A planetary gear reducer with cyclic drag reduction

Abstract

This invention relates to the field of planetary gear reducer technology, and more particularly to a planetary gear reducer with cyclic resistance reduction. It includes a housing, an input shaft on one side of the housing, and an output shaft rotatably connected to the side of the housing away from the input shaft. A planet carrier is fixedly connected to the output shaft within the housing, and planetary gears with circumferentially evenly spaced planetary gears are rotatably connected to the planet carrier. A sun gear, meshing with all the circumferentially evenly spaced planetary gears, is fixedly connected to the input shaft. An internal gear ring, also meshing with all the circumferentially evenly spaced planetary gears, is rotatably connected within the housing. This planetary gear reducer, when used under heavy loads, first establishes a low transmission ratio between the input and output shafts, thereby increasing the torque of the output shaft and reducing the compressive force between the planetary gears and the sun gear, as well as between the planetary gears and the internal gear ring, thus reducing wear between the gears. During this process, the wear resistance between the gears is continuously reduced through multiple cycles, protecting the gears.

Description

Technical Field

[0001] This invention relates to the field of planetary gear reducer technology, and more particularly to a planetary gear reducer with cyclic drag reduction. Background Technology

[0002] Planetary gear reducers are a widely used precision transmission device characterized by their compact structure, high torque, and high rigidity. They typically consist of core components such as a sun gear, planet gears, an internal gear ring, and a planet carrier. A significant technical problem exists in the practical application of planetary gear reducers: their starting performance and steady-state operating performance are contradictory. Specifically, after the reducer starts normally, when the output shaft speed increases and tends to stabilize, the relative impact between the gears is small, the meshing force is stable, and the operation is smooth. However, in the initial stage of startup, the output shaft speed connected to the load is very low, even starting from zero. If the load is too large at this time, the transmission system needs to overcome enormous static friction and inertia, causing each meshing gear (especially between the sun gear and planet gears) to bear extremely large instantaneous impacts and meshing forces.

[0003] The enormous meshing force that occurs every time the gears are started will rapidly accelerate the wear and fatigue of the gear contact surfaces. Under long-term repeated action, the gear tooth surfaces will develop pitting, plastic deformation, or even tooth breakage, resulting in increased meshing clearance and poor meshing effect between gears. This will not only generate noise and vibration, but will also seriously affect the transmission accuracy, efficiency, and service life of the planetary reducer, ultimately leading to equipment failure. Summary of the Invention

[0004] To address the drawback of high inter-gear compression in existing planetary gear reducers during initial startup, this invention provides a planetary gear reducer with cyclic resistance reduction.

[0005] Technical solution: A planetary reducer with cyclic drag reduction includes a housing, an input shaft on one side of the housing, an output shaft rotatably connected to the side of the housing away from the input shaft, a planet carrier fixedly connected to the output shaft inside the housing, planet carrier rotatably connected to planet gears evenly spaced circumferentially, a sun gear fixedly connected to the input shaft that meshes with all the planet gears evenly spaced circumferentially, an internal gear ring rotatably connected inside the housing that meshes with all the planet gears evenly spaced circumferentially, a rotating sleeve splined to the input shaft, a fixed disc fixedly connected to the side of the internal gear ring near the rotating sleeve, and a rotating disc splined to the rotating sleeve for rubbing against the fixed disc.

[0006] As an improvement to the above solution, a sliding sleeve is splinedly connected to the side of the housing near the input shaft. The sliding sleeve is rotatably connected to the input shaft. The housing is provided with a power module for driving the sliding sleeve to move. A limiting plate is rotatably connected to the sliding sleeve and fixedly connected to the rotating sleeve. A first spring is fixedly connected between the limiting plate and the rotating plate.

[0007] As an improvement to the above solution, the outer shell is provided with a limiting groove, the limiting groove is slidably connected to an insert block, and the inner gear ring is provided with a guide groove for the insert block to be inserted.

[0008] As an improvement to the above solution, the guide grooves are a number of grooves that are evenly spaced in the circumferential direction.

[0009] As an improvement to the above solution, the insert block is provided with a protrusion, and the guide groove is provided with a limiting part for limiting the protrusion of the insert block.

[0010] As an improvement to the above solution, the insert block is fixedly connected to a fixing rod, the insert block is slidably connected to a slider, the slider is slidably connected to the outer shell, the slider is provided with a first horizontal groove, a first inclined groove, a second horizontal groove and a second inclined groove that are sequentially connected and used for sliding the fixing rod, the sliding sleeve is fixedly connected to a connecting block, and a second spring is fixedly connected between the connecting block and the slider.

[0011] As an improvement to the above solution, the lateral length of the first inclined groove is less than the maximum distance between the fixed disk and the rotating disk.

[0012] As an improvement to the above solution, the slider is provided with a third inclined groove communicating with the second inclined groove, and the slider is provided with a third transverse groove communicating with the third inclined groove. Both the third inclined groove and the third transverse groove are for the fixed rod to slide.

[0013] As an improvement to the above solution, the fixed disk is fixedly connected to fixed blocks that are evenly spaced in the circumferential direction, and the rotating sleeve is provided with arc-shaped grooves that are evenly spaced in the circumferential direction and used to place adjacent fixed blocks.

[0014] As an improvement to the above solution, the depth of the guide groove gradually increases from the side away from the adjacent limiting part to the side closer to the adjacent limiting part.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: When dealing with heavy loads, the planetary reducer first establishes a low transmission ratio between the input and output shafts, thereby increasing the torque of the output shaft, reducing the compressive force between the planetary gears and the sun gear, as well as between the planetary gears and the internal gear ring, reducing wear between gears, and applying gradually increasing resistance to the internal gear ring through the rotating and fixed discs, thereby increasing the transmission ratio between the input and output shafts until a stable state is reached, thus ensuring the smooth operation of the planetary reducer. During this process, the wear resistance between gears is continuously reduced, and multiple cycles are performed to protect the gears. When dealing with extremely low loads, the output shaft speed is increased, making it suitable for operation under different working conditions. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0017] Figure 2 This is a three-dimensional structural cross-sectional view of the present invention;

[0018] Figure 3 This is a three-dimensional structural diagram of the insert block and slider of the present invention;

[0019] Figure 4 This is a three-dimensional structural diagram of the arc-shaped groove and the fixing block of the present invention;

[0020] Figure 5 For the present invention Figure 4 Enlarged view of the 3D structure at point A;

[0021] Figure 6 This is an exploded three-dimensional view of the rotating sleeve and rotating disk of the present invention;

[0022] Figure 7 This is a three-dimensional structural diagram of the guide groove and insert block of the present invention.

[0023] The labels in the diagram are as follows: 1. Outer shell; 101. Limiting groove; 2. Input shaft; 3. Output shaft; 4. Planetary carrier; 5. Planetary gear; 6. Sun gear; 7. Internal gear ring; 71. Fixed disc; 701. Guide groove; 711. Limiting part; 8. Rotating sleeve; 801. Arc groove; 9. Rotating disc; 10. Sliding sleeve; 11. Limiting disc; 12. First spring; 13. Insert block; 14. Fixed rod; 15. Slider; 1501. First transverse groove; 1502. First inclined groove; 1503. Second transverse groove; 1504. Second inclined groove; 1505. Third inclined groove; 1506. Third transverse groove; 16. Connecting block; 17. Second spring; 18. Fixed block. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention. The rotation direction in the following embodiments is all referenced to... Figure 2 Right view direction.

[0025] After the planetary reducer starts normally, the output shaft speed increases and tends to stabilize. The meshing force between the gears is small. In the initial stage of planetary reducer startup, the output shaft speed connected to the load is low. If the load is too large, the meshing force between the gears will be large, which will accelerate the wear between the gears. Over time, this will lead to a deterioration in the meshing effect between the gears, affecting the operation of the planetary reducer.

[0026] Example 1: A planetary gearbox with cyclic drag reduction, referenced Figures 1-7The system includes a housing 1, an input shaft 2 on the right side of the housing 1 (the motor is not shown in the figure), and the motor shaft can rotate freely when the power is off. An output shaft 3 is rotatably connected to the left side of the housing 1. A planetary carrier 4 located inside the housing 1 is fixedly connected to the output shaft 3. Three planetary gears 5, evenly spaced circumferentially, are rotatably connected to the planetary carrier 4. A sun gear 6, meshing with all three planetary gears 5, is fixedly connected to the input shaft 2. An internal gear ring 7 (with an annular groove for rotation within the housing 1) is rotatably connected to the housing 1 and meshes with all three planetary gears 5. The input shaft 2 is splinedly connected to a rotating... The moving sleeve 8 has a fixed disk 71 fixedly connected to the right side of the internal gear ring 7. The rotating sleeve 8 is splinedly connected to a rotating disk 9 for rubbing against the fixed disk 71. The right side of the outer casing 1 is splinedly connected to a sliding sleeve 10. The input shaft 2 passes through the sliding sleeve 10 and is rotatably connected to it. The outer casing 1 is equipped with a power module for moving the sliding sleeve 10. The power module can be an electric push rod (not shown in the figure) installed on the outside of the outer casing 1. The telescopic end of the electric push rod is fixedly connected to the sliding sleeve 10. The left side of the sliding sleeve 10 is rotatably connected to a limiting disk 11 fixedly connected to the right side of the rotating sleeve 8. A first spring 12 is fixedly connected between the limiting disk 11 and the rotating disk 9. A limiting groove 101 is provided on the upper left side of the inner ring 1. The limiting groove 101 is slidably connected to the insert block 13. The inner gear ring 7 is provided with three guide grooves 701 for the insertion of the insert block 13. The three guide grooves 701 are used to reduce the time it takes for the insert block 13 to be inserted into one of the guide grooves 701. A protrusion is provided on the lower rear side of the insert block 13. The guide groove 701 is provided with a limiting part 711 for limiting the protrusion of the insert block 13. The insert block 13 is provided with a downward through groove. A fixing rod 14 is fixedly connected to the through groove of the insert block 13. A slider 15 is slidably connected to the through groove of the insert block 13. The slider 15 is slidably connected to the outer shell 1 to limit the slider. In the direction of movement of 15, the slider 15 is provided with a first horizontal groove 1501, a first inclined groove 1502, a second horizontal groove 1503 and a second inclined groove 1504 connected sequentially from left to right for the fixed rod 14 to slide. A connecting block 16 is fixedly connected to the upper side of the sliding sleeve 10. A second spring 17 is fixedly connected between the connecting block 16 and the slider 15. The lateral length of the first inclined groove 1502 is less than the maximum distance between the fixed disk 71 and the rotating disk 9. In the initial state, the fixed rod 14 is located in the first horizontal groove 1501. When the fixed disk 71 contacts the rotating disk 9, the fixed rod 14 is ensured to be located in the second horizontal groove 1503.

[0027] In this embodiment, the planetary reducer has two working modes. In the first mode, when the load on the output shaft 3 is small, it operates in the same working mode as the existing reducer. In the second mode, when the load on the output shaft 3 is large, the output shaft 3 is rotated by gradually increasing the speed of the output shaft 3, which means reducing the torque, in the initial stage of startup, thereby reducing the meshing force between the gears. After startup, it will automatically switch to the first working mode.

[0028] In the initial state, the rotating disk 9 is not in contact with the fixed disk 71. The insert block 13 is inserted into the upper guide groove 701. The protrusion of the insert block 13 is located inside the limiting part 711. The internal gear ring 7 is limited by the insert block 13 and cannot rotate counterclockwise. Figure 2 (Right view direction) The fixed rod 14 is located in the first transverse groove 1501. When this planetary reducer needs to be used for deceleration and the output shaft 3 is under light load, it enters the first working mode. The specific process is as follows: The operator starts the motor to drive the input shaft 2 of the planetary reducer to rotate clockwise. The input shaft 2 drives the rotating sleeve 8 to rotate clockwise. The rotating sleeve 8 drives the rotating disk 9 and the limiting disk 11 to rotate clockwise. The input shaft 2 drives the sun gear 6 to rotate clockwise. The internal gear ring 7 has a tendency to rotate counterclockwise. However, because the internal gear ring 7 is limited by the insert block 13, it cannot rotate counterclockwise. Therefore, the sun gear 6 drives the three planet gears 5 to rotate counterclockwise. At the same time, the three planet gears 5 rotate clockwise around the sun gear 6. The three planet gears 5 drive the planet carrier 4 and the output shaft 3 to rotate clockwise. The output shaft 3 drives the load on it to rotate clockwise.

[0029] When the load is large, the second working mode is adopted. The specific process is as follows: The operator first drives the sliding sleeve 10 to move to the left through the power module. The sliding sleeve 10 drives the rotating disk 9 and the rotating sleeve 8 to move to the left through the limiting disk 11 and the first spring 12. The rotating disk 9 gradually approaches the fixed disk 71. During the process of the sliding sleeve 10 moving to the left, the sliding sleeve 10 drives the connecting block 16 to move to the left. The leftward movement of the connecting block 16 drives the slider 15 to move to the left through the second spring 17. The fixed rod 14 enters the first inclined groove 1502 from the first transverse groove 1501. As the slider moves... 15 moves to the left, the first inclined groove 1502 presses against the fixing rod 14 and drives the insert block 13 to move upward. The protrusion of the insert block 13 presses against the limiting part 711, causing the internal gear ring 7 to rotate clockwise. Due to the large load, the internal gear ring 7 cannot drive the three planetary gears 5 to rotate around the sun gear 6. Instead, the internal gear ring 7 will drive the three planetary gears 5 to rotate clockwise. The three planetary gears 5 drive the sun gear 6 to rotate counterclockwise. The sun gear 6 drives the input shaft 2 and the motor shaft to rotate counterclockwise. When the lower side of the insert block 13 moves out of the guide groove 701 (the state of the insert block 13 and the internal gear ring 7 is as follows) Figure 7As shown), the limiting position of the internal gear ring 7 is released, and the fixing rod 14 is located on the left side of the second transverse groove 1503. Then, the rotating disk 9 contacts the fixing disk 71. The operator drives the input shaft 2 to rotate clockwise through the motor. At this time, the internal gear ring 7 is not limited by the insert block 13. Due to the load on the output shaft 3, the internal gear ring 7 will rotate counterclockwise. The internal gear ring 7 drives the fixing disk 71 to rotate counterclockwise. The clockwise rotation of the rotating disk 9 provides resistance to the counterclockwise rotation of the fixing disk 71 through friction. The counterclockwise rotation of the internal gear ring 7 reduces the rotational speed of the planetary gear 5 and the rotational speed of the planet carrier 4, thereby reducing the squeezing force between the sun gear 6 and the planetary gear 5, as well as the squeezing force between the planetary gear 5 and the internal gear ring 7. At the same time, the rotational speed of the output shaft 3 decreases and the torque increases, and the transmission ratio decreases, making it easier to start heavy loads.

[0030] After the rotating disk 9 and the fixed disk 71 are in contact, the rotating disk 9 cannot move to the left. As the sliding sleeve 10 continues to move to the left, the sliding sleeve 10 drives the limiting disk 11 and the rotating sleeve 8 to move to the left. The first spring 12 is compressed, and the squeezing force of the rotating disk 9 on the fixed disk 71 gradually increases. The counterclockwise rotation speed of the fixed disk 71 gradually decreases, while the output shaft 3 gradually increases in speed. The fixed rod 14 gradually moves to the right side of the second transverse groove 1503. During the process of the fixed rod 14 moving from the upper side to the lower side of the second inclined groove 1504, the slider 15 will drive the fixed rod 14 and the insert block 13 to move downward through the second inclined groove 1504. At this time, two situations will occur: when a guide groove 701 is just located at the insert block 13... When directly below, the insert 13 moves downward and inserts into the guide groove 701. When the guide groove 701 is not directly below the insert 13, the insert 13 will first contact the outer side of the internal gear ring 7, and the connecting block 16 will move to the left. The second spring 17 will be compressed instead of pushing the slider 15 to the left. As the internal gear ring 7 continues to rotate counterclockwise (at this time, the rotation speed of the internal gear ring 7 is slow), the insert 13 gradually slides into the next guide groove 701. The elastic force of the second spring 17 is released, pushing the slider 15 to the left, so that the insert 13 moves downward and inserts into the guide groove 701. When the protrusion of the insert 13 contacts the limiting part 711, the internal gear ring 7 is limited by the insert 13 and cannot rotate counterclockwise.

[0031] As the friction between the rotating disk 9 and the fixed disk 71 increases, the rotational speed of the internal gear ring 7 is reduced. When the internal gear ring 7 contacts the insert block 13, it does not generate a large impact force but stops slowly. When the internal gear ring 7 cannot rotate, the transmission ratio of the input shaft 2 and the output shaft 3 is the same as in the first working mode. However, the rotating disk 9 is still in contact with the internal gear ring 7. The increased friction between the internal gear ring 7 and the rotating disk 9 increases the energy loss of the input shaft 2. Therefore, it is necessary to move the rotating disk 9 away from the internal gear ring 7. The specific operation is as follows: When the internal gear ring 7 cannot rotate, the operator drives the sliding sleeve 10 to the right via the power module. The sliding sleeve 10 drives the limit disk 11 to the right, releasing the spring force of the first spring 12. The squeezing force of the rotating disk 9 on the fixed disk 71 decreases. As the moving sleeve 10 moves to the right, the sliding sleeve 10 drives the connecting block 16 to move to the right. Due to the counterclockwise rotation force exerted by the planetary gear 5 on the internal gear ring 7, the limiting part 711 will lock the protrusion of the insert block 13, and the insert block 13 and the fixing rod 14 cannot move upward, the slider 15 cannot move to the left, and the rightward movement of the connecting block 16 stretches the second spring 17. As the sliding sleeve 10 continues to move to the right, when the elasticity of the first spring 12 is restored, the limiting plate 11 drives the rotating plate 9 to move to the right through the first spring 12, so that the rotating plate 9 no longer contacts the fixing plate 71. Then the rotating plate 9 enters the idling state. When the sliding sleeve 10 returns to the initial position, the operator stops the power module. The second spring 17 is still in the stretched state. After that, the first working mode is entered.

[0032] After the planetary reducer stops working, a reset process is performed. Since the motor connected to the input shaft 2 stops rotating, the second spring 17, which is in a stretched state, resets and drives the slider 15 to move to the right. The second inclined groove 1504 drives the fixed rod 14 and the insert block 13 to move upward. The protrusion of the insert block 13 presses against the limiting part 711, causing the internal gear ring 7 to rotate clockwise. When the fixed rod 14 is in the second transverse groove 1503, the insert block 13 moves out of the guide groove 701. When the fixed rod 14 moves along the first inclined groove 1502 into the first transverse groove 1501, the fixed rod 14 drives the insert block 13 to insert into the guide groove 701, but the protrusion of the insert block 13 does not contact the limiting part 711, and the state of the second spring 17 is restored.

[0033] When dealing with heavy loads, this planetary reducer first reduces the transmission ratio between the input shaft 2 and the output shaft 3, thereby increasing the torque of the output shaft 3, reducing the squeezing force between the planetary gears 5 and the sun gear 6, as well as between the planetary gears 5 and the internal gear ring 7, reducing wear between gears, and by applying gradually increasing resistance to the internal gear ring 7, thereby increasing the transmission ratio between the input shaft 2 and the output shaft 3 until a stable state is reached, thus ensuring the smooth operation of the planetary reducer.

[0034] Example 2, based on Example 1, is a planetary gear reducer with cyclic drag reduction, referencing... Figure 3 and Figures 5-7 The slider 15 is provided with a third inclined groove 1505 that communicates with the right side of the second inclined groove 1504. The slider 15 is provided with a third transverse groove 1506 that communicates with the right side of the third inclined groove 1505. Both the third inclined groove 1505 and the third transverse groove 1506 are for the fixed rod 14 to slide. The fixed plate 71 is fixedly connected with three fixed blocks 18 that are circumferentially evenly distributed. The rotating sleeve 8 is provided with three arc-shaped grooves 801 that are circumferentially evenly distributed and used to place adjacent fixed blocks 18. The depth of the guide groove 701 gradually increases from the side away from the adjacent limiting part 711 to the side close to the adjacent limiting part 711. Taking the upper guide groove 701 as an example, the depth of the guide groove 701 gradually increases from front to back.

[0035] This embodiment adds a third working mode based on embodiment 1. This working mode is used under extremely low load conditions, mainly to increase the speed of output shaft 3. The specific operation is as follows: In the second working mode of embodiment 1, when the fixed rod 14 is located below the third inclined groove 1505, and the internal gear ring 7 is limited by the insert block 13, the operator does not need to stop the power module, but continues to push the sliding sleeve 10 to the left. The squeezing force of the rotating disk 9 on the fixed disk 71 continues to increase, the first spring 12 continues to store force, and the sliding sleeve 10 moves to the left, causing the connecting block 16 to move to the left. Since the internal gear ring 7 still has a counterclockwise rotation tendency, the insert block 13 cannot move, the slider 15 cannot move to the left, and the connecting block 16 moves to the left, causing the first spring 12 to move to the left. When the second spring 17 is compressed, and the friction force of the rotating disk 9 on the fixed disk 71 is sufficient to drive the fixed disk 71 and the internal gear ring 7 to rotate clockwise, the clockwise rotation of the internal gear ring 7 releases the restriction on the insert block 13. The release of the elastic force of the second spring 17 causes the slider 15 to move to the left. The third inclined groove 1505 of the slider 15 drives the fixed rod 14 and the insert block 13 to move upward. At the same time, the depth of the guide groove 701 gradually becomes shallower from back to front. Therefore, the insert block 13 will also be squeezed out of the guide groove 701 by the clockwise rotation of the internal gear ring 7. When the fixed rod 14 is located on the upper side of the third inclined groove 1505, the insert block 13 is moved out of the guide groove 701. Subsequently, the fixed rod 14 enters the third transverse groove 1506 and remains there. At this time, the arc groove 801 is not aligned with the fixed block 18.

[0036] As the pressure exerted by the rotating disk 9 on the fixed disk 71 increases, the clockwise rotational speeds of the fixed disk 71 and the internal gear ring 7 gradually increase, as do the rotational speeds of the planetary carrier 4 and the output shaft 3. When the rotational speed of the fixed disk 71 approaches that of the rotating sleeve 8 and the fixed block 18 aligns with the adjacent arc-shaped groove 801, the rotating sleeve 8 continues to move to the left, and the fixed block 18 inserts into the adjacent arc-shaped groove 801. Subsequently, the rotating sleeve 8 drives the fixed block 18 to rotate clockwise synchronously through the arc-shaped groove 801, and the fixed block 18 drives the internal gear ring 7 to rotate clockwise. At this time, since the rotational speeds of the sun gear 6 and the internal gear ring 7 are the same, the planetary gear 5 will not rotate. The planetary carrier 4 drives the output shaft 3 to rotate clockwise, and the output shaft 3 rotates at the same speed as the input shaft 2 (between the gears in the reducer). (No relative rotation will occur), which increases the rotational speed of the output shaft 3, making it suitable for operation under different working conditions. When the planetary reducer stops, one of the guide grooves 701 is located below the insert block 13. The operator drives the sliding sleeve 10 to move to the right through the power module. The sliding sleeve 10 drives the rotating sleeve 8 to move to the right through the limit plate 11. The fixed block 18 moves out from the adjacent arc groove 801. The sliding sleeve 10 drives the connecting block 16, the second spring 17 and the slider 15 to move to the right. The fixed rod 14 enters the third inclined groove 1505 from the third horizontal groove 1506. The fixed rod 14 drives the insert block 13 to insert into the guide groove 701. When the fixed rod 14 is located below the second inclined groove 1504, the reset process of embodiment 1 is repeated.

[0037] The technical principles of the embodiments of the present invention have been described above with reference to specific examples. These descriptions are merely for explaining the principles of the embodiments of the present invention and should not be construed as limiting the scope of protection of the embodiments of the present invention in any way. Based on the explanation herein, those skilled in the art can conceive of other specific embodiments of the present invention without creative effort, and these embodiments will all fall within the scope of protection of the embodiments of the present invention.

Claims

1. A circulating resistance-reducing planetary reducer, comprising a housing (1), one side of the housing (1) being provided with an input shaft (2), the side of the housing (1) away from the input shaft (2) being rotationally connected with an output shaft (3), the output shaft (3) being fixedly connected with a planet carrier (4) located in the housing (1), the planet carrier (4) being rotationally connected with circumferentially equidistantly distributed planet wheels (5), the input shaft (2) being fixedly connected with a sun wheel (6) which is engaged with all the planet wheels (5) which are circumferentially equidistantly distributed, characterized in that, The outer shell (1) is rotatably connected with an inner gear ring (7) engaged with the planetary gear (5), the input shaft (2) is spline-connected with a rotating sleeve (8), the inner gear ring (7) is fixedly connected with a fixed disc (71) on the side close to the rotating sleeve (8), and the rotating sleeve (8) is spline-connected with a rotating disc (9) for rubbing the fixed disc (71); The outer shell (1) is spline-connected with a sliding sleeve (10) on the side close to the input shaft (2), the sliding sleeve (10) is rotatably connected with the input shaft (2), the outer shell (1) is provided with a power module for driving the sliding sleeve (10) to move, the sliding sleeve (10) is rotatably connected with a limiting disc (11) fixedly connected with the rotating sleeve (8), and the limiting disc (11) and the rotating disc (9) are fixedly connected with a first spring (12); The outer shell (1) is provided with a limiting groove (101), the limiting groove (101) is slidably connected with an insertion block (13), and the inner gear ring (7) is provided with a guide groove (701) for inserting the insertion block (13); The insertion block (13) is provided with a protruding part, and the guide groove (701) is provided with a limiting part (711) for limiting the protruding part of the insertion block (13); The insertion block (13) is fixedly connected with a fixed rod (14), the insertion block (13) is slidably connected with a sliding block (15), the sliding block (15) is slidably connected with the outer shell (1), the sliding block (15) is provided with a first horizontal groove (1501), a first inclined groove (1502), a second horizontal groove (1503) and a second inclined groove (1504) which are sequentially communicated and are all used for sliding the fixed rod (14), the sliding sleeve (10) is fixedly connected with a connecting block (16), and the connecting block (16) and the sliding block (15) are fixedly connected with a second spring (17); In the initial state, the rotating disc is not in contact with the fixed disc, the plug is inserted into the guide groove on the upper side, the protruding part of the plug is located in the limiting part, the inner gear ring is limited by the plug and cannot rotate counterclockwise, and the fixed rod is located in the first horizontal groove. When the planetary reducer needs to be used for speed reduction and the output shaft has a small load, the first working mode is entered: the operator starts the motor to drive the input shaft to rotate clockwise, and the output shaft drives the load thereon to rotate clockwise. When the load is large, the second working mode is adopted: the operator first drives the sliding sleeve to move left through the power module, the sliding sleeve drives the rotating disc and the rotating sleeve to move left through the limiting disc and the first spring, and the rotating disc gradually approaches the fixed disc. In the process of moving the sliding sleeve left, the sliding sleeve drives the connecting block to move left, and the connecting block drives the sliding block to move left through the second spring. The fixed rod enters the first inclined groove from the first horizontal groove. With the movement of the sliding block to the left, the first inclined groove extrudes the fixed rod and drives the plug to move upward. The protruding part of the plug extrudes the limiting part to drive the inner gear ring to rotate clockwise. When the lower side of the plug moves out of the guide groove, the limiting of the inner gear ring is released, the fixed rod is located on the left side of the second horizontal groove, and then the rotating disc is in contact with the fixed disc. The operator drives the input shaft to rotate clockwise through the motor, and the inner gear ring rotates counterclockwise. The inner gear ring drives the fixed disc to rotate counterclockwise, and the rotating disc rotates clockwise to provide resistance for the counterclockwise rotation of the fixed disc through friction. After the rotating disc is in contact with the fixed disc, the rotating disc cannot move left. With the continuous movement of the sliding sleeve to the left, the sliding sleeve drives the limiting disc and the rotating sleeve to move left, and the first spring is compressed. The extrusion force of the rotating disc on the fixed disc gradually increases, the speed of the counterclockwise rotation of the fixed disc gradually slows down, the speed of the output shaft gradually increases, and the fixed rod gradually moves to the right side of the second horizontal groove. In the process that the fixed rod moves from the upper side of the second inclined groove to the lower side, the sliding block drives the fixed rod and the plug to move downward through the second inclined groove. When the protruding part of the plug is in contact with the limiting part, the inner gear ring is limited by the plug and cannot rotate counterclockwise. When the inner gear ring cannot rotate, the operator drives the sliding sleeve to move right through the power module. The sliding sleeve drives the limiting disc to move right, so that the rotating disc is no longer in contact with the fixed disc. Then the rotating disc enters the idle state. When the sliding sleeve returns to the initial position, the power module is stopped. Thereafter, the first working mode is entered.

2. A planetary reduction machine of the kind described in claim 1, characterised in that The guide grooves (701) are circumferentially and equidistantly distributed.

3. A planetary speed reducer of the circulating resistance reduction type according to claim 1, wherein The horizontal length of the first inclined groove (1502) is smaller than the maximum distance between the fixed disc (71) and the rotating disc (9).

4. A planetary reduction machine of the type defined in claim 3, characterized in that The sliding block (15) is provided with a third inclined groove (1505) in communication with the second inclined groove (1504), and the sliding block (15) is provided with a third horizontal groove (1506) in communication with the third inclined groove (1505). The third inclined groove (1505) and the third horizontal groove (1506) are both for sliding of the fixed rod (14). The fixed disc (71) is fixedly connected with fixed blocks (18) which are circumferentially and equidistantly distributed. The rotating sleeve (8) is provided with arc-shaped grooves (801) for placing adjacent fixed blocks (18) and which are circumferentially and equidistantly distributed. The depth of the guide groove (701) gradually increases from the side far away from the adjacent limiting part (711) to the side close to the adjacent limiting part (711); In the second working mode, when the fixed rod is located at the lower side of the third inclined groove and the inner tooth ring is limited by the plug, the power module continues to push the sliding sleeve to move leftwards, the extrusion force of the rotating disc on the fixed disc continues to increase, the first spring continues to store energy, the sliding sleeve moves leftwards to drive the connecting block to move leftwards, the leftward movement of the connecting block causes the second spring to be compressed, when the friction force of the rotating disc on the fixed disc is enough to drive the fixed disc and the inner tooth ring to rotate clockwise, the inner tooth ring rotates clockwise to release the limitation on the plug, the elastic force of the second spring is released to drive the sliding block to move leftwards, the third inclined groove of the sliding block drives the fixed rod and the plug to move upwards, meanwhile, the depth of the rear side of the guide groove gradually decreases from the rear to the front, therefore, the plug will also be extruded out of the guide groove by the clockwise rotating inner tooth ring, when the fixed rod is located at the upper side of the third inclined groove, the plug moves out of the guide groove, then, the fixed rod enters the third horizontal groove and maintains, at this time, the arc-shaped groove is not aligned with the fixed block, as the extrusion force of the rotating disc on the fixed disc increases, the rotating speed of the fixed disc and the inner tooth ring gradually increases clockwise, the rotating speed of the planetary carrier and the output shaft increases, when the rotating speed of the fixed disc approaches that of the rotating sleeve and the fixed block is aligned with the adjacent arc-shaped groove, the rotating sleeve continues to move leftwards, the fixed block is inserted into the adjacent arc-shaped groove, then, the rotating sleeve drives the fixed block to rotate clockwise synchronously through the arc-shaped groove, the fixed block drives the inner tooth ring to rotate clockwise, at this time, the rotating speed of the sun gear and the inner tooth ring is the same, the rotating speed of the output shaft and the input shaft is the same.

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