a circumferential direction from the inside to the outside with respect to the input shaft 102. Each of the first inner hydraulic chambers 19 is radially and sealingly slidably connected to a first inner piston 23 with respect to the input shaft 102. Each of the first outer hydraulic chambers 20 is radially and sealingly slidably connected to a first outer piston 24 with respect to the input shaft 102. Each of the second outer hydraulic chambers 22 is axially and sealingly slidably connected to a second outer piston 25 with respect to the input shaft 102. Each of the second inner hydraulic chambers 21 is axially and sealingly slidably connected to a second inner piston 26 with respect to the input shaft 102. One end of each of the first inner pistons 23 away from the input shaft 102 is fixed with a first inner arc-shaped plate 27. One end of each of the first outer pistons 24 close to the input shaft 102 is fixed with a first outer arc-shaped plate 28. Each of the first inner hydraulic chambers 19 is connected to each of the second outer hydraulic chambers 22 through a pipeline, and hydraulic oil is stored in the chamber formed by the first inner piston 23, the second outer hydraulic chamber 22, and the second outer piston 25. Each of the first outer hydraulic chambers 20 is connected to each of the second inner hydraulic chambers 21 through a pipeline, and hydraulic oil is stored in the chamber formed by the first outer piston 24, the second inner hydraulic chamber 21, and the second inner piston 26. A second outer elastic member 29 is fixed between each of the second outer pistons 25 and the second support base 7, and a first outer support ring 30 is fixed together. The first outer support ring 30 has a tendency to move to the right under the elastic force of the second outer elastic member 29. A second inner elastic member 31 is fixed between each of the second inner pistons 26 and the second support base 7, and a first inner support ring 32 is fixed together. The first inner support ring 32 has a tendency to move to the right under the elastic force of the second inner elastic member 31. The first outer support ring 30 is coaxially rotatably connected to the first outer contact ring 15. The first inner support ring 32 is coaxially rotatably connected to the first inner contact ring 16.

[0030] Further, when the input shaft 102 is in a low-speed state, under the elastic tension of the first pulling spring 13, the roller 14 presses inward against the first inner arc-shaped plate 27, so that the first inner piston 23 pushes the hydraulic oil to flow into the second outer hydraulic chamber 22, and then the second outer piston 25 drives the first outer support ring 30 and the first outer contact ring 15 to move leftward against the elastic force of the second outer elastic member 29, and under the elastic force of the second inner elastic member 31, the first inner contact ring 16 moves rightward; when the input shaft 102 is in a high-speed state, under the action of centrifugal force, the roller 14 presses outward against the first outer arc-shaped plate 28, so that the first outer piston 24 pushes the hydraulic oil to flow into the second inner hydraulic chamber 21, and then the second inner piston 26 drives the first inner support ring 32 and the first inner contact ring 16 to move leftward against the elastic force of the second inner elastic member 31, and under the elastic force of the second outer elastic member 29, the first outer contact ring 15 moves rightward.

[0031] The electric drive telescopic mechanism includes an electromagnet 33, a permanent magnet 34, a support plate 35, and a first compression spring 36. The right end of the first support seat 6 is fixedly provided with the electromagnet 33, the left end of the first contact disk 11 is fixedly provided with the permanent magnet 34, the electromagnet 33 and the permanent magnet 34 correspond to each other left and right, the input shaft 102 is coaxially fixed with the support plate 35, and a first compression spring 36 is jointly fixed between the first support plate 35 and the first contact disk 11. The first contact disk 11 has a tendency to move rightward under the elastic repulsive force of the first compression spring 36.

[0032] Further, by controlling the current direction leading to the electromagnet 33, the electromagnet 33 and the permanent magnet 34 can be made to have magnetic repulsion and magnetic attraction, so that the first contact disk 11 moves left and right. When the power supply to the electromagnet is stopped, the first contact disk 11 can also move rightward under the elastic repulsive force of the first compression spring 36, so that the first contact disk 11 fits and rubs against the first outer contact ring 15 or the first inner contact ring 16. In this state, the output shaft 103 can be rotated, thus saving electric energy.

[0033] The first planetary reduction mechanism includes a first external gear ring 37, a first transmission cylinder 38, a first transmission shaft 39, a first external gear 40, a second external gear 41, a first limiting ring 42, a first external friction ring 44, a fifth support seat 45, a sixth support seat 46, a second sun gear column 47, a second transmission cylinder 48, a second planetary carrier 49, a second planetary gear 50, a third active contact ring 51, a second external gear ring 52, a second internal gear cylinder 53, a third transmission cylinder 54, a third driven contact ring 55, and a third driven contact disc 56. The first external contact ring 15 is coaxially fixed with the first external gear ring 37. The second support seat 7 is rotatably connected at equal angular intervals around the input shaft 102 with a plurality of horizontally arranged cylindrical first transmission cylinders 38. Each of the first transmission cylinders 38 is coaxially and axially slidably connected with a first transmission shaft 39. Each of the first transmission shafts 39 is coaxially fixed with a first external gear 40 and a second external gear 41 from left to right in sequence. There are first limiting rings 42 coaxially fixed at both the left and right ends of the first external gear 40 and at both the left and right ends of the second external gear 41. Each of the first external gears 40 meshes with the first external gear ring 37. The first external gear ring 37 is inserted with a clearance between the first limiting rings 42 at both the left and right ends of the first external gear 40. The left end of the first support seat 6 is fixed with a first external friction ring 44 and a first internal friction ring 104. The right end of the first external contact ring 15 can be in frictional contact with the left end of the first external friction ring 44. The right end of the first internal contact ring 16 can be in frictional contact with the left end of the first internal friction ring 104. The right part of the reducer is fixed with a fifth support seat 45 and a sixth support seat 46 from left to right in sequence. The fifth support seat 45 is coaxially fixed with a second sun gear column 47 relative to the input shaft 102, and is coaxially and axially slidably connected with a second transmission cylinder 48 relative to the input shaft 102. The second transmission cylinder 48 is coaxially rotatably connected with a second planetary carrier 49. The second planetary carrier 49 is rotatably connected at equal angular intervals around the input shaft 102 with a plurality of second planetary gears 50. The left end of the right part of the second planetary carrier 49 is fixed with a third active contact ring 51. The second planetary carrier 49 is coaxially rotatably connected with a second external gear ring 52 relative to the input shaft 102. The second external gear ring 52 meshes with each of the second external gears 41, and is inserted between the first limiting rings 42 at both the left and right ends of the second external gear 41. The right end of the second external gear ring 52 is coaxially fixed with a second internal gear cylinder 53. Each of the second planetary gears 50 meshes with both the second sun gear column 47 and the second internal gear cylinder 53. The sixth support seat 46 is coaxially rotatably connected with a third transmission cylinder 54 relative to the input shaft 102. The left part of the third transmission cylinder 54 is coaxially fixed with a third driven contact ring 55, and the right part is coaxially fixed with a third driven contact disc 56. The right end of the third driven contact disc 56 is coaxially fixed with the output shaft 103 of the reducer.When the first outer contact ring 15 moves leftward and fits and rubs against the first contact disc 11, the first limiting ring 42 can drive the first outer gear 40, the first transmission shaft 39, the second outer gear 41, the second outer gear ring 52 and the second inner gear cylinder 53 to move leftward, so that the third active contact ring 51 moves leftward and fits and rubs against the third driven contact ring 55. When the first outer contact ring 15 moves rightward and fits and rubs against the first outer friction ring 44, the first limiting ring 42 can drive the first outer gear 40, the first transmission shaft 39, the second outer gear 41, the second outer gear ring 52 and the second inner gear cylinder 53 to move rightward, so that the third active contact ring 51 moves rightward and separates from the third driven contact ring 55. The number of teeth of the second inner gear cylinder 53 > the number of teeth of the second sun gear column 47 > the number of teeth of a single second planetary gear 50.,

[0034] Further, when the first outer contact ring 15 moves leftward and fits and contacts with the first contact disc 11, the third active contact ring 51 moves leftward and fits and rubs against the third driven contact ring 55 (the second inner gear cylinder 53, the second planetary gear 50 and the second sun gear column 47 remain meshed). At this time, the first outer contact ring 15 following the rotation of the first contact disc 11 drives the second planetary carrier 49, the third active contact ring 51, the third driven contact ring 55, the third transmission cylinder 54 and the output shaft 103 to rotate through the first outer gear ring 37, the first outer gear 40, the first transmission shaft 39, the second outer gear 41, the second outer gear ring 52 and the second inner gear cylinder 53, that is, a small transmission ratio reduction is achieved. At this time, under the elastic force of the second inner elastic member 31, the first inner contact ring 16 fits and rubs against the first inner friction ring 104 to maintain braking.

[0035] The second planetary speed reduction mechanism includes a third support seat 57, a fourth support seat 58, a second hydraulic transmission mechanism, a second transmission shaft 60, a first sun gear 61, a second support disc 62, a second limit ring 63, a second outer contact ring 64, a first planetary carrier 65, a second sliding arm 66, a roller 14, a second tension spring 68, a first internal gear cylinder 69, a fourth transmission cylinder 70, a first planetary gear 71, a hollow shaft 72, a third transmission shaft 73, a third active contact cylinder 74, a third active contact disc 75, a second internal friction ring 76, a second external friction ring 77, a third transmission cylinder 54, and a third driven contact disc 56. The third support seat 57 and the fourth support seat 58 are fixedly arranged in sequence from left to right in the middle of the speed reducer. The third support seat 57 and the fourth support seat 58 jointly mount a second hydraulic transmission mechanism. The second support seat 7 is coaxially rotatably connected to the second transmission shaft 60 relative to the input shaft 102. The left part of the second transmission shaft 60 is axially slidably connected coaxially with the first internal contact ring 16, and is rotatably connected to the third support seat 57 and the fourth support seat 58. The right part of the second transmission shaft 60 is axially slidably connected coaxially with the first sun gear 61, and the left part is coaxially fixed with the second support disc 62. The left and right ends of the first sun gear 61 are each coaxially fixed with a second limit ring 63. The right part of the second hydraulic transmission mechanism respectively drives a second outer contact ring 64 and a first planetary carrier 65 that move left and right and are rotatably connected. The second support disc 62 is radially slidably connected with a plurality of second sliding arms 66 at equal angles in the circumferential direction. Each of the second sliding arms 66 is rotatably connected with a roller 14. A second tension spring 68 is jointly fixed between each of the second sliding arms 66 and the second support disc 62. Each of the second sliding arms 66 has a tendency to move towards the axis of the second support disc 62 under the elastic tension of the second tension spring 68. When the second sliding arms 66 approach each other, the rollers 14 can press the second hydraulic transmission mechanism inward and roll friction with it. When the second hydraulic transmission mechanism is pressed inward and released by the rollers 14, the second outer contact ring 64 can move right and left respectively. When the second hydraulic transmission mechanism is pressed outward and released by the rollers 14, the first planetary carrier 65 can move right and left respectively. The right end of the second outer contact ring 64 is coaxially fixed with a first internal gear cylinder 69. The third support seat 57 is coaxially rotatably connected to a fourth transmission cylinder 70 relative to the input shaft 102. The fourth transmission cylinder 70 is slidably connected coaxially with the first planetary carrier 65. The first planetary carrier 65 is rotatably connected with a plurality of first planetary gears 71 at equal angles in the circumferential direction relative to the input shaft 102. Each of the first planetary gears 71 is inserted between the second limit rings 63 at the left and right ends of the first sun gear 61, and meshes with the first sun gear and the first internal gear cylinder 69 respectively. The right part of the first internal gear cylinder 69 is coaxially fixed with a hollow shaft 72. The right part of the first planetary carrier 65 is coaxially fixed with a third transmission shaft 73. The right part of the hollow shaft 72 is coaxially fixed with a third active contact cylinder 74,And the gap is inserted outside the third transmission shaft 73. A third driving contact disc 75 is coaxially fixed to the right part of the third transmission shaft 73. A second inner friction ring 76 and a second outer friction ring 77 are fixed to the right end of the fourth support seat 58. When the second hydraulic transmission mechanism is not pressed inward by the roller 14, the second outer contact ring 64 is in frictional contact with the second outer friction ring 77. When the second hydraulic transmission mechanism is not pressed outward by the roller 14, the first planetary carrier 65 is in frictional contact with the second inner friction ring 76. When the second outer contact ring 64 moves to the right, it can drive the third driving contact cylinder 74 to move to the right through the first inner gear cylinder 69 and the hollow shaft 72, and finally be in frictional contact with the third driven contact disc 56. When the second outer contact ring 64 moves to the left and is in frictional contact with the first outer friction ring 44, it can drive the third driving contact cylinder 74 to move to the left through the first inner gear cylinder 69 and the hollow shaft 72 and separate from the third driven contact disc 56. When the first planetary carrier 65 moves to a certain position to the right, the third driving contact disc 75 can be in frictional contact with the third driven contact disc 56 through the third transmission shaft 73. When the first planetary carrier 65 moves to the left, the third driving contact disc 75 can be separated from the third driven contact disc 56 through the third transmission shaft 73. The number of teeth of the first inner gear cylinder 69 > the number of teeth of the first sun gear 61 > the number of teeth of a single first planetary gear 71.,

[0036] When the first inner contact ring 16 moves leftward to fit and contact with the first contact disc 11, the first inner contact ring 16 rotates following the first contact disc 11, thereby driving the second transmission shaft 60, the second support disc 62, and the first sun gear 61 to rotate. Since the input shaft 102 is in a high-speed state, the second support disc 62 is also in a high-speed state at this time. Thus, under the action of centrifugal force, the second sliding arms 66 move away from each other, and then the roller 14 is used to press the second hydraulic transmission mechanism outward. Then, the first planet carrier 65, the third transmission shaft 73, and the third active contact disc 75 can move rightward, and the third active contact disc 75 is in frictional contact with the third driven contact disc 56. At this time, the second hydraulic transmission mechanism is not pressed outward, so that the second outer contact ring 64 is in frictional contact with the second outer friction ring 77 and is in a braking state. At this time, the high-speed rotating third transmission shaft 73 is decelerated by the first sun gear 61 and the first planetary gear 71, so that the first planet carrier 65, the third transmission shaft 73, the third active contact disc 75, the third driven contact disc 56, and the output shaft 103 rotate, thereby achieving deceleration with a relatively large transmission ratio. When the first inner contact ring 16 moves leftward to fit and contact with the first contact disc 11, as the rotational speed of the input shaft 102 gradually decreases, the rotational speeds of the second transmission shaft 60 and the second support disc 62 also gradually decrease. Thus, under the elastic pulling force of the second tension spring 68, the roller 14 presses the second hydraulic transmission mechanism inward. Subsequently, the second outer contact ring 64, the first inner gear cylinder 69, the hollow shaft 72, and the third active contact cylinder 74 move rightward, and finally the third active contact cylinder 74 is in frictional contact with the third driven contact disc 56. At this time, since the second hydraulic transmission mechanism is not extruded outward, the first planet carrier 65 is in frictional contact with the second inner friction ring 76 to maintain braking. At this time, the second transmission shaft 60 with a reduced rotational speed drives the first inner gear cylinder 69, the hollow shaft 72, the third active contact cylinder 74, the third driven contact disc 56, and the output shaft 103 to rotate through the first sun gear 61 and the first planetary gear 71, thereby achieving deceleration with a relatively small transmission ratio. That is, the second planetary reduction mechanism adaptively realizes two-stage deceleration with a relatively large transmission ratio and a relatively small transmission ratio.

[0037] The second hydraulic transmission mechanism includes a third inner hydraulic chamber 78, a third outer hydraulic chamber 79, a fourth inner hydraulic chamber 80, a fourth outer hydraulic chamber 81, a third inner piston 82, a third outer piston 83, a fourth outer piston 84, a fourth inner piston 85, a third inner arc plate 86, a third outer arc plate 87, a fourth outer elastic member 88, a second outer support ring 89, a fourth inner elastic member 90, and a second inner support ring 91. A plurality of third inner hydraulic chambers 78 and third outer hydraulic chambers 79 are arranged at equal angles in a circumferential direction from the inside to the outside with respect to the input shaft 102 on the third support seat 57. A plurality of fourth inner hydraulic chambers 80 and fourth outer hydraulic chambers 81 are arranged at equal angles in a circumferential direction from the inside to the outside with respect to the input shaft 102 on the fourth support seat 58. Each of the third inner hydraulic chambers 78 is radially and sealingly slidably connected to a third inner piston 82 with respect to the input shaft 102. Each of the third outer hydraulic chambers 79 is radially and sealingly slidably connected to a third outer piston 83 with respect to the input shaft 102. Each of the fourth outer hydraulic chambers 81 is axially and sealingly slidably connected to a fourth outer piston 84 with respect to the input shaft 102. Each of the fourth inner hydraulic chambers 80 is axially and sealingly slidably connected to a fourth inner piston 85 with respect to the input shaft 102. The end of each of the third inner pistons 82 away from the input shaft 102 is fixed with a third inner arc plate 86. The end of each of the third outer pistons 83 close to the input shaft 102 is fixed with a third outer arc plate 87. Each of the third inner hydraulic chambers 78 is connected to each of the fourth outer hydraulic chambers 81 through a pipeline, and the chamber formed by the third inner piston 82, the fourth outer hydraulic chamber 81, and the fourth outer piston 84 stores hydraulic oil. Each of the third outer hydraulic chambers 79 is connected to each of the fourth inner hydraulic chambers 80 through a pipeline, and the chamber formed by the fourth inner hydraulic chamber 80, the third outer piston 83, and the fourth inner piston 85 stores hydraulic oil. A fourth outer elastic member 88 is jointly fixed between each of the fourth outer pistons 84 and the fourth support seat 58, and a second outer support ring 89 is jointly fixed. The second outer support ring 89 has a tendency to move to the left under the elastic force of the fourth outer elastic member 88. A fourth inner elastic member 90 is fixed between each of the fourth inner pistons 85 and the fourth support seat 58, and a second inner support ring 91 is jointly fixed. The second inner support ring 91 has a tendency to move to the left under the elastic force of the fourth inner elastic member 90. The second outer support ring 89 is rotatably connected coaxially with the second outer contact ring 64. The second inner support ring 91 is rotatably connected coaxially with the first planetary carrier 65.

[0038] Further, when the second support disk 62 rotates at a high speed, the second sliding arms 66 move away from each other, so as to press the third outer arc-shaped plate 87 outward by means of the rollers 14, thereby pushing hydraulic oil to flow into the fourth inner hydraulic chamber 80 by means of the third outer piston 83. Subsequently, the fourth inner piston 85, the second inner support ring 91 and the first planet carrier 65 move rightward against the elastic force of the fourth inner elastic member 90. At this time, the third inner arc-shaped plate 86 is not pressed, so that the second outer contact ring 64 is in contact with and fits against the second outer friction ring 77 under the elastic force of the fourth outer elastic member 88 to maintain braking. When the second support disk 62 rotates at a low speed, the second sliding arms 66 move closer to each other, so as to press the third inner arc-shaped plate 86 inward by means of the rollers 14, thereby pushing hydraulic oil to flow into the fourth outer hydraulic chamber 81 by means of the third inner piston 82. Subsequently, the fourth outer piston 84, the second outer support ring 89 and the first inner gear cylinder 69 move rightward against the elastic force of the fourth outer elastic member 88. At this time, the third outer arc-shaped plate 87 is not pressed, so that the first planet carrier 65 is in contact with and fits against the second inner friction ring 76 under the elastic force of the fourth inner elastic member 90 to maintain braking.

[0039] The first sliding arm 12 and the second sliding arm 66 are respectively provided with storage grooves 92. Threadedly connected in the storage grooves 92 are detachable mounting bolts 93, and a plurality of counterweight blocks 94 are inserted therein. The counterweight blocks 94 are inserted through the mounting bolts 93 and are always restricted in the storage grooves 92 by the mounting bolts 93. Horizontally arranged limiting rods 95 are respectively fixed to the left and right ends of the first sliding arm 12 and the second sliding arm 66. The first support disk 10 and the second support disk 62 respectively penetrate through limiting grooves 96 from left to right. The limiting rods 95 are inserted into the limiting grooves 96 with a clearance.

[0040] Further, by adjusting the number of the counterweight blocks 94 in the storage grooves 92, when the circumferential movement speeds of the first sliding arm 12 and the second sliding arm 66 reach different speeds, different moving effects can be achieved, so as to match the rotational speeds of the input shaft 102 and the second transmission shaft 60 to achieve different deceleration effects. Specifically, the more the number of the counterweight blocks 94, the greater the centrifugal force required for the first sliding arm 12 and the second sliding arm 66 to move away from each other, that is, the greater the rotational speeds required for the input shaft 102 and the second transmission shaft 60. On the contrary, the required rotational speeds of the input shaft 102 and the second transmission shaft 60 are smaller. The limiting rods 95 and the limiting grooves 96 are used to prevent the first sliding arm 12 and the second sliding arm 66 from separating from the first support disk 10 and the second support disk 62.

[0041] The number of the first inner hydraulic chamber 19, the first outer hydraulic chamber 20, the third inner hydraulic chamber 78, the third outer hydraulic chamber 79, the first inner piston 23, the first outer piston 24, the first inner arc plate 27, the first outer arc plate 28, the third inner piston 82, the third outer piston 83, the third inner arc plate 86 and the third outer arc plate 87 is four each. The number of the first sliding arms 12 and the second sliding arms 66 is eight each. The circumferential gaps between the first inner arc plates 27, the circumferential gaps between the first outer arc plates 28, the circumferential gaps between the third inner arc plates 86, and the circumferential gaps between the third outer arc plates 87 are always smaller than the diameter of the roller 14.

[0042] Furthermore, through the above settings, when the roller 14 moves circumferentially following the first sliding arm 12 or the second sliding arm 66 and rolls frictionally with the first inner arc plate 27, the first outer arc plate 28, the third inner arc plate 86, and the third outer arc plate 87, at least one roller 14 remains in contact, ensuring the pressing effect.

[0043] The number of the second outer hydraulic chamber 22, the second inner hydraulic chamber 21, the fourth outer hydraulic chamber 81, the fourth inner hydraulic chamber 80, the second outer piston 25, the second inner piston 26, the fourth outer piston 84, and the fourth inner piston 85 is three each. The pipeline includes twenty-eight hydraulic hoses, four adapters 98, and twenty-eight connecting nozzles 99. The inside of the adapter 98 is hollow and fixedly communicates with seven connecting nozzles 99. The seven connecting nozzles 99 of the first adapter 98 are connected and communicated with the four first inner hydraulic chambers 19 and the three second outer hydraulic chambers 22 through seven hydraulic hoses. The seven connecting nozzles 99 of the second adapter 98 are connected and communicated with the four first outer hydraulic chambers 20 and the three second inner hydraulic chambers 21 through seven hydraulic hoses. The seven connecting nozzles 99 of the third adapter 98 are connected and communicated with the four third outer hydraulic chambers 79 and the three fourth inner hydraulic chambers 80 through seven hydraulic hoses. The seven connecting nozzles 99 of the fourth adapter 98 are connected and communicated with the four third inner hydraulic chambers 78 and the three fourth outer hydraulic chambers 81 through seven hydraulic hoses.

[0044] The three second outer pistons 25, the second inner piston 26, the fourth outer piston 84, and the fourth inner piston 85 can realize stable three-point support for the first outer support ring 30, the first inner support ring 32, the second outer support ring 89, and the second inner support ring 91, thus ensuring that the first outer contact ring 15, the first inner contact ring 16, the second outer contact ring 64, the first inner gear cylinder 69, and the first planetary carrier 65 rotate more stably.

[0045] The speed reducer includes a housing 100. The rotating shaft of the speed control motor 1 is inserted into the rear part of the housing 100 with a clearance, and the rotating shaft is rotatably connected to the front part of the housing 100. The outer shell of the speed control motor 1 is fixed to the housing 1. The first support seat 6, the second support seat 7, the third support seat 57, the fourth support seat 58, the fifth support seat 45 and the sixth support seat 46 are sequentially fixed in the housing 100 from left to right. The output shaft 103 is rotatably connected through the right part of the housing 100. A sensor 101 for monitoring the rotation speed of the output shaft 103 is fixed to the right part of the housing 100. The sensor 101 is electrically connected to the electronic control system. A plurality of first transmission cylinders 38 corresponding to the first transmission cylinder 38 where the second support seat 7 is located are also rotatably connected to the third support seat 57, the fourth support seat 58 and the fifth support seat 45 respectively. Each first transmission cylinder 38 where the third support seat 57, the fourth support seat 58 and the fifth support seat 45 are located is axially slidably connected to the first transmission shaft 39.

[0046] Further, the rotation speed of the output shaft 103 can be monitored through the sensor 101, so as to facilitate knowing the deceleration effect. Through a plurality of first transmission cylinders 38, the rotation of the first transmission shaft is made more stable.

[0047] The above is the preferred embodiment of the present invention. For those of ordinary skill in the art, according to the teachings of the present invention, without departing from the principle and spirit of the present invention, the changes, modifications, substitutions and variations made to the implementation manners still fall within the protection scope of the present invention.

Claims

1. An adaptive load planetary reduction stage worm and worm gear reduction motor, comprising a speed regulating motor (1), a reducer and an electric control system. A worm (4) is coaxially fixed to the rotating shaft of the speed regulating motor (1), and the outer shell is fixed to the reducer. A worm wheel (5) is coaxially fixed to the input shaft (102) of the reducer, and a first support seat (6) and a second support seat (7) are sequentially fixed to the left part from left to right. The output shaft (103) of the reducer is externally connected to a load. The worm (4) is engaged with the worm wheel (5), and it is characterized in that: The No. 1 support seat (6) and the No. 2 support seat (7) are jointly installed with a No. 1 hydraulic transmission mechanism, and the No. 1 support seat (6) is installed with an electric drive telescopic mechanism. The input shaft (102) is coaxially fixed with a No. 1 support plate (10), and is coaxially axially slidably connected with a No. 1 contact plate (11). The No. 1 support plate (10) is circumferentially and equiangularly radially slidably connected with a plurality of No. 1 sliding arms (12), and a No. 1 tension spring (13) is respectively fixed between each of the No. 1 sliding arms (12) and the No. 1 support plate (10), and is rotatably connected with a roller (14). The No. 1 sliding arm (12) has a tendency to approach the axis of the No. 1 support plate (10) under the elastic tension of the No. 1 tension spring (13). The right part of the No. 1 hydraulic transmission mechanism drives a No. 1 outer contact ring (15) and a No. 1 inner contact ring (16) that are movable left and right and rotatably connected, and the No. 1 hydraulic transmission mechanism is pressed inwardly and released from being pressed inwardly by the roller (14). When the first outer contact ring (15) is moved to the left and right respectively, and when the roller (14) is pressed outward and released, the first inner contact ring (16) is moved to the left and right respectively. The electric drive telescopic mechanism controls the first contact plate (11) to move left and right, and can rotate compared to the first contact plate (11). When the first outer contact ring (15) and the first inner contact ring (16) move to the left to a certain position, they can rub against the first contact plate (11). The reducer is equipped with a first planetary reduction mechanism and a second planetary reduction mechanism. The second planetary reduction mechanism is transmission-connected to the first inner contact ring (16) and the output shaft (103). The first planetary reduction mechanism is transmission-connected to the first outer contact ring (15) and the output shaft (103), and the transmission ratio is smaller than the transmission ratio of the second planetary reduction mechanism. The speed regulating motor (1), the electric drive telescopic mechanism and the electric control system are electrically connected. The electric control system is externally connected to a power supply.

2. An adaptive load planetary reduction stage worm and worm gear reduction motor according to claim 1, characterized in that: The first hydraulic transmission mechanism includes a first inner hydraulic chamber (19), a first outer hydraulic chamber (20), a second inner hydraulic chamber (21), a second outer hydraulic chamber (22), a first inner piston (23), a first outer piston (24), a second outer piston (25), a second inner piston (26), a first inner arc plate (27), a first outer arc plate (28), a second outer elastic member (29), a first outer support ring (30), a second inner elastic member (31), and a first inner support ring (32). A plurality of first inner hydraulic chambers (19) and first outer hydraulic chambers (20) are arranged at equal circumferential angles from the inside to the outside with respect to the input shaft (102) on the first support seat (6). A plurality of second inner hydraulic chambers (21) and second outer hydraulic chambers (22) are arranged at equal circumferential angles from the inside to the outside with respect to the input shaft (102) on the second support seat (7). Each of the first inner hydraulic chambers (19) is in radial sealed reciprocating sliding connection with a first inner piston (23) with respect to the input shaft (102). Each of the first outer hydraulic chambers (20) is in radial sealed reciprocating sliding connection with a first outer piston (24) with respect to the input shaft (102). Each of the second outer hydraulic chambers (22) is in axial sealed reciprocating sliding connection with a second outer piston (25) with respect to the input shaft (102). Each of the second inner hydraulic chambers (21) is in axial sealed reciprocating sliding connection with a second inner piston (26) with respect to the input shaft (102). One end of each of the first inner pistons (23) away from the input shaft (102) is fixed with a first inner arc plate (27). One end of each of the first outer pistons (24) close to the input shaft (102) is fixed with a first outer arc plate (28). Each of the first inner hydraulic chambers (19) is connected to each of the second outer hydraulic chambers (22) through a pipeline, and the chamber formed by the first inner piston (23), the second outer hydraulic chamber (22), and the second outer piston (25) stores hydraulic oil. Each of the first outer hydraulic chambers (20) is connected to each of the second inner hydraulic chambers (21) through a pipeline, and the chamber formed by the first outer piston (24), the second inner hydraulic chamber (21), and the second inner piston (26) stores hydraulic oil. A second outer elastic member (29) is fixed between each of the second outer pistons (25) and the second support seat (7), and a first outer support ring (30) is fixed together. The first outer support ring (30) has a tendency to move to the right under the elastic force of the second outer elastic member (29). A second inner elastic member (31) is fixed between each of the second inner pistons (26) and the second support seat (7), and a first inner support ring (32) is fixed together. The first inner support ring (32) has a tendency to move to the right under the elastic force of the second inner elastic member (31). The first outer support ring (30) is coaxially rotatably connected to the first outer contact ring (15). The first inner support ring (32) is coaxially rotatably connected to the first inner contact ring (16).

3. An adaptive load planetary reduction stage worm and worm gear reduction motor according to claim 2, characterized in that: The electrostrictive mechanism includes an electromagnet (33), a permanent magnet (34), a support plate (35), and a first compression spring (36). The electromagnet (33) is fixed to the right end of the first support seat (6), and the permanent magnet (34) is fixed to the left end of the first contact disc (11). The electromagnet (33) and the permanent magnet (34) are arranged opposite to each other left and right. The support plate (35) is coaxially fixed to the input shaft (102). A first compression spring (36) is fixedly arranged between the first support plate (35) and the first contact disc (11). The first contact disc (11) has a tendency to move to the right under the elastic repulsive force of the first compression spring (36).

4. An adaptive load planetary reduction stage worm and worm gear reduction motor according to any one of claims 2 or 3, characterized in that: The first planetary reduction mechanism includes a first external gear ring (37), a first transmission cylinder (38), a first transmission shaft (39), a first external gear (40), a second external gear (41), a first limiting ring (42), a first external friction ring (44), a fifth support seat (45), a sixth support seat (46), a second sun gear column (47), a second transmission cylinder (48), a second planetary carrier (49), a second planetary gear (50), a third active contact ring (51), a second external gear ring (52), a second internal gear cylinder (53), a third transmission cylinder (54), a third driven contact ring (55), and a third driven contact disc (56). The first external contact ring (15) is coaxially fixed with the first external gear ring (37). The second support seat (7) is rotatably connected at equal circumferential angles with respect to the input shaft (102) to a plurality of horizontally arranged cylindrical first transmission cylinders (38). Each of the first transmission cylinders (38) is coaxially and axially slidably connected with a first transmission shaft (39). Each of the first transmission shafts (39) is coaxially fixed with a first external gear (40) and a second external gear (41) in sequence from left to right. The left and right ends of the first external gear (40) and the left and right ends of the second external gear (41) are each coaxially fixed with a first limiting ring (42). Each of the first external gears (40) meshes with the first external gear ring (37). The first external gear ring (37) is inserted with a clearance between the first limiting rings (42) at the left and right ends of the first external gear (40). The left end of the first support seat (6) is fixed with a first external friction ring (44) and a first internal friction ring (104). The right end of the first external contact ring (15) can be in frictional contact with the left end of the first external friction ring (44). The right end of the first internal contact ring (16) can be in frictional contact with the left end of the first internal friction ring (104). The right part of the reducer is fixed with a fifth support seat (45) and a sixth support seat (46) in sequence from left to right. The fifth support seat (45) is coaxially fixed with a second sun gear column (47) with respect to the input shaft (102), and is coaxially and axially slidably connected with a second transmission cylinder (48) with respect to the input shaft (102). The second transmission cylinder (48) is coaxially rotatably connected with a second planetary carrier (49). The second planetary carrier (49) is rotatably connected at equal circumferential angles with respect to the input shaft (102) to a plurality of second planetary gears (50). The left end of the right part of the second planetary carrier (49) is fixed with a third active contact ring (51). The second planetary carrier (49) is coaxially rotatably connected with a second external gear ring (52) with respect to the input shaft (102). The second external gear ring (52) meshes with each of the second external gears (41), and is inserted between the first limiting rings (42) at the left and right ends of the second external gear (41). The right end of the second external gear ring (52) is coaxially fixed with a second internal gear cylinder (53). Each of the second planetary gears (50) meshes with both the second sun gear column (47) and the second internal gear cylinder (53).The sixth support base (46) is rotatably connected coaxially with a third transmission cylinder (54) relative to the input shaft (102). A third driven contact ring (55) is coaxially fixed to the left part of the third transmission cylinder (54), and a third driven contact disc (56) is coaxially fixed to the right part. The right end of the third driven contact disc (56) is coaxially fixed to the output shaft (103) of the reducer. When the first outer contact ring (15) moves leftward to fit and rub against the first contact disc (11), it can drive the first outer gear (40), the first transmission shaft (39), the second outer gear (41), the second outer tooth ring (52) and the second inner tooth cylinder (53) to move leftward through the first limiting ring (42), so that the third active contact ring (51) moves leftward to fit and rub against the third driven contact ring (55). When the first outer contact ring (15) moves rightward to fit and rub against the first outer friction ring (44), it can drive the first outer gear (40), the first transmission shaft (39), the second outer gear (41), the second outer tooth ring (52) and the second inner tooth cylinder (53) to move rightward through the first limiting ring (42), so that the third active contact ring (51) moves rightward to separate from the third driven contact ring (55). The number of teeth of the second inner tooth cylinder (53) > the number of teeth of the second sun gear column (47) > the number of teeth of a single second planetary gear (50).

5. An adaptive load planetary reduction stage worm and worm gear reduction motor according to claim 4, characterized in that: The second planetary speed reduction mechanism includes a third support base (57), a fourth support base (58), a second hydraulic transmission mechanism, a second transmission shaft (60), a first sun gear (61), a second support disc (62), a second limit ring (63), a second outer contact ring (64), a first planetary carrier (65), a second sliding arm (66), a roller (14), a second tension spring (68), a first internal gear cylinder (69), a fourth transmission cylinder (70), a first planetary gear (71), a hollow shaft (72), a third transmission shaft (73), a third active contact cylinder (74), a third active contact disc (75), a second internal friction ring (76), a second external friction ring (77), a third transmission cylinder (54), and a third driven contact disc (56). The third support base (57) and the fourth support base (58) are successively fixed from left to right in the middle of the speed reducer. The second hydraulic transmission mechanism is jointly installed on the third support base (57) and the fourth support base (58). The second support base (7) is coaxially rotatably connected to the second transmission shaft (60) relative to the input shaft (102). The left part of the second transmission shaft (60) is axially slidably connected coaxially with the first internal contact ring (16), and is rotatably connected to the third support base (57) and the fourth support base (58). The right part of the second transmission shaft (60) is axially slidably connected coaxially with the first sun gear (61), and the second support disc (62) is coaxially fixed to the left part. The second limit rings (63) are coaxially fixed to the left and right ends of the first sun gear (61) respectively. The right part of the second hydraulic transmission mechanism drives the second outer contact ring (64) and the first planetary carrier (65) which move left and right and are rotatably connected. A plurality of second sliding arms (66) are radially slidably connected to the circumference of the second support disc (62) at equal angles. Each of the second sliding arms (66) is rotatably connected to a roller (14). A second tension spring (68) is jointly fixed between each of the second sliding arms (66) and the second support disc (62). Under the elastic tension of the second tension spring (68), each of the second sliding arms (66) has a tendency to move towards the axis of the second support disc (62). When the second sliding arms (66) approach each other, the rollers (14) can press inward on the second hydraulic transmission mechanism and roll friction with it. When the second hydraulic transmission mechanism is pressed inward and released by the rollers (14), the second outer contact ring (64) can move right and left respectively. When the second hydraulic transmission mechanism is pressed outward and released by the rollers (14), the first planetary carrier (65) can move right and left respectively. The first internal gear cylinder (69) is coaxially fixed to the right end of the second outer contact ring (64). The fourth transmission cylinder (70) is coaxially rotatably connected to the third support base (57) relative to the input shaft (102). The fourth transmission cylinder (70) is axially slidably connected coaxially with the first planetary carrier (65). A plurality of first planetary gears (71) are rotatably connected to the first planetary carrier (65) at equal angles in a circumference relative to the input shaft (102).Each of the first planetary gears (71) is respectively inserted between the second limiting rings (63) at the left and right ends of the first sun gear (61), and is respectively meshed with the first sun gear and the first internal gear cylinder (69). A hollow shaft (72) is coaxially fixed to the right part of the first internal gear cylinder (69). A third transmission shaft (73) is coaxially fixed to the right part of the first planetary carrier (65). A third driving contact cylinder (74) is coaxially fixed to the right part of the hollow shaft (72), and is inserted in the third transmission shaft (73) with a gap. A third driving contact disc (75) is coaxially fixed to the right part of the third transmission shaft (73). A second internal friction ring (76) and a second external friction ring (77) are fixed to the right end of the fourth support base (58). When the second hydraulic transmission mechanism is not pressed inward by the roller (14), the second external contact ring (64) is in frictional contact with the second external friction ring (77). When the second hydraulic transmission mechanism is not pressed outward by the roller (14), the first planetary carrier (65) is in frictional contact with the second internal friction ring (76). When the second external contact ring (64) moves to the right, it can drive the third driving contact cylinder (74) to move to the right through the first internal gear cylinder (69) and the hollow shaft (72), and finally be in frictional contact with the third driven contact disc (56). When the second external contact ring (64) moves to the left and is in frictional contact with the first external friction ring (44), it can drive the third driving contact cylinder (74) to move to the left through the first internal gear cylinder (69) and the hollow shaft (72) and separate from the third driven contact disc (56). When the first planetary carrier (65) moves to the right to a certain position, the third driving contact disc (75) can be in frictional contact with the third driven contact disc (56) through the third transmission shaft (73). When the first planetary carrier (65) moves to the left, the third driving contact disc (75) can be separated from the third driven contact disc (56) through the third transmission shaft (73). The number of teeth of the first internal gear cylinder (69) > the number of teeth of the first sun gear (61) > the number of teeth of a single first planetary gear (71).

6. An adaptive load planetary reduction stage worm and worm gear reduction motor according to claim 5, characterized in that: The second hydraulic transmission mechanism includes a third inner hydraulic chamber (78), a third outer hydraulic chamber (79), a fourth inner hydraulic chamber (80), a fourth outer hydraulic chamber (81), a third inner piston (82), a third outer piston (83), a fourth outer piston (84), a fourth inner piston (85), a third inner arc plate (86), a third outer arc plate (87), a fourth outer elastic member (88), a second outer support ring (89), a fourth inner elastic member (90), and a second inner support ring (91). A plurality of third inner hydraulic chambers (78) and third outer hydraulic chambers (79) are arranged at equal circumferential angles from the inside to the outside with respect to the input shaft (102) on the third support seat (57). A plurality of fourth inner hydraulic chambers (80) and fourth outer hydraulic chambers (81) are arranged at equal circumferential angles from the inside to the outside with respect to the input shaft (102) on the fourth support seat (58). Each of the third inner hydraulic chambers (78) is radially and sealingly connected to a third inner piston (82) in a reciprocating sliding manner with respect to the input shaft (102). Each of the third outer hydraulic chambers (79) is radially and sealingly connected to a third outer piston (83) in a reciprocating sliding manner with respect to the input shaft (102). Each of the fourth outer hydraulic chambers (81) is axially and sealingly connected to a fourth outer piston (84) in a reciprocating sliding manner with respect to the input shaft (102). Each of the fourth inner hydraulic chambers (80) is axially and sealingly connected to a fourth inner piston (85) in a reciprocating sliding manner with respect to the input shaft (102). A third inner arc plate (86) is fixed to the end of each of the third inner pistons (82) away from the input shaft (102). A third outer arc plate (87) is fixed to the end of each of the third outer pistons (83) close to the input shaft (102). Each of the third inner hydraulic chambers (78) is connected to each of the fourth outer hydraulic chambers (81) through a pipeline, and hydraulic oil is stored in the chamber formed by the third inner piston (82), the fourth outer hydraulic chamber (81), and the fourth outer piston (84). Each of the third outer hydraulic chambers (79) is connected to each of the fourth inner hydraulic chambers (80) through a pipeline, and hydraulic oil is stored in the chamber formed by the fourth inner hydraulic chamber (80), the third outer piston (83), and the fourth inner piston (85). A fourth outer elastic member (88) is jointly fixed between each of the fourth outer pistons (84) and the fourth support seat (58), and a second outer support ring (89) is jointly fixed. The second outer support ring (89) has a tendency to move leftward under the elastic force of the fourth outer elastic member (88). A fourth inner elastic member (90) is fixed between each of the fourth inner pistons (85) and the fourth support seat (58), and a second inner support ring (91) is jointly fixed. The second inner support ring (91) has a tendency to move leftward under the elastic force of the fourth inner elastic member (90). The second outer support ring (89) is rotatably connected coaxially with the second outer contact ring (64). The second inner support ring (91) is rotatably connected coaxially with the first planet carrier (65).

7. An adaptive load planetary reduction stage worm and worm gear reduction motor according to claim 5, characterized in that: The first sliding arm (12) and the second sliding arm (66) are respectively provided with storage grooves (92). A detachable mounting bolt (93) is threadedly connected in the storage groove (92), and a plurality of counterweight blocks (94) are inserted therein. The counterweight blocks (94) are inserted through the mounting bolt (93) and are always restricted in the storage groove (92) by the mounting bolt (93). Horizontal limiting rods (95) are respectively fixed at the left and right ends of the first sliding arm (12) and the second sliding arm (66). The first support disk (10) and the second support disk (62) are respectively provided with limiting grooves (96) penetrating through the left and right. The limiting rods (95) are inserted into the limiting grooves (96) with a clearance.

8. An adaptive load planetary reduction stage worm and worm gear reduction motor according to claim 6 or 7, characterized in that: The number of the first inner hydraulic chamber (19), the first outer hydraulic chamber (20), the third inner hydraulic chamber (78), the third outer hydraulic chamber (79), the first inner piston (23), the first outer piston (24), the first inner arc plate (27), the first outer arc plate (28), the third inner piston (82), the third outer piston (83), the third inner arc plate (86) and the third outer arc plate (87) is four each. The number of the first sliding arm (12) and the second sliding arm (66) is eight each. The circumferential gaps between the first inner arc plates (27), the circumferential gaps between the first outer arc plates (28), the circumferential gaps between the third inner arc plates (86) and the circumferential gaps between the third outer arc plates (87) are always smaller than the diameter of the roller (14).

9. An adaptive load planetary reduction stage worm and worm gear reduction motor according to claim 8, characterized in that: The number of the second outer hydraulic chamber (22), the second inner hydraulic chamber (21), the fourth outer hydraulic chamber (81), the fourth inner hydraulic chamber (80), the second outer piston (25), the second inner piston (26), the fourth outer piston (84) and the fourth inner piston (85) is three each. The pipeline includes twenty-eight hydraulic hoses, four adapters (98) and twenty-eight connecting nozzles (99). The inside of the adapter (98) is hollow and is fixedly communicated with seven connecting nozzles (99). The seven connecting nozzles (99) of the first adapter (98) are communicated with the four first inner hydraulic chambers (19) and the three second outer hydraulic chambers (22) through seven hydraulic hoses. The seven connecting nozzles (99) of the second adapter (98) are communicated with the four first outer hydraulic chambers (20) and the three second inner hydraulic chambers (21) through seven hydraulic hoses. The seven connecting nozzles (99) of the third adapter (98) are communicated with the four third outer hydraulic chambers (79) and the three fourth inner hydraulic chambers (80) through seven hydraulic hoses. The seven connecting nozzles (99) of the fourth adapter (98) are communicated with the four third inner hydraulic chambers (78) and the three fourth outer hydraulic chambers (81) through seven hydraulic hoses.

10. An adaptive load planetary reduction stage worm and worm gear reduction motor according to any one of claims 6, 7, and 9, characterized in that: The speed reducer includes a housing (100). The rotating shaft of the speed-regulating motor (1) is inserted into the rear part of the housing (100) with a clearance, and is rotatably connected to the front part of the housing (100). The outer shell of the speed-regulating motor (1) is fixed to the housing (1). The first support seat (6), the second support seat (7), the third support seat (57), the fourth support seat (58), the fifth support seat (45) and the sixth support seat (46) are sequentially fixed in the housing (100) from left to right. The output shaft (103) is rotatably connected through the right part of the housing (100). A sensor (101) for monitoring the rotational speed of the output shaft (103) is fixed to the right part of the housing (100). The sensor (101) is electrically connected to the electric control system. Multiple first transmission cylinders (38) corresponding to the first transmission cylinder (38) where the second support seat (7) is located are also rotatably connected to the third support seat (57), the fourth support seat (58) and the fifth support seat (45) respectively. Each first transmission cylinder (38) where the third support seat (57), the fourth support seat (58) and the fifth support seat (45) are located is axially slidably connected to the first transmission shaft (39).

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