Self-locking structure and planetary gearbox

Abstract

The utility model discloses a self-locking structure and a planetary gearbox wherein the self-locking structure comprises: a transmission assembly comprising a transmission shaft and a transmission member, the transmission shaft being capable of driving the transmission member to rotate; the self-locking assembly comprises a fixed cylinder, an elastic piece and an output piece, the elastic piece is wound on the fixed cylinder and can rotate relative to the fixed cylinder, a transmission piece is rotationally connected with the fixed cylinder, the output piece is rotationally connected with the fixed cylinder, one end of the elastic piece is provided with an abutting part, the abutting part abuts against the output piece, and the output piece is connected with the transmission piece. The transmission part can drive the output part to rotate relative to the fixed cylinder in the first direction, when the output part rotates in the second direction, the output part can drive the elastic part to be tightly attached to the fixed cylinder, and the first direction is opposite to the second direction. When the output shaft rotates reversely under the action of external force, gear structure parts in the gearbox cannot be damaged.

Description

Technical Field

[0001] The utility model relates to the field of gear box transmission structures, in particular to a self-locking structure and a planetary gear box. Background Art

[0002] A gearbox is a mechanical transmission device that is mainly used to transmit power and adjust the rotation speed. It is composed of multiple gears, and each gear has different sizes and shapes. Gearboxes can be divided into planetary gearboxes, cylindrical gearboxes, etc. according to traditional types.

[0003] In the related technology, the planetary gearbox is composed of a planetary ring gear, a sun gear, a planetary wheel and a gear shaft. According to the motion relationship between the planetary ring gear, the sun gear and the planetary wheel, the input shaft and the output shaft can be separated from the rigid transmission relationship, the input shaft and the output shaft can be driven in the same or reverse direction, and the transmission ratio of the input and output shafts can be changed, thereby obtaining greater torque by reducing the input speed.

[0004] However, the output shaft is prone to reverse under the action of external force, especially in the case of planetary gears with small transmission ratios. When the external force is large, the reversal of the output shaft can easily damage the gear structure parts inside the gearbox, thus causing safety hazards. Utility Model Content

[0005] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes a self-locking structure so that when the output shaft is reversed under the action of external force, the gear structure parts inside the gear box will not be damaged.

[0006] The utility model also provides a planetary gear box with the self-locking structure.

[0007] A self-locking structure according to an embodiment of the first aspect of the utility model includes: a transmission component, which includes a transmission shaft and a transmission member, and the transmission shaft can drive the transmission member to rotate; a self-locking component, which includes a fixed cylinder, an elastic member and an output member, the elastic member is wound around the fixed cylinder and can rotate relative to the fixed cylinder, the transmission member is rotationally connected to the fixed cylinder, and the output member is rotationally connected to the fixed cylinder, one end of the elastic member is provided with an abutment portion, the abutment portion abuts against the output member, the transmission member can drive the output member to rotate relative to the fixed cylinder along a first direction, when the output member rotates along a second direction, the output member can drive the elastic member to be close to the fixed cylinder, the first direction and the second direction are opposite to each other.

[0008] A self-locking structure according to an embodiment of the first aspect of the utility model at least includes the following beneficial effects: when the transmission assembly is running, the self-locking assembly transmits and outputs kinetic energy, and at this time, the rotating member is driven to rotate by the rotation of the transmission shaft, so that the transmission member can drive the output member to rotate relative to the fixed cylinder in a first direction, so that the output member transmits and outputs the kinetic energy of the transmission member; when the transmission assembly stops running, the output member is easy to rotate in the second direction under the action of external force, and at this time the output member can drive the elastic member to be close to the fixed cylinder, and then the friction between the elastic member and the fixed cylinder offsets the external force exerted on the output member, so that the output member will not drive the transmission member to rotate in the second direction relative to the fixed cylinder under the action of external force, and then the transmission shaft will not rotate in the second direction, thereby protecting the internal parts of the transmission assembly, and when applied to planetary gears, it solves the problem that the reversal of the output shaft is easy to damage the gear structure parts inside the gear box.

[0009] According to some embodiments of the present invention, the elastic member includes a torsion spring, the torsion spring is wound around the fixing tube, and the abutting portion includes a convex edge, and the convex edge abuts against the output member.

[0010] According to some embodiments of the present invention, the torsion spring is wound around the fixing tube at least once.

[0011] According to some embodiments of the utility model, the output member includes a cover body and an output shaft, the cover body rotation cover is arranged on the fixed cylinder, the output shaft is arranged on the cover body, the side wall of the cover body is penetrated by a avoidance groove, the avoidance groove is opened along the length direction of the cover body, and the convex edge abuts against the groove wall of the avoidance groove.

[0012] According to some embodiments of the utility model, the transmission member includes a transmission sleeve and a guide plate, the transmission sleeve is rotatably sleeved on the fixed cylinder, a through hole is penetrated through the end of the fixed cylinder, one end of the transmission shaft is fixedly connected to the transmission sleeve, and the other end passes through the through hole, the guide plate is fixedly connected to the transmission sleeve, and the guide plate can abut against the convex edge.

[0013] According to some embodiments of the present utility model, a bearing is provided between the cover body and the transmission sleeve.

[0014] According to a planetary gearbox according to an embodiment of the second aspect of the utility model, the planetary gearbox includes: an inner ring gear; a planet carrier assembly, which is rotatably arranged in the inner ring gear; a drive assembly, which is fixedly sleeved on one end of the inner ring gear and can drive the planet carrier assembly to rotate relative to the inner ring gear; a self-locking structure, wherein the self-locking structure is the self-locking structure described in the embodiment of the first aspect of the utility model, the transmission shaft is fixedly connected to the planet carrier assembly, and the fixing cylinder is fixedly arranged in the inner ring gear.

[0015] A planetary gearbox according to an embodiment of the second aspect of the utility model at least includes the following beneficial effects: when the planetary carrier assembly needs to run, the planetary carrier assembly is driven to rotate relative to the inner gear ring by the driving assembly, and the planetary carrier assembly can reduce the speed of the driving assembly input and output a low speed, so that the planetary carrier assembly can drive the rotating shaft to rotate, and the rotating member is driven to rotate by the rotation of the transmission shaft, so that the transmission member can drive the output member to rotate relative to the fixed cylinder in a first direction, so that the output member transmits and outputs the kinetic energy of the transmission member; when the driving assembly stops running, the output member is easy to rotate in the second direction under the action of external force, at this time the output member can drive the elastic member to be close to the fixed cylinder, and then the friction between the elastic member and the fixed cylinder offsets the external force exerted on the output member, so that the output member will not drive the transmission member to rotate relative to the fixed cylinder in the second direction under the action of external force, and then the transmission shaft will not rotate in the second direction, thereby protecting the internal parts of the planetary carrier assembly, and solving the problem that the reversal of the output shaft easily causes damage to the gear structure parts inside the planetary gearbox.

[0016] According to some embodiments of the utility model, the planetary carrier assembly includes a frame body, multiple rotating shafts and multiple gear parts. The frame body is rotatably arranged in the inner gear ring and is coaxially distributed with the inner gear ring. One end of the transmission shaft is fixedly connected to the frame body. The multiple rotating shafts are distributed at intervals along the circumference of the frame body. The rotating shafts are rotatably arranged on the frame body along the length direction of the frame body. The multiple gear parts are respectively fixedly sleeved on the multiple rotating shafts in a one-to-one correspondence, and the gear parts can mesh with the inner gear ring.

[0017] According to some embodiments of the utility model, the driving assembly includes a driving motor, a connecting sleeve and a driving gear, the connecting sleeve fixes the driving motor to the inner gear ring, the driving gear fixing sleeve is arranged on the output shaft of the driving motor and meshes with the gear member.

[0018] According to some embodiments of the utility model, the gear component includes a first gear and a second gear, the first gear and the second gear are fixedly mounted on the plurality of rotating shafts, the outer diameter of the second gear is smaller than the outer diameter of the first gear, the first gear is meshed with the driving gear, and the second gear is meshed with the inner gear ring. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the embodiment of the first aspect of the present application;

[0020] Figure 2 It is a schematic diagram of the overall explosion structure of the embodiment of the first aspect of the present application;

[0021] Figure 3 is a schematic structural diagram of a torsion spring in an embodiment of the first aspect of the present application;

[0022] Figure 4 It is a schematic diagram of the overall structure of an embodiment of the second aspect of the present application;

[0023] Figure 5 It is a schematic diagram of the assembly relationship between the drive assembly and the planetary carrier assembly in the embodiment of the second aspect of the present application.

[0024] Explanation of the reference numerals: 110, transmission shaft; 120, transmission member; 121, transmission sleeve; 122, guide plate; 210, fixing cylinder; 211, limiting gear; 221, torsion spring; 230, output member; 231, cover body; 2311, avoidance groove; 232, output shaft; 241, convex edge; 250, bearing; 300, inner ring gear; 400, planetary carrier assembly; 410, frame body; 420, rotating shaft; 431, first gear; 432, second gear; 500, driving assembly; 510, driving motor; 520, connecting sleeve; 530, driving gear. DETAILED DESCRIPTION

[0025] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0026] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0027] In the description of the utility model, if there is a description of first and second, it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0028] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0029] The following is combined with Figure 1-5 This application is described in further detail.

[0030] The embodiment of the first aspect of the utility model provides a self-locking structure, referring to Figure 1 and Figure 2 , including a transmission assembly and a self-locking assembly, the transmission assembly is used to provide driving capability for the self-locking assembly, and the self-locking assembly is used to transmit and output the kinetic energy of the transmission assembly. Specifically, the transmission assembly includes a transmission shaft 110 and a transmission member 120, and the transmission shaft 110 can drive the transmission member 120 to rotate, so that the transmission shaft 110 can provide driving capability for the transmission member 120.

[0031] It is understandable that in some embodiments of the present invention, reference Figure 2 and Figure 3 The self-locking assembly includes a fixed cylinder 210, an elastic member and an output member 230. The elastic member is wound around the fixed cylinder 210 and can rotate relative to the fixed cylinder 210. The transmission member 120 is rotatably connected to the fixed cylinder 210. The output member 230 is rotatably connected to the fixed cylinder 210. An abutment portion is provided at one end of the elastic member, and the abutment portion abuts against the output member 230. When the transmission assembly is running, the transmission member 120 can drive the contact part to rotate relative to the fixed cylinder 210 in the opposite direction of the winding of the elastic member, so that a gap is generated between the elastic member and the fixed cylinder 210. At this time, the elastic member rotates relative to the fixed cylinder 210, and then the contact part drives the output member 230 to rotate relative to the fixed cylinder 210 in the first direction, so that the output member 230 transmits and outputs the kinetic energy of the transmission member 120; when the transmission assembly stops running, the output member 230 is easy to rotate in the second direction under the action of external force. At this time, the output member 230 can drive the contact part to rotate relative to the fixed cylinder 210 in the direction of the winding of the elastic member, so that the elastic member is close to the fixed cylinder 210, and then the friction between the elastic member and the fixed cylinder 210 offsets the external force on the output member 230, so that the output member 230 will not drive the transmission member 120 to rotate relative to the fixed cylinder 210 in the second direction under the action of external force, so that the transmission shaft 110 will not rotate in the second direction, thereby protecting the structural parts of the transmission assembly. It should be noted that the first direction and the second direction are opposite directions to each other.

[0032] It is understandable that in some embodiments of the present invention, reference Figure 2 and Figure 3 The elastic member includes a torsion spring 221, which is wound on the fixed cylinder 210, and the abutting portion includes a convex edge 241, which abuts against the output member 230. In some embodiments, the torsion spring 221 is wound around the fixed cylinder 210 at least once, so that the torsion spring 221 can rotate along its own winding direction through the push of the output member 230, thereby holding the fixed cylinder 210 tightly, so that the friction between the torsion spring 221 and the fixed cylinder 210 is increased.

[0033] It is understandable that in some embodiments of the present invention, reference Figure 2 and Figure 3 The output member 230 includes a cover body 231 and an output shaft 232. The cover body 231 is rotatably covered on the fixed cylinder 210. The output shaft 232 is arranged on the cover body 231. A side wall of the cover body 231 is penetrated with an avoidance groove 2311. The avoidance groove 2311 is arranged along the length direction of the cover body 231. The convex edge 241 abuts against the groove wall of the avoidance groove 2311, so that when the transmission member 120 drives the convex edge 241 to rotate, the convex edge 241 pushes the groove wall of the avoidance groove 2311, so that the cover body 231 is relative to the fixed cylinder 210 along the first When the output shaft 232 is rotated in the second direction by an external force, the cover body 231 abuts against the convex edge 241, so that when the convex edge 241 drives the torsion spring 221 to rotate in the second direction, the torsion spring 221 is tightly attached to the fixed cylinder 210, so as to limit the rotation of the cover body 231 by utilizing the friction force therebetween, thereby making it impossible for the cover body 231 to drive the transmission member 120 to rotate in the second direction, so as to protect the structural parts of the transmission assembly.

[0034] It is understandable that in some embodiments of the present invention, reference Figure 2 and Figure 3 There are two convex edges 241, and the two convex edges 241 are respectively connected to the two ends of the torsion spring 221, and the two convex edges 241 are respectively abutted against the two opposite groove walls of the avoidance groove 2311, so that when the transmission member 120 drives one of the convex edges 241 to rotate, the convex edge 241 drives the cover body 231 to rotate, and the cover body 231 can drive the other convex edge 241 to rotate, so that the rotation of the torsion spring 221 has better stability.

[0035] It is understandable that in some embodiments of the present invention, reference Figure 2 and Figure 3 The transmission member 120 includes a transmission sleeve 121 and a guide plate 122. The transmission sleeve 121 is rotatably sleeved on the fixed cylinder 210. A through hole is formed at the end of the fixed cylinder 210. One end of the transmission shaft 110 is fixedly connected to the transmission sleeve 121, and the other end passes through the through hole. One end of the guide plate 122 is connected to the transmission sleeve 121, and the other end extends to a position between two convex edges 241, so that the guide plate 122 can abut against the convex edges 241. When the transmission shaft 110 rotates, the transmission sleeve 121 rotates relative to the fixed cylinder 210, thereby driving the guide plate 122 to rotate relative to the fixed cylinder 210 in the first direction, and then applying a thrust to the convex edge 241, so that the convex edge 241 drives the cover body 231 to rotate relative to the fixed cylinder 210 in the first direction.

[0036] It is understandable that in some embodiments of the present invention, reference Figure 2 and Figure 3The width of the avoidance groove 2311 is larger than that of the guide plate 122, so that the guide plate 122 can slide in the avoidance groove 2311 along the circumferential direction of the transmission sleeve 121, and both sides of the guide plate 122 are limited by the convex edges 241, so that when the output shaft 232 is rotated in the second direction by an external force, the cover body 231 drives the convex edge 241 to rotate in the second direction, so that the convex edge 241 drives the torsion spring 221 to be close to the fixed cylinder 210, so as to limit the rotation of the cover body 231 by the friction force between the two; when the cover body 231 exerts a pushing force on the convex edge 241 In the process of applying force to the torsion spring 221 to press against the fixed cylinder 210, the convex edge 241 rotates in the second direction to drive the guide plate 122 to rotate in the second direction relative to the fixed cylinder 210. When the torsion spring 221 presses against the fixed cylinder 210, the convex edge 241 stops rotating due to the friction force, and the guide plate 122 continues to move relative to the avoidance groove 2311 due to inertia, and does not stop rotating synchronously with the convex edge 241, thereby reducing the sudden force on the structural parts in the transmission assembly when they cooperate, thereby further protecting the structural parts in the transmission assembly.

[0037] It is understandable that in some embodiments of the present invention, reference Figure 2 A bearing 250 is provided between the cover body 231 and the transmission sleeve 121. The inner ring of the bearing 250 is fixedly connected to the transmission sleeve 121, and the outer ring is fixedly connected to the cover body 231, so as to reduce the friction between the two during rotation and make the rotation of the two more stable.

[0038] The implementation principle of the embodiment of the first aspect of the utility model is as follows: when the transmission assembly is running, the transmission sleeve 121 is driven to rotate relative to the fixed cylinder 210 through the transmission shaft 110, thereby driving the guide plate 122 to rotate relative to the fixed cylinder 210 in the first direction, and then the convex edge 241 is rotated relative to the fixed cylinder 210 in the opposite direction of the torsion spring 221, so that a gap is generated between the torsion spring 221 and the fixed cylinder 210. At this time, the torsion spring 221 rotates relative to the fixed cylinder 210, and then the convex edge 241 drives the cover body 231 to rotate relative to the fixed cylinder 210 in the first direction, so that the output shaft 232 transmits and outputs the kinetic energy of the transmission assembly;

[0039] When the transmission assembly stops running, the output shaft 232 rotates in the second direction due to the external force, and the cover body 231 abuts against the convex edge 241, so that the convex edge 241 rotates relative to the fixed cylinder 210 in the direction in which the torsion spring 221 is wound, so that the torsion spring 221 is close to the fixed cylinder 210, and the friction between the two is used to offset the external force on the output shaft 232, thereby limiting the rotation of the cover body 231, and further making it impossible for the cover body 231 to drive the guide plate 122 to rotate in the second direction, so as to protect the structural parts of the transmission assembly, and solve the problem that the reversal of the output shaft 232 may easily cause damage to the structural parts of the transmission assembly.

[0040] The embodiment of the second aspect of the utility model provides a planetary gearbox, referring to Figure 4 , including an inner gear ring 300, a planetary carrier assembly 400, a drive assembly 500 and a self-locking structure, and the self-locking structure is the self-locking structure described in the embodiment of the first aspect. A limit gear 211 is provided on the outer fixed sleeve of the fixed cylinder 210, and the limit gear 211 is meshed with the inner gear ring 300, so that the fixed cylinder 210 is fixed to the inner gear ring 300. The planetary carrier assembly 400 is rotatably arranged in the inner gear ring 300, and the planetary carrier assembly 400 is used to reduce the input speed and output a low speed. The drive assembly 500 is sleeved on one end of the inner gear ring 300, and the drive assembly 500 is used to provide driving ability for the rotation of the gear member.

[0041] It is understandable that in some embodiments of the present invention, reference Figure 4 and Figure 5 The planet carrier assembly 400 includes a frame body 410, a plurality of rotating shafts 420, and a plurality of gear parts. The frame body 410 is rotatably disposed in the inner gear ring 300 and is coaxially distributed with the inner gear ring 300. One end of the transmission shaft 110 passes through the through hole and is fixedly connected to the frame body 410. The plurality of rotating shafts 420 are distributed at intervals along the circumference of the frame body 410. The rotating shafts 420 are rotatably disposed on the frame body 410 along the length direction of the frame body 410. The plurality of gear parts are fixedly sleeved on the plurality of rotating shafts 420 in a one-to-one correspondence, and the gear parts can mesh with the inner gear ring 300. By driving the gear parts to rotate relative to the frame body 410, the gear parts rotate relative to the inner gear ring 300. Since the inner gear ring 300 is fixedly disposed, the gear parts drive the frame body 410 to rotate relative to the inner gear ring 300, so that the frame body 410 transmits the kinetic energy of the rotation to the transmission shaft 110 to provide kinetic energy to the transmission shaft 110.

[0042] It is understandable that in some embodiments of the present invention, reference Figure 4 and Figure 5 The driving assembly 500 includes a driving motor 510, a connecting sleeve 520 and a driving gear 530. The connecting sleeve 520 fixes the driving motor 510 to the inner gear ring 300. The driving gear 530 is fixedly sleeved on the output shaft 232 of the driving motor 510 and meshes with the gear member. The driving motor 510 drives the driving gear 530 to rotate, and the driving gear 530 meshes with the gear member, so that the driving gear 530 drives the gear member to rotate, thereby providing driving capability for the gear member.

[0043] It is understandable that in some embodiments of the present invention, reference Figure 4 and Figure 5The gear member includes a first gear 431, which is fixedly sleeved on the rotating shaft 420. The first gear 431 is meshed with the inner gear ring 300, and the first gear 431 is driven to rotate through the driving gear 530, driving the first gear 431 to rotate relative to the frame 410, so that the first gear 431 rotates relative to the inner gear ring 300, thereby driving the frame 410 to rotate relative to the inner gear ring 300. Since the outer diameter of the inner gear ring 300 is larger than the outer diameter of the driving gear 530, after transmission through the first gear 431, the rotation speed of the inner gear ring 300 transmitted to the frame 410 is lower than the rotation speed of the driving gear 530, thereby achieving the effect of reducing the rotation speed of the driving gear 530 and outputting a large torque force.

[0044] It is understandable that in some embodiments of the present invention, reference Figure 4 and Figure 5 The gear member further includes a second gear 432, which is fixedly sleeved on the rotating shaft 420, and the first gear 431 and the second gear 432 are coaxially distributed, and the outer diameter of the second gear 432 is smaller than the outer diameter of the first gear 431. At this time, the first gear 431 does not mesh with the inner gear ring 300, but the second gear 432 meshes with the inner gear ring 300, so that the rotation speed transmitted by the inner gear ring 300 to the frame 410 is further reduced, and a greater torque can be output.

[0045] The implementation principle of the embodiment of the second aspect of the utility model is as follows: when the planetary carrier assembly 400 needs to run, the driving motor 510 drives the driving gear 530 to rotate, so that the driving gear 530 is meshed with the first gear 431, so that the driving gear 530 drives the first gear 431 to rotate, and the first gear 431 drives the second gear 432 to rotate. Since the second gear 432 is meshed with the inner gear ring 300, the second gear 432 drives the frame body 410 to rotate relative to the inner gear ring 300, so that the frame body 410 transmits the kinetic energy of the rotation to the inner gear ring 300. The transmission shaft 110 drives the transmission sleeve 121 to rotate relative to the fixed cylinder 210 through the transmission shaft 110, thereby driving the guide plate 122 to rotate relative to the fixed cylinder 210 in the first direction, and then the convex edge 241 rotates relative to the fixed cylinder 210 in the opposite direction of the torsion spring 221, so that a gap is generated between the torsion spring 221 and the fixed cylinder 210. At this time, the torsion spring 221 rotates relative to the fixed cylinder 210, and then the convex edge 241 drives the cover body 231 to rotate relative to the fixed cylinder 210 in the first direction, so that the output shaft 232 transmits and outputs the kinetic energy of the transmission assembly;

[0046] When the drive motor 510 stops running, the output shaft 232 rotates in the second direction due to the external force, and the cover body 231 abuts against the convex edge 241, so that the convex edge 241 rotates relative to the fixed cylinder 210 in the direction where the torsion spring 221 is wound, so that the torsion spring 221 is close to the fixed cylinder 210, and the friction between the two is used to offset the external force on the output shaft 232, thereby limiting the rotation of the cover body 231, and further making it impossible for the cover body 231 to drive the guide plate 122 to rotate in the second direction, so as to protect the structural parts of the planetary carrier assembly 400, and solve the problem that the reversal of the output shaft 232 can easily cause damage to the gear structural parts inside the planetary gearbox.

[0047] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A self-locking structure, characterized in that: include: A transmission assembly, comprising a transmission shaft (110) and a transmission member (120), wherein the transmission shaft (110) can drive the transmission member (120) to rotate; The self-locking component comprises a fixed cylinder (210), an elastic member and an output member (230); the elastic member is wound around the fixed cylinder (210) and can rotate relative to the fixed cylinder (210); the transmission member (120) is rotationally connected to the fixed cylinder (210); the output member (230) is rotationally connected to the fixed cylinder (210); one end of the elastic member is provided with an abutment portion, the abutment portion abuts against the output member (230); the transmission member (120) can drive the output member (230) to rotate relative to the fixed cylinder (210) in a first direction; when the output member (230) rotates in a second direction, the output member (230) can drive the elastic member to be closely attached to the fixed cylinder (210); the first direction and the second direction are opposite to each other.

2. The self-locking structure according to claim 1, characterized in that: The elastic member comprises a torsion spring (221), the torsion spring (221) is wound around the fixed cylinder (210), and the abutting portion comprises a convex edge (241), and the convex edge (241) abuts against the output member (230).

3. The self-locking structure according to claim 2, characterized in that: The torsion spring (221) is wound around the fixing tube (210) at least once.

4. The self-locking structure according to claim 2, characterized in that: The output member (230) comprises a cover body (231) and an output shaft (232); the cover body (231) is rotatably covered on the fixed cylinder (210); the output shaft (232) is arranged on the cover body (231); a side wall of the cover body (231) is penetrated by a avoidance groove (2311); the avoidance groove (2311) is opened along the length direction of the cover body (231); and the convex edge (241) abuts against the groove wall of the avoidance groove (2311).

5. The self-locking structure according to claim 4, characterized in that: The transmission member (120) comprises a transmission sleeve (121) and a guide plate (122); the transmission sleeve (121) is rotatably sleeved on the fixed cylinder (210); a through hole is penetrated through the end of the fixed cylinder (210); one end of the transmission shaft (110) is fixedly connected to the transmission sleeve (121), and the other end passes through the through hole; the guide plate (122) is fixedly connected to the transmission sleeve (121), and the guide plate (122) can abut against the convex edge (241).

6. The self-locking structure according to claim 5, characterized in that: A bearing (250) is provided between the cover body (231) and the transmission sleeve (121).

7. A planetary gearbox, characterized in that: include: Internal gear ring (300); A planet carrier assembly (400) rotatably disposed in the inner gear ring (300); A driving assembly (500) which is fixedly sleeved on one end of the inner gear ring (300) and is capable of driving the planet carrier assembly (400) to rotate relative to the inner gear ring (300); A self-locking structure, wherein the self-locking structure is the self-locking structure according to any one of claims 1 to 6, wherein the transmission shaft (110) is fixedly connected to the planetary carrier assembly (400), and the fixing cylinder (210) is fixedly disposed in the inner gear ring (300).

8. The planetary gearbox according to claim 7, characterized in that: The planetary carrier assembly (400) includes a frame body (410), a plurality of rotating shafts (420) and a plurality of gear parts. The frame body (410) is rotatably disposed in the inner gear ring (300) and is coaxially distributed with the inner gear ring (300). One end of the transmission shaft (110) is fixedly connected to the frame body (410). The plurality of rotating shafts (420) are distributed at intervals along the circumference of the frame body (410). The rotating shafts (420) are rotatably disposed on the frame body (410) along the length direction of the frame body (410). The plurality of gear parts are fixedly sleeved on the plurality of rotating shafts (420) in a one-to-one correspondence, and the gear parts can mesh with the inner gear ring (300).

9. The planetary gearbox according to claim 8, characterized in that: The driving assembly (500) comprises a driving motor (510), a connecting sleeve (520) and a driving gear (530); the connecting sleeve (520) fixes the driving motor (510) and the inner gear ring (300); the driving gear (530) is fixedly sleeved on an output shaft (232) of the driving motor (510) and meshes with the gear member.

10. The planetary gearbox according to claim 9, characterized in that: The gear member comprises a first gear (431) and a second gear (432); the first gear (431) and the second gear (432) are both fixedly sleeved on the plurality of rotating shafts (420); the outer diameter of the second gear (432) is smaller than the outer diameter of the first gear (431); the first gear (431) is meshed with the driving gear (530); and the second gear (432) is meshed with the inner gear ring (300).

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