Speed reducer and electric cylinder

Abstract

According to the speed reducer and the electric cylinder, a first transmission device and a second transmission device are arranged in the speed reducer, and when the speed reducer does not execute gear shifting operation, an input shaft provides power with first torque for an output shaft through the first transmission device; after the speed reducer executes gear shifting operation, the input shaft provides power with second torque for the output shaft through the output planet carrier and the second transmission device, the structure is simple, and the occupied space is small; moreover, the speed reducer can automatically complete gear shifting operation through the first transmission device and the second transmission device, manual operation is not needed in the gear shifting process, and obvious vibration impact and noise can be avoided while the gear ratio of the speed reducer can be changed more smoothly.

Description

Technical Field

[0001] This application relates to the field of mechanical technology, and more specifically, to a speed reducer and an electric cylinder. Background Technology

[0002] Currently, speed reducers require complex shifting mechanisms to change the gear ratio of planetary speed reducers. These shifting mechanisms typically require shifting motors, shifting control elements, and electrical or hydraulic actuators, which are not only structurally complex but also occupy a large amount of space. Summary of the Invention

[0003] To address the aforementioned problems, the purpose of this application is to provide a speed reducer and an electric cylinder.

[0004] In a first aspect, embodiments of this application provide a speed reducer, including: an input shaft, a plurality of friction transmission bearings, an output planetary carrier, a speed reducer housing, an output shaft, a first transmission device, and a second transmission device;

[0005] One end of the input shaft is located inside the reducer housing, and the other end is located outside the reducer housing;

[0006] The output planetary carrier is mounted on the output shaft;

[0007] Each of the multiple friction drive bearings is fixed on the output planetary carrier;

[0008] Each friction drive bearing is also ringed around the end of the input shaft located inside the reducer housing and is respectively interference-fitted to the input shaft and the reducer housing;

[0009] One end of the output shaft is located inside the reducer housing, and the other end is located outside the reducer housing. The end of the output shaft inside the reducer housing passes through the output planetary carrier and extends into the end of the input shaft inside the reducer housing.

[0010] The first transmission device is sleeved on the end of the output shaft that extends into the input shaft and is connected to the input shaft;

[0011] The second transmission device is located between the output planetary carrier and the output shaft, and is connected to both the output planetary carrier and the output shaft respectively;

[0012] When the reducer is not performing a gear shifting operation, the input shaft provides power with a first torque to the output shaft through the first transmission device;

[0013] After the reducer performs a gear shift, the input shaft provides power with a second torque to the output shaft through the output planetary carrier and the second transmission device; wherein, the second torque is greater than the first torque.

[0014] Secondly, embodiments of this application also provide an electric cylinder, including the reducer described in the first aspect above.

[0015] In the solutions provided by the first to second aspects of the embodiments of this application, by setting a first transmission device and a second transmission device in the reducer, when the reducer is not performing a shift operation, the input shaft provides power with a first torque to the output shaft through the first transmission device; after the reducer performs a shift operation, the input shaft provides power with a second torque to the output shaft through the output planetary carrier and the second transmission device. Compared with the shift mechanism of the reducer in the related art, which is usually composed of a shift motor, a shift control element and an electrical or hydraulic actuator, the structure is simple and occupies less space. Moreover, the reducer can automatically complete the shift operation by using the first transmission device and the second transmission device. The shift process does not require manual operation. It can change the gear ratio of the reducer more smoothly while avoiding the generation of obvious vibration, impact and noise.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This illustration shows a schematic diagram of a speed reducer, which is the second transmission device provided in the embodiment of this application and is implemented in the first manner.

[0019] Figure 2 A left view of the reducer provided in an embodiment of this application is shown;

[0020] Figure 3 This paper shows a three-dimensional structural schematic diagram of the output planetary carrier provided in an embodiment of this application;

[0021] Figure 4 The embodiments provided in this application are shown. Figure 1 Enlarged view at point A;

[0022] Figure 5 This paper shows a schematic diagram of the structure of the first transmission part in the first transmission device provided in the embodiment of this application;

[0023] Figure 6 This invention provides a schematic diagram of the structure of the second transmission unit in the first transmission device according to an embodiment of the present application.

[0024] Figure 7The embodiments provided in this application are shown. Figure 1 Schematic diagram of the cross section in the BB direction;

[0025] Figure 8 This illustration shows a structural diagram of the second transmission device provided in this application embodiment when the reducer of the first implementation performs a gear shifting operation;

[0026] Figure 9 This illustration shows a structural diagram of a speed reducer implemented in a second transmission device according to an embodiment of this application. Figure 1 ;

[0027] Figure 10 This illustration shows a structural diagram of a speed reducer implemented in a second transmission device according to an embodiment of this application. Figure 2 ;

[0028] Figure 11 A schematic diagram of the structure of the electric cylinder provided in the embodiment of this application is shown.

[0029] Icons: 1. Input shaft; 101. Countersunk hole; 2. Friction drive bearing; 201. Inner bearing race; 202. Ball bearing; 203. Outer bearing race; 3. Output planetary carrier; 301. Planetary carrier body; 3011. Through hole; 302. Bearing fixing rod; 4. Reducer housing; 401. Housing body; 402. End cover; 5. Output shaft; 6. First transmission device; 601. First mounting ring; 602. First transmission part; 603. Second transmission... Moving part; 604, First spring; 605, First bearing; 7, Second transmission device; 701, Inner ring; 702, Outer ring of ratchet; 703, Pawl; 8, Second bearing; 9, Sliding sleeve; 10, Motor; 11, Second spring; 12, Roller screw; 13, Moving housing; 14, Electric cylinder housing body; 15, Electric cylinder end cover; 1601, Second mounting ring; 1602, Third transmission part; 1603, Fourth transmission part; 100, Reducer. Detailed Implementation

[0030] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0032] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0033] Currently, speed reducers require complex shifting mechanisms to change the gear ratio of planetary speed reducers. These shifting mechanisms typically require shifting motors, shifting control elements, and electrical or hydraulic actuators, which are not only structurally complex but also occupy a large amount of space.

[0034] Based on this, the following embodiments of this application propose a speed reducer and an electric cylinder. By setting a first transmission device and a second transmission device in the speed reducer, when the speed reducer is not performing a shift operation, the input shaft provides power with a first torque to the output shaft through the first transmission device; after the speed reducer performs a shift operation, the input shaft provides power with a second torque to the output shaft through the output planetary carrier and the second transmission device. The structure is simple and occupies little space; moreover, the speed reducer can automatically complete the shift operation using the first transmission device and the second transmission device, and the shift process does not require manual operation.

[0035] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0036] Example

[0037] See Figure 1 The second transmission device shown is a structural schematic diagram of the reducer in the first implementation. This embodiment proposes a reducer including: an input shaft 1, multiple friction transmission bearings 2, an output planetary carrier 3, a reducer housing 4, an output shaft 5, a first transmission device 6, and a second transmission device 7.

[0038] One end of the input shaft 1 is located inside the reducer housing 4, and the other end is located outside the reducer housing 4. The output planetary carrier 3 is sleeved on the output shaft 5. Each of the multiple friction drive bearings 2 is fixed on the output planetary carrier 3. Each friction drive bearing 2 is also arranged around the end of the input shaft 1 located inside the reducer housing 4 and is respectively interference-fitted with the input shaft 1 and the reducer housing 4. One end of the output shaft 5 is located inside the reducer housing 4, and the other end is located outside the reducer housing 4. The end of the output shaft 5 located inside the reducer housing 4 passes through the output planetary carrier 3 and extends into the end of the input shaft 1 located inside the reducer housing 4. The first transmission device 6 is sleeved on the end of the output shaft 5 that extends into the input shaft 1 and is connected to the input shaft 1. The second transmission device 7 is arranged between the output planetary carrier 3 and the output shaft 5 and is respectively connected to the output planetary carrier 3 and the output shaft 5.

[0039] When the reducer is not performing a gear shift, the input shaft 1 provides power with a first torque to the output shaft 5 through the first transmission device 6. After the reducer performs a gear shift, the input shaft 1 provides power with a second torque to the output shaft 5 through the output planetary carrier 3 and the second transmission device 7; wherein the second torque is greater than the first torque.

[0040] See Figure 2 The left view of the reducer shown specifically includes a reducer housing 4 comprising a housing body 401 and an end cover 402; the end cover 402 is detachably fixed to one side of the housing body 401; one end of the input shaft 1 passes through the housing body 401 and is located inside the reducer housing 4 away from the end cover 402; one end of the output shaft 5 passes through the end cover 402 and is located inside the reducer housing 4; wherein, the axis of the housing body 401, the axis of the input shaft 1, and the axis of the friction transmission bearing 2 are parallel; the cross-section of the housing body 401 is an annular cross-section.

[0041] Specifically, the output planetary carrier 3 includes a planetary carrier body 301 and a plurality of bearing fixing rods 302. A plurality of bearing fixing rods 302 are uniformly fixed at one end of the planetary carrier body 301 away from the end cover 402. Each of the plurality of bearing fixing rods 302 is fixedly connected to each friction transmission bearing 2.

[0042] Specifically, the friction drive bearing 2 includes an inner bearing race 201, balls 202, and an outer bearing race 203.

[0043] The inner bearing seat 201 is fixedly connected to the bearing fixing rod 302, and the outer bearing seat 203 is sleeved on the inner bearing seat 201. The ball 202 can roll in the gap between the inner bearing seat 201 and the outer bearing seat 203.

[0044] Optionally, the reducer proposed in this embodiment is characterized by further comprising: a second bearing 8.

[0045] A second bearing 8 is provided between the outer circumferential wall of the planetary carrier body 301 and the inner circumferential wall of the housing body 401.

[0046] The second bearing 8 can be, but is not limited to, a four-point contact ball bearing, a deep groove ball bearing, or an angular contact bearing, which can withstand axial and radial forces.

[0047] Optionally, the reducer proposed in this embodiment further includes: a sliding sleeve 9; a sliding sleeve 9 is provided between the output shaft 5 and the end cover 402, and the output shaft 5 can rotate and slide on the sliding sleeve 9.

[0048] See Figure 3 The schematic diagram of the three-dimensional structure of the output planetary carrier shown shows that the input shaft 1 has a countersunk hole 101 at one end located inside the reducer housing 4; and a through hole 3011 is coaxially provided on the planetary carrier body 301.

[0049] One end of the output shaft 5, located inside the reducer housing 4, passes through the through hole 3011 and extends into the countersunk hole 101.

[0050] The first transmission device 6 is installed inside the countersunk hole 101 and is sleeved on the end of the output shaft 5 that extends into the countersunk hole 101.

[0051] The second transmission device 7 is disposed between the planetary carrier body 301 and the output shaft 5, and is connected to both the planetary carrier body 301 and the output shaft 5. Figure 1 As shown and see Figure 4 shown Figure 1 The enlarged schematic diagram at point A shows that the first transmission device 6 includes: a first mounting ring 601, a first transmission part 602, a second transmission part 603, and a first spring 604.

[0052] The first mounting ring 601 is sleeved on one end of the output shaft 5 that extends into the countersunk hole 101, and is fixedly connected to the end of the output shaft 5 that extends into the countersunk hole 101.

[0053] One end of the first spring 604 is movably connected to the first mounting ring 601, and the other end is connected to the bottom end of the countersunk hole 101.

[0054] The first transmission part 602 and the second transmission part 603 are respectively sleeved on the end of the output shaft 5 that extends into the countersunk hole 101. The first transmission part 602 is fixed on the end face of the first mounting ring 601 facing the second transmission device 7, and the second transmission part 603 is fixed on the end face of the input shaft 1 where the countersunk hole 101 is opened. Under the elastic force of the first spring 604, the first transmission part 602 and the second transmission part 603 are meshed and connected for transmission.

[0055] One end of the first spring 604 is movably connected to the end face of the first mounting ring 601 facing the bottom end of the countersunk hole 101.

[0056] One end of the first spring 604 is movably connected to the first mounting ring 601 via the first bearing 605, and the other end of the first spring 604 is fixedly connected to the first bearing 605.

[0057] In one embodiment, the first transmission part 602 and the second transmission part 603 may respectively employ, but are not limited to, crown teeth and friction discs.

[0058] See Figure 5 The schematic diagram of the structure of the first transmission unit in the first transmission device shown, and see also... Figure 6 The schematic diagram of the structure of the second transmission part in the first transmission device shown shows that when the first transmission part 602 and the second transmission part 603 are crown teeth, the teeth of the first transmission part 602 and the teeth of the second transmission part 603 mesh with each other.

[0059] like Figure 4 The structure of the first implementation of the second transmission device shown, and see [reference]. Figure 7 shown Figure 1 A cross-sectional diagram in the BB direction shows the second transmission device 7, which includes: an inner ring 701, a ratchet outer ring 702, a torsion spring, and a pawl 703.

[0060] The inner ring 701 is fixedly sleeved on the output shaft 5. The pawl 703 is rotatably connected to the inner ring 701. A torsion spring is also provided between the pawl 703 and the inner ring 701. The outer ring 702 of the ratchet is set on the inner surface of the through hole 3011 of the planetary carrier body 301. The pawl 703 cooperates with the outer ring 702 of the ratchet and contacts the ratchet teeth of the outer ring 702 of the ratchet. The pawl 703 rotates unidirectionally with the outer ring 702 of the ratchet and can move laterally between the ratchet teeth of the outer ring 702 of the ratchet.

[0061] When the planetary carrier body 301 of the output planetary carrier 3 rotates in the first direction relative to the reducer housing 4, the planetary carrier body 301 drives the outer ring 702 of the ratchet to rotate in the first direction. The pawl 703 rotates with the outer ring 702 of the ratchet and drives the inner ring 701 to rotate. The output shaft 5 rotates with the inner ring 701, and the output planetary carrier 3 transmits power to the output shaft 5.

[0062] When the planetary carrier body 301 of the output planetary carrier 3 rotates relative to the reducer housing 4 in a second direction opposite to the first direction, the planetary carrier body 301 drives the outer ring 702 of the ratchet to rotate in the second direction. The ratchet teeth of the pawl 703 that slide over the outer ring 702 of the ratchet fail to rotate with the outer ring 702 of the ratchet, and the output planetary carrier 3 does not drive the output shaft 5 to rotate, and does not transmit power to the output shaft 5.

[0063] In one embodiment, the second transmission device 7 can be an overrunning clutch.

[0064] In one implementation, the first direction is clockwise and the second direction is counterclockwise; or, the first direction is counterclockwise and the second direction is clockwise.

[0065] When the second transmission device is operating as the reducer in the first implementation, the rotating input shaft 1 will drive the friction transmission bearing 2 to revolve around the input shaft 1. The revolving friction transmission bearing 2 will then drive the output planetary carrier 3 to rotate around the input shaft 1. At this time, the rotational speed of the output planetary carrier 3 is less than the rotational speed of the input shaft 1. Moreover, while the friction transmission bearing 2 revolves around the input shaft 1, the friction transmission bearing 2 will also rotate on its own axis.

[0066] like Figure 1 As shown, when the external thrust on the output shaft 5 is insufficient to overcome the elastic force of the first spring 604, causing the first transmission part 602 of the first transmission device 6 to disengage from the second transmission part 603, the reducer does not perform a shift operation. The planetary carrier body 301 of the output planetary carrier 3 rotates relative to the output shaft 5 in the second direction, and cannot transmit power to the output shaft 5. Then, the input shaft 1 directly transmits power to the output shaft 5 through the first transmission part 602 and the second transmission part 603. The rotational speed of the output shaft 5 is the same as that of the input shaft 1 and is greater than that of the output planetary carrier 3. The transmission ratio of the reducer is 1. The torque output by the output shaft 5 is the first torque.

[0067] See Figure 8 The second transmission device shown is a structural diagram of the reducer in the first implementation when performing a shifting operation. When the external thrust on the output shaft 5 can overcome the elastic force of the first spring 604 and cause the first transmission part 602 of the first transmission device 6 to disengage from the second transmission part 603, the reducer performs a shifting operation. At this time, the input shaft 1 cannot provide power to the output shaft 5 through the first transmission device 6, and the output shaft 5 is displaced towards the input shaft 1. The planetary carrier body 301 of the output planetary carrier 3 rotates relative to the output shaft 5 in the first direction, so that the input shaft 1 transmits power to the output shaft 5 through the planetary carrier body 301 and the second transmission device 7. At this time, the transmission ratio of the reducer is greater than 1, and the torque output by the output shaft 5 is the second torque.

[0068] At this time, the transmission ratio of the reducer is greater than 1. The specific reduction ratio depends on the ratio of the radius of the input shaft 1 to that of the friction transmission bearing 2.

[0069] After introducing the structure and working principle of the first implementation of the second transmission device 7 through the above content, the structure and working principle of the second implementation of the second transmission device 7 will be introduced through the following content.

[0070] See Figure 9 The second transmission device shown is a schematic diagram of the reducer in the second implementation method. Figure 1 , and see Figure 10 The second transmission device shown is a schematic diagram of the reducer in the second implementation method. Figure 2 The second transmission device 7 also includes: a second mounting ring 1601, a third transmission part 1602 and a fourth transmission part 1603.

[0071] The second mounting ring 1601 is fixedly sleeved on the output shaft 5, the third transmission part 1602 is fixed on the end face of the planetary carrier body 301 of the output planetary carrier 3 facing the end cover 402, and the fourth transmission part 1603 is sleeved on the output shaft 5 and fixedly disposed on the end face of the second mounting ring 1601 facing the third transmission part 1602; wherein, in the initial state, the third transmission part 1602 and the fourth transmission part 1603 are in a disengaged state.

[0072] like Figure 9 As shown, when the external thrust on the output shaft 5 is insufficient to overcome the elastic force of the first spring 604, causing the first transmission part 602 of the first transmission device 6 to disengage from the second transmission part 603, the reducer does not perform a shift operation, and the third transmission part 1602 and the fourth transmission part 1603 are in a disengaged state, unable to transmit power; then the input shaft 1 directly transmits power to the output shaft 5 through the first transmission part 602 and the second transmission part 603. At this time, the rotational speed of the output shaft 5 is the same as the rotational speed of the input shaft 1 and is greater than the rotational speed of the output planetary carrier 3; the transmission ratio of the reducer is 1; the torque output by the output shaft 5 is the first torque.

[0073] like Figure 10 As shown, when the external thrust on the output shaft 5 can overcome the elastic force of the first spring 604 and cause the first transmission part 602 of the first transmission device 6 to disengage from the second transmission part 603, the reducer performs a shift operation. At this time, the input shaft 1 cannot provide power to the output shaft 5 through the first transmission device 6. The output shaft 5 generates a displacement towards the input shaft 1, causing the third transmission part 1602 and the fourth transmission part 1603 to change from a disengaged state to a contact state. This allows the input shaft 1 to transmit power to the output shaft 5 through the planetary carrier body 301 and the third transmission part 1602 and the fourth transmission part 1603 in the second transmission device 7. At this time, the transmission ratio of the reducer is greater than 1, and the torque output by the output shaft 5 is the second torque.

[0074] See Figure 11 The schematic diagram of the electric cylinder shown in this embodiment illustrates an electric cylinder that includes the aforementioned reducer 100.

[0075] Specifically, the electric cylinder includes: a motor 10, a second spring 11, a roller screw 12, a movable housing 13, an electric cylinder housing body 14, and an electric cylinder end cover 15. The motor 10, the second spring 11, and the aforementioned reducer 100 are all located inside the electric cylinder housing body 14. The motor 10 and the aforementioned reducer 100 are both fixedly connected to the electric cylinder housing body 14. The output end of the motor 10 is fixedly connected to the input end of the aforementioned reducer 100. The electric cylinder end cover 15 is located on the side of the electric cylinder housing body 14 near the output end of the aforementioned reducer 100. One end of the lead screw 12 is rotatably disposed within the movable housing 13, and the output end of the reducer 100 is fixedly connected within the movable housing 13 to the end of the lead screw 12 disposed within the movable housing 13. The other end of the lead screw 12 passes through the electric cylinder end cover 15. The movable housing 13 is located within the electric cylinder housing body 14. In the moving direction of the movable housing 13, the second spring 11 is disposed between the movable housing 13 and the electric cylinder housing body 14. The movable housing 13 can only move relative to the electric cylinder housing body 14 and cannot rotate relative to it.

[0076] When the electric cylinder is working, the motor 10 is started, and the motor 10 transmits power to the input end of the roller screw 12 via the reducer 100. Under the action of the roller screw 12, the rotation of the input end of the roller screw 12 will be converted into the linear motion of the output end of the roller screw 12.

[0077] When the thrust at the output end of the electric cylinder is small, that is, when the thrust at the output end of the ball screw 12 is less than the elastic force exerted by the first spring 604 and the second spring 11 on the moving housing 13 and the ball screw 12, the moving housing 13 and the ball screw 12 will remain in a fixed position under the action of the elastic force exerted by the first spring 604 and the second spring 11. At this time, the reducer 100 works in state 1, the reduction ratio of the reducer 100 is 1, and the electric cylinder can withstand a relatively small force.

[0078] When the thrust received at the output end of the electric cylinder is greater than the above-mentioned elastic force, the moving housing 13 will move relative to the electric cylinder housing body 14 within the electric cylinder housing body 14 under the action of the thrust. At the same time, the working state of the reducer 100 changes from state 1 to state 2. The reduction ratio of the reducer 100 is greater than 1. At this time, the electric cylinder can withstand a larger force. After the operation is completed, the roller screw 12 will be reset under the action of the second spring 11.

[0079] In summary, this embodiment proposes a speed reducer and an electric cylinder. By incorporating a first transmission device and a second transmission device in the speed reducer, when the speed reducer is not performing a shift operation, the input shaft provides power with a first torque to the output shaft through the first transmission device. After the speed reducer performs a shift operation, the input shaft provides power with a second torque to the output shaft through the output planetary carrier and the second transmission device. Compared with the shift mechanism of speed reducers in related technologies, which typically consists of a shift motor, a shift control element, and an electrical or hydraulic actuator, this method has a simpler structure and occupies less space. Moreover, the speed reducer can automatically complete the shift operation using the first and second transmission devices, eliminating the need for manual operation during the shift process. This allows for a smoother change in the speed ratio of the speed reducer while avoiding significant vibration, impact, and noise.

[0080] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A speed reducer, characterized in that, include: Input shaft, multiple friction drive bearings, output planetary carrier, reducer housing, output shaft, first transmission device and second transmission device; One end of the input shaft is located inside the reducer housing, and the other end is located outside the reducer housing; The output planetary carrier is mounted on the output shaft; Each of the multiple friction drive bearings is fixed on the output planetary carrier; Each friction drive bearing is also ringed around the end of the input shaft located inside the reducer housing and is respectively interference-fitted to the input shaft and the reducer housing; One end of the output shaft is located inside the reducer housing, and the other end is located outside the reducer housing. The end of the output shaft inside the reducer housing passes through the output planetary carrier and extends into the end of the input shaft inside the reducer housing. The first transmission device is sleeved on the end of the output shaft that extends into the input shaft and is connected to the input shaft; The second transmission device is located between the output planetary carrier and the output shaft, and is connected to both the output planetary carrier and the output shaft respectively; When the reducer is not performing a gear shifting operation, the input shaft provides power with a first torque to the output shaft through the first transmission device; After the reducer performs a gear shift, the input shaft provides power with a second torque to the output shaft through the output planetary carrier and the second transmission device; wherein, the second torque is greater than the first torque.

2. The reducer according to claim 1, characterized in that, The reducer housing includes the housing body and end caps; The end cap is detachably fixed to one side of the housing body; One end of the input shaft passes through the housing body on the side away from the end cover and is located inside the reducer housing; One end of the output shaft passes through the end cover and is located inside the reducer housing; The axes of the housing body, the input shaft, and the friction drive bearing are parallel.

3. The reducer according to claim 2, characterized in that, The output planetary carrier includes a planetary carrier body and multiple bearing fixing rods. Multiple bearing fixing rods are evenly fixed at one end of the planetary carrier body away from the end cover. Each of the multiple bearing fixing rods is fixedly connected to each friction drive bearing.

4. The reducer according to claim 3, characterized in that, The input shaft has a countersunk hole at one end inside the reducer housing; the planetary carrier body has a through hole coaxially. The output shaft, located inside the reducer housing, passes through a through hole and extends into a countersunk hole at one end. The first transmission device is installed inside the countersunk hole and sleeved on the end of the output shaft that extends into the countersunk hole; The second transmission device is located between the planetary carrier body and the output shaft, and is connected to both the planetary carrier body and the output shaft respectively.

5. The reducer according to claim 3, characterized in that, The first transmission device includes: a first mounting ring, a first transmission part, a second transmission part, and a first spring; The first mounting ring is sleeved on the end of the output shaft that extends into the countersunk hole and is fixedly connected to the end of the output shaft that extends into the countersunk hole. One end of the first spring is movably connected to the first mounting ring, and the other end is connected to the bottom end of the countersunk hole; The first transmission part and the second transmission part are respectively fitted onto the end of the output shaft that extends into the countersunk hole. The first transmission part is fixed to the end face of the first mounting ring facing the second transmission device, and the second transmission part is fixed to the end face of the input shaft with the countersunk hole. Under the elastic force of the first spring, the first transmission part and the second transmission part are meshed and connected.

6. The reducer according to claim 5, characterized in that, The second transmission device includes: an inner ring, a ratchet outer ring, a torsion spring, and a pawl; The inner ring is fixedly sleeved on the output shaft, the pawl is rotatably connected to the inner ring, and a torsion spring is also provided between the pawl and the inner ring. The outer ring of the ratchet is set on the inner surface of the through hole of the planetary carrier body. The pawl cooperates with the outer ring of the ratchet and contacts the ratchet teeth of the outer ring of the ratchet. The pawl rotates unidirectionally with the outer ring of the ratchet and can move laterally between the ratchet teeth of the outer ring of the ratchet. When the planetary carrier body of the output planetary carrier rotates in the first direction relative to the reducer housing, the planetary carrier body drives the outer ring of the ratchet to rotate in the first direction. The pawl rotates with the outer ring of the ratchet and drives the inner ring to rotate. The output shaft rotates with the inner ring, and the output planetary carrier transmits power to the output shaft. When the planetary carrier body of the output planetary carrier rotates relative to the reducer housing in a second direction opposite to the first direction, the planetary carrier body drives the outer ring of the ratchet to rotate in the second direction. The ratchet teeth that slide across the outer ring of the ratchet fail to rotate with the outer ring of the ratchet, so the output planetary carrier does not drive the output shaft to rotate and does not transmit power to the output shaft.

7. The reducer according to claim 5, characterized in that, One end of the first spring is movably connected to the first mounting ring via the first bearing, and the other end of the first spring is fixedly connected to the first bearing.

8. The reducer according to claim 6, characterized in that, During operation, the rotating input shaft will drive the friction drive bearing to revolve around the input shaft, and the revolving friction drive bearing will drive the output planetary carrier to rotate around the input shaft. When the external thrust on the output shaft is insufficient to overcome the elastic force of the first spring, causing the first transmission part of the first transmission device to disengage from the second transmission part, the reducer does not perform a shift operation. The planetary carrier body of the output planetary carrier rotates relative to the output shaft in the second direction, making it impossible to transmit power to the output shaft. In this case, the input shaft directly transmits power to the output shaft through the first and second transmission parts. The rotational speed of the output shaft is the same as that of the input shaft and is greater than that of the output planetary carrier. The transmission ratio of the reducer is one. The torque output by the output shaft is the first torque. When the external thrust on the output shaft can overcome the elastic force of the first spring and cause the first transmission part of the first transmission device to disengage from the second transmission part, the reducer performs a shift operation. At this time, the input shaft cannot provide power to the output shaft through the first transmission device, and the output shaft generates a displacement towards the input shaft. The planetary carrier body of the output planetary carrier rotates relative to the output shaft in the first direction, so that the input shaft transmits power to the output shaft through the planetary carrier body and the second transmission device. At this time, the transmission ratio of the reducer is greater than one, and the torque output by the output shaft is the second torque.

9. The reducer according to claim 5, characterized in that, The second transmission device further includes: a second mounting ring, a third transmission part, and a fourth transmission part; The second mounting ring is sleeved on the output shaft, the third transmission part is fixed on the end face of the planetary carrier body of the output planetary carrier facing the end cover, and the fourth transmission part is sleeved on the output shaft and fixedly disposed on the end face of the second mounting ring facing the third transmission part; wherein, in the initial state, the third transmission part and the fourth transmission part are in a disengaged state. When the external thrust on the output shaft is insufficient to overcome the elastic force of the first spring, causing the first transmission part of the first transmission device to disengage from the second transmission part, the reducer does not perform a shift operation, and the third transmission part and the fourth transmission part are disengaged, making power transmission impossible; then the input shaft directly transmits power to the output shaft through the first and second transmission parts. At this time, the speed of the output shaft is the same as the speed of the input shaft and is greater than the speed of the output planetary carrier; the transmission ratio of the reducer is one; the torque output by the output shaft is the first torque; When the external thrust on the output shaft can overcome the elastic force of the first spring and disengage the first transmission part and the second transmission part of the first transmission device, the reducer performs a shift operation. At this time, the input shaft cannot provide power to the output shaft through the first transmission device, so the reducer performs a shift operation, and the output shaft is displaced towards the input shaft, causing the third transmission part and the fourth transmission part to change from a disengaged state to a contact state. This allows the input shaft to transmit power to the output shaft through the planetary carrier body and the third and fourth transmission parts in the second transmission device. At this time, the transmission ratio of the reducer is greater than one, and the torque output by the output shaft is the second torque.

10. An electric cylinder comprising the reducer described in any one of claims 1-9.

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