CN222315859U - A self-locking structure and planetary gearbox - Google Patents

Abstract

The utility model discloses a self-locking structure and a planetary gearbox, wherein the self-locking structure includes: a transmission assembly, which includes a transmission shaft and a transmission member, the transmission shaft can drive the transmission member to rotate; a self-locking assembly, 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, 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. This application ensures that when the output shaft is reversed under the action of an external force, the gear structure parts inside the gearbox will not be damaged.

Description

Self-locking structure and planetary gear box

Technical Field

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

A gear box is a mechanical transmission device mainly used for transmitting power and adjusting rotation speed. The gear is formed by combining a plurality of gears, and each gear has different sizes and shapes. Gearboxes can be classified into planetary gearboxes, cylindrical gearboxes, etc. according to conventional types.

In the related art, the planetary gear box consists of a planetary gear ring, a sun gear, a planet gear and a gear wheel shaft, and according to the motion relation of the planetary gear ring, the sun gear and the planet gear, the input shaft and the output shaft can be separated from a rigid transmission relation, the input shaft and the output shaft can be driven in the same direction or in opposite directions, and the transmission ratio of the input shaft and the output shaft can be changed, so that larger torque force can be obtained by reducing the input rotation speed.

However, the output shaft is easy to reverse under the action of external force, and especially under the condition of small transmission ratio of the planetary gear, when the external force is large, the gear structural parts inside the gear box are easy to damage due to the reverse rotation of the output shaft, so that potential safety hazards are caused.

Disclosure of utility model

The present utility model aims to solve at least one of the technical problems existing in the prior art. Therefore, the utility model provides a self-locking structure, so that the output shaft can not damage the gear structure parts in the gear box when the output shaft is reversed under the action of external force.

The utility model further provides a planetary gear box with the self-locking structure.

The self-locking structure comprises a transmission assembly and a self-locking assembly, wherein the transmission assembly comprises a transmission shaft and a transmission part, the transmission shaft can drive the transmission part to rotate, the self-locking assembly comprises a fixed cylinder, an elastic part and an output part, the elastic part is wound on the fixed cylinder and can rotate relative to the fixed cylinder, the transmission part is rotationally connected with the fixed cylinder, the output part is rotationally connected with the fixed cylinder, one end of the elastic part is provided with an abutting part, the abutting part abuts against the output part, the transmission part can drive the output part to rotate relative to the fixed cylinder in a first direction, and when the output part rotates in a second direction, the output part can drive the elastic part to be abutted against the fixed cylinder, and the first direction and the second direction are opposite to each other.

The self-locking structure at least has the advantages that when the transmission assembly operates, the self-locking assembly drives and outputs kinetic energy, the transmission shaft rotates to drive the rotating piece to rotate, the transmission piece can drive the output piece to rotate along a first direction relative to the fixed cylinder, the output piece drives and outputs the kinetic energy of the transmission piece, when the transmission assembly stops operating, the output piece easily rotates along a second direction under the action of external force, the output piece can drive the elastic piece to tightly cling to the fixed cylinder, friction force between the elastic piece and the fixed cylinder counteracts the external force borne by the output piece, the output piece can not drive the transmission piece to rotate along the second direction relative to the fixed cylinder under the action of the external force, the transmission shaft can not rotate along the second direction, the internal parts of the transmission assembly are protected, and when the self-locking structure is applied to a planetary gear, the problem that the reversing of the output shaft easily causes damage to gear structural parts inside the gear box is solved.

According to some embodiments of the utility model, the elastic member includes a torsion spring wound around the fixed cylinder, and the abutting portion includes a flange, and the flange abuts against the output member.

According to some embodiments of the utility model, the torsion spring is wound at least one turn around the fixed cylinder.

According to some embodiments of the utility model, the output member includes a cover body and an output shaft, the cover body is rotatably covered on the fixed cylinder, the output shaft is arranged on the cover body, a clearance groove is formed in a penetrating manner on a side wall of the cover body, the clearance groove is formed along a length direction of the cover body, and the protruding edge is abutted to a groove wall of the clearance groove.

According to some embodiments of the utility model, the transmission member comprises a transmission sleeve and a guide plate, the transmission sleeve is rotatably sleeved on the fixed cylinder, a through hole is formed in the end portion of the fixed cylinder in a penetrating manner, one end of the transmission shaft is fixedly connected with the transmission sleeve, the other end of the transmission shaft penetrates through the through hole, the guide plate is fixedly connected with the transmission sleeve, and the guide plate can be abutted against the convex edge.

According to some embodiments of the utility model, a bearing is provided between the cover and the drive sleeve.

The planetary gear box comprises an inner gear ring, a planet carrier assembly, a driving assembly and a self-locking structure, wherein the planet carrier assembly is rotatably arranged in the inner gear ring, the driving assembly is fixedly sleeved at one end of the inner gear ring and can drive the planet carrier assembly to rotate relative to the inner gear ring, the self-locking structure is the self-locking structure according to the embodiment of the first aspect of the utility model, the transmission shaft is fixedly connected with the planet carrier assembly, and the fixing cylinder is fixedly arranged in the inner gear ring.

The planetary gear box at least has the advantages that when the planet carrier assembly needs to operate, the planet carrier assembly is driven to rotate relative to the annular gear through the driving assembly, the planet carrier assembly can reduce the rotating speed input by the driving assembly and output low rotating speed, the planet carrier assembly can drive the rotating shaft to rotate, the rotating member is driven to rotate through the rotating shaft to rotate, the driving member can drive the output member to rotate relative to the fixed cylinder in the first direction, the output member drives and outputs kinetic energy of the driving member, when the driving assembly stops operating, the output member easily rotates in the second direction under the action of external force, at the moment, the output member can drive the elastic member to be attached to the fixed cylinder, and then the friction force between the elastic member and the fixed cylinder counteracts the external force exerted on the output member, so that the output member can not drive the driving member to rotate relative to the fixed cylinder in the second direction under the action of the external force, the driving shaft can not rotate in the second direction, the internal parts of the planet carrier assembly are protected, and the problem that the output shaft is easy to damage the gear structure parts inside the planetary gear box due to the reverse rotation is solved.

According to some embodiments of the present utility model, the planet carrier assembly includes a carrier body, a plurality of rotating shafts and a plurality of gear members, the carrier body is rotatably disposed in the ring gear and is coaxially distributed with the ring gear, one end of the transmission shaft is fixedly connected with the carrier body, the plurality of rotating shafts are circumferentially spaced along the carrier body, the rotating shafts are rotatably disposed on the carrier body along a length direction of the carrier body, the plurality of gear members are respectively fixedly sleeved on the plurality of rotating shafts in a one-to-one correspondence manner, and the gear members can be engaged with the ring gear.

According to some embodiments of the utility model, the driving assembly comprises a driving motor, a connecting sleeve and a driving gear, wherein the connecting sleeve fixes the driving motor and the inner gear ring, and the driving gear is fixedly sleeved on an output shaft of the driving motor and meshed with the gear piece.

According to some embodiments of the utility model, the gear member includes a first gear and a second gear, the first gear and the second gear are both fixedly sleeved on the plurality of rotating shafts, the outer diameter of the second gear is smaller than that of the first gear, the first gear is engaged with the driving gear, and the second gear is engaged with the inner gear ring.

Drawings

FIG. 1 is a schematic overall structure of an embodiment of the first aspect of the present application;

FIG. 2 is a schematic view of the overall explosive structure of an embodiment of the first aspect of the present application;

FIG. 3 is a schematic view of the torsion spring in the embodiment of the first aspect of the present application;

FIG. 4 is a schematic overall structure of an embodiment of the second aspect of the present application;

Fig. 5 is a schematic diagram showing an assembly relationship between a driving assembly and a planet carrier assembly member in an embodiment of the second aspect of the present application.

Reference numerals are 110, a transmission shaft, 120, a transmission part, 121, a transmission sleeve, 122, a guide plate, 210, a fixed cylinder, 211, a limiting gear, 221, a torsion spring, 230, an output part, 231, a cover body, 2311, a clearance groove, 232, an output shaft, 241, a convex edge, 250, a bearing, 300, an annular gear, 400, a planet carrier assembly, 410, a carrier body, 420, a rotating shaft, 431, a first gear, 432, a second gear, 500, a driving assembly, 510, a driving motor, 520, a connecting sleeve, 530 and a driving gear.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.

In the description of the present utility model, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present utility model and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, the description of the first and second is only for the purpose of distinguishing technical features, and should not be construed as indicating or implying relative importance or implying the number of technical features indicated or the precedence of the technical features indicated.

In the description of the present utility model, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present utility model can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

The application is described in further detail below with reference to fig. 1-5.

An embodiment of the first aspect of the present utility model provides a self-locking structure, referring to fig. 1 and 2, including a transmission assembly and a self-locking assembly, where the transmission assembly is used for providing driving capability for the self-locking assembly, and the self-locking assembly is used for transmitting and outputting kinetic energy of the transmission assembly. Specifically, the transmission assembly includes a transmission shaft 110 and a transmission member 120, where 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.

It will be appreciated that in some embodiments of the present utility model, referring to fig. 2 and 3, the self-locking assembly includes a fixed cylinder 210, an elastic member and an output member 230, wherein the elastic member is wound on the fixed cylinder 210 and can rotate relative to the fixed cylinder 210, the transmission member 120 is rotatably connected with the fixed cylinder 210, and the output member 230 is rotatably connected with the fixed cylinder 210. One end of the elastic member is provided with an abutting portion, and the abutting portion abuts against the output member 230. When the transmission assembly is in operation, the transmission member 120 can drive the abutting part to rotate along the opposite direction of the winding direction of the elastic member relative to the fixed cylinder 210, so that a gap is generated between the elastic member and the fixed cylinder 210, the elastic member rotates relative to the fixed cylinder 210, and the abutting part drives the output member 230 to rotate along the first direction relative to the fixed cylinder 210, so that the output member 230 drives the kinetic energy of the transmission member 120 to be transmitted and output. The first direction and the second direction are opposite to each other.

It will be appreciated that, in some embodiments of the present utility model, referring to fig. 2 and 3, the elastic member includes a torsion spring 221, the torsion spring 221 is wound on the fixed barrel 210, the abutting portion includes a convex edge 241, and the convex edge 241 abuts against the output member 230. In some embodiments, the torsion spring 221 winds at least one turn around the fixed cylinder 210, so that the torsion spring 221 can rotate along the winding direction of the torsion spring 221 by pushing of the output piece 230, so as to tightly hold the fixed cylinder 210, and the friction force between the torsion spring 221 and the fixed cylinder 210 is increased.

It can be appreciated that in some embodiments of the present utility model, referring to fig. 2 and 3, the output member 230 includes a housing 231 and an output shaft 232, the housing 231 is rotatably mounted on the fixed cylinder 210, the output shaft 232 is mounted on the housing 231, a side wall of the housing 231 is provided with a clearance groove 2311 in a penetrating manner, the clearance groove 2311 is provided along a length direction of the housing 231, the flange 241 is abutted against a groove wall of the clearance groove 2311, so that when the transmission member 120 drives the flange 241 to rotate, the flange 241 pushes the groove wall of the clearance groove 2311, thereby enabling the housing 231 to rotate relative to the fixed cylinder 210 in a first direction to drive the output shaft 232 to rotate in the first direction, thereby outputting kinetic energy of the transmission member 120, and when the output shaft 232 is subjected to external force to rotate in a second direction, the torsion spring 221 is abutted against the flange 241 by the housing 231, so that when the flange 241 drives the torsion spring 221 to rotate in the second direction, the torsion spring 221 is abutted against the fixed cylinder 210, and the rotation of the housing 231 is limited by friction force between the flange 241 and the flange, so that the transmission member 120 cannot be driven to rotate in the second direction, thereby protecting the component.

It can be appreciated that, in some embodiments of the present utility model, referring to fig. 2 and 3, the number of the protruding edges 241 is two, the two protruding edges 241 are respectively connected to two ends of the torsion spring 221 in a one-to-one correspondence manner, and the two protruding edges 241 are respectively abutted against two opposite groove walls of the avoidance groove 2311 in a one-to-one correspondence manner, so that when the transmission member 120 drives one of the protruding edges 241 to rotate, the protruding edges 241 drives the cover 231 to rotate, and the cover 231 can drive the other protruding edge 241 to rotate, thereby enabling the torsion spring 221 to rotate with better stability.

It can be appreciated that, in some embodiments of the present utility model, referring to fig. 2 and 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, the end of the fixed cylinder 210 is perforated, one end of the transmission shaft 110 is fixedly connected with the transmission sleeve 121, and the other end passes through the perforation. One end of the guide plate 122 is connected to the driving sleeve 121, and the other end of the guide plate 122 extends to a position between the two protruding edges 241, so that the guide plate 122 can be abutted against the protruding edges 241, when the driving shaft 110 rotates, the driving sleeve 121 rotates relative to the fixed cylinder 210, thereby driving the guide plate 122 to rotate relative to the fixed cylinder 210 along a first direction, and further applying thrust to the protruding edges 241, so that the protruding edges 241 drive the cover 231 to rotate relative to the fixed cylinder 210 along the first direction.

It can be appreciated that in some embodiments of the present utility model, referring to fig. 2 and 3, the width of the avoiding groove 2311 is larger than the width of the guiding plate 122, such that the guiding plate 122 can slide in the avoiding groove 2311 along the circumferential direction of the transmission sleeve 121, and both sides of the guiding plate 122 are limited by the flange 241, such that when the output shaft 232 is rotated along the second direction by external force, the cover 231 drives the flange 241 to rotate along the second direction, such that the flange 241 drives the torsion spring 221 to abut against the fastening cylinder 210 to limit the rotation of the cover 231 by the friction force therebetween, and when the cover 231 applies thrust force to the flange 241 to the torsion spring 221 to abut against the fastening cylinder 210, the flange 241 rotates along the second direction to drive the guiding plate 122 to rotate relative to the fastening cylinder 210, and when the torsion spring 221 abuts against the fastening cylinder 210, the flange 241 stops rotating under the driving of the friction force, and the guiding plate 122 continues to move relative to the avoiding groove 2311 due to the inertia effect, without synchronously stopping rotating with the flange 241, so as to reduce the abrupt force generated by the structure between the transmission components and further protect the transmission components.

It will be appreciated that in some embodiments of the present utility model, referring to fig. 2, a bearing 250 is disposed between the housing 231 and the transmission sleeve 121, an inner ring of the bearing 250 is fixedly connected to the transmission sleeve 121, and an outer ring is fixedly connected to the housing 231, so that friction force between the housing 231 and the transmission sleeve is reduced during rotation, and rotation of the housing and the transmission sleeve is more stable.

When the transmission assembly operates, the transmission sleeve 121 is driven by the transmission shaft 110 to rotate relative to the fixed cylinder 210, so as to drive the guide plate 122 to rotate relative to the fixed cylinder 210 along a first direction, and further drive the convex edge 241 to rotate relative to the fixed cylinder 210 along the opposite direction of the torsion spring 221, so that a gap is generated between the torsion spring 221 and the fixed cylinder 210, and at the moment, the torsion spring 221 rotates relative to the fixed cylinder 210, and further drive the cover 231 to rotate relative to the fixed cylinder 210 along the first direction by the convex edge 241, so that the output shaft 232 transmits and outputs the kinetic energy of the transmission assembly;

When the transmission assembly stops running, the output shaft 232 is rotated along the second direction by external force, the convex edge 241 is abutted through the cover body 231, so that the convex edge 241 rotates along the winding direction of the torsion spring 221 relative to the fixed cylinder 210, the torsion spring 221 is attached to the fixed cylinder 210, the external force born by the output shaft 232 is counteracted by friction force between the two, the rotation of the cover body 231 is limited, the cover body 231 can not drive the guide plate 122 to rotate along the second direction, structural parts of the transmission assembly are protected, and the problem that the structural parts of the transmission assembly are damaged due to the fact that the output shaft 232 is reversed is solved.

An embodiment of the second aspect of the present utility model provides a planetary gear box, referring to fig. 4, including an inner gear ring 300, a planet carrier assembly 400, a driving assembly 500, and a self-locking structure, where the self-locking structure is the self-locking structure described in the embodiment of the first aspect. The fixed barrel 210 is externally and fixedly sleeved with a limit gear 211, and the limit gear 211 is meshed with the annular gear 300, so that the fixed barrel 210 is fixed with the annular gear 300. The planet carrier assembly member 400 is rotatably disposed in the ring gear 300, and the planet carrier assembly member 400 is configured to reduce an input rotational speed and output a low rotational speed. The driving assembly 500 is sleeved at one end of the ring gear 300, and the driving assembly 500 is used for providing driving capability for rotation of the gear member.

It can be appreciated that, in some embodiments of the present utility model, referring to fig. 4 and 5, the planet carrier assembly 400 includes a carrier 410, a plurality of rotating shafts 420 and a plurality of gear members, the carrier 410 is rotatably disposed in the ring gear 300 and is coaxially distributed with the ring gear 300, the transmission shaft 110 passes through one end of the through hole to be fixedly connected with the carrier 410, the plurality of rotating shafts 420 are circumferentially spaced along the carrier 410, the rotating shafts 420 are rotatably disposed on the carrier 410 along the length direction of the carrier 410, the plurality of gear members are respectively and fixedly sleeved on the plurality of rotating shafts 420 in a one-to-one correspondence manner, and the gear members can be engaged with the ring gear 300. By driving the gear member to rotate relative to the frame body 410, the gear member rotates relative to the ring gear 300, and because the ring gear 300 is fixedly arranged, the gear member drives the frame body 410 to rotate relative to the ring gear 300, so that the frame body 410 transmits the rotating kinetic energy to the transmission shaft 110 to provide the kinetic energy to the transmission shaft 110.

It will be appreciated that, in some embodiments of the present utility model, referring to fig. 4 and 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 and the ring gear 300, and the driving gear 530 is fixedly sleeved on the output shaft 232 of the driving motor 510 and engaged with the gear member. The driving gear 530 is driven to rotate by the driving motor 510, so that the driving gear 530 is meshed with the gear member, and the driving gear 530 drives the gear member to rotate, so as to provide driving capability for the gear member.

It can be understood that, in some embodiments of the present utility model, referring to fig. 4 and 5, the gear member includes a first gear 431, the first gear 431 is fixedly sleeved on the rotating shaft 420, the first gear 431 is meshed with the ring gear 300, and drives the first gear 431 to rotate through the driving gear 530, so that the first gear 431 rotates relative to the frame 410, and the first gear 431 rotates relative to the ring gear 300, so as to drive the frame 410 to rotate relative to the ring gear 300, and since the outer diameter of the ring gear 300 is larger than the outer diameter of the driving gear 530, the rotation speed of the ring gear 300 transmitted to the frame 410 is smaller than the rotation speed of the driving gear 530 after the transmission of the first gear 431, thereby realizing the effects of reducing the rotation speed of the driving gear 530 and outputting a large torque force.

It will be appreciated that, in some embodiments of the present utility model, referring to fig. 4 and 5, the gear member further includes a second gear 432, the second gear 432 is fixedly sleeved on the rotating shaft 420, the first gear 431 and the second gear 432 are coaxially distributed, and an outer diameter of the second gear 432 is smaller than an outer diameter of the first gear 431. At this time, by the first gear 431 not being engaged with the ring gear 300 but being engaged with the ring gear 300 by the second gear 432, the rotational speed of the ring gear 300 transmitted to the carrier 410 is further reduced, and a larger torque force can be output.

The implementation principle of the embodiment of the second aspect of the present utility model is that when the planet carrier assembly 400 needs to operate, the driving gear 530 is driven to rotate by the driving motor 510, so that the driving gear 530 is meshed with the first gear 431, and the driving gear 530 drives the first gear 431 to rotate, so that the first gear 431 drives the second gear 432 to rotate, and because the second gear 432 is meshed with the inner gear ring 300, the second gear 432 drives the frame 410 to rotate relative to the inner gear ring 300, so that the frame 410 transmits kinetic energy of rotation to the transmission shaft 110, the transmission sleeve 121 is driven by the transmission shaft 110 to rotate relative to the fixed cylinder 210, so that the guide plate 122 is driven to rotate relative to the fixed cylinder 210 in a first direction, and further, the convex edge 241 rotates relative to the fixed cylinder 210 in a reverse direction in which the torsion spring 221 winds, so that a gap is generated between the torsion spring 221 rotates relative to the fixed cylinder 210, and the convex edge 241 drives the cover 231 to rotate relative to the fixed cylinder 210 in a first direction, so that the kinetic energy of the transmission assembly is transmitted and output by the output shaft 232;

When the driving motor 510 stops running, the output shaft 232 is rotated along the second direction by external force, the convex edge 241 is abutted through the cover 231, so that the convex edge 241 rotates along the winding direction of the torsion spring 221 relative to the fixed cylinder 210, the torsion spring 221 is tightly attached to the fixed cylinder 210, the external force borne by the output shaft 232 is counteracted by utilizing the friction force between the two, the rotation of the cover 231 is limited, the cover 231 can not drive the guide plate 122 to rotate along the second direction, the structural parts of the planet carrier assembly 400 are protected, and the problem that the gear structural parts inside the planetary gear box are damaged due to the fact that the output shaft 232 is reversed is solved.

The above embodiments are not intended to limit the scope of the application, so that the equivalent changes of the structure, shape and principle of the application are covered by the scope of the application.

Claims (10)

1. A self-locking structure, comprising:

The transmission assembly comprises 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 assembly comprises a fixed cylinder (210), an elastic piece and an output piece (230), wherein the elastic piece is wound on the fixed cylinder (210) and can rotate relative to the fixed cylinder (210), the transmission piece (120) is rotationally connected with the fixed cylinder (210), the output piece (230) is rotationally connected with the fixed cylinder (210), one end of the elastic piece is provided with an abutting part, the abutting part is abutted with the output piece (230), the transmission piece (120) can drive the output piece (230) to rotate relative to the fixed cylinder (210) along a first direction, when the output piece (230) rotates along a second direction, the output piece (230) can drive the elastic piece to be abutted to the fixed cylinder (210), and the first direction and the second direction are opposite to each other.

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

3. The self-locking structure according to claim 2, wherein the torsion spring (221) is wound at least one turn around the fixed cylinder (210).

4. The self-locking structure according to claim 2, wherein 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 clearance groove (2311) is formed in a penetrating manner in the side wall of the cover body (231), the clearance groove (2311) is formed in the length direction of the cover body (231), and the convex edge (241) is abutted to the groove wall of the clearance groove (2311).

5. The self-locking structure according to claim 4, wherein 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 formed in the end portion of the fixed cylinder (210) in a penetrating manner, one end of the transmission shaft (110) is fixedly connected with the transmission sleeve (121), the other end of the transmission shaft penetrates through the through hole, the guide plate (122) is fixedly connected to the transmission sleeve (121), and the guide plate (122) can be abutted to the convex edge (241).

6. The self-locking structure according to claim 5, wherein a bearing (250) is provided between the cover (231) and the transmission sleeve (121).

7. A planetary gearbox, comprising:

an inner gear ring (300);

a carrier assembly (400) rotatably disposed in the ring gear (300);

the driving assembly (500) is fixedly sleeved at one end of the annular gear (300) and can drive the planet carrier assembly (400) to rotate relative to the annular gear (300);

The self-locking structure is as claimed in any one of claims 1 to 6, the transmission shaft (110) is fixedly connected with the planet carrier assembly (400), and the fixing barrel (210) is fixedly arranged in the annular gear (300).

8. The planetary gear box according to claim 7, wherein the planetary carrier assembly (400) comprises a carrier body (410), a plurality of rotating shafts (420) and a plurality of gear members, the carrier body (410) is rotatably arranged 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 with the carrier body (410), the rotating shafts (420) are circumferentially distributed at intervals along the carrier body (410), the rotating shafts (420) are rotatably arranged on the carrier body (410) along the length direction of the carrier body (410), the plurality of gear members are fixedly sleeved on the rotating shafts (420) in a one-to-one correspondence mode, and the gear members can be meshed with the inner gear ring (300).

9. The planetary gear box according to claim 8, wherein the driving assembly (500) comprises a driving motor (510), a connecting sleeve (520) and a driving gear (530), the connecting sleeve (520) is used for fixing the driving motor (510) and the inner gear ring (300), and the driving gear (530) is fixedly sleeved on an output shaft (232) of the driving motor (510) and meshed with the gear piece.

10. The planetary gear box according to claim 9, wherein the gear member comprises a first gear (431) and a second gear (432), the first gear (431) and the second gear (432) are fixedly sleeved on the plurality of rotating shafts (420), the outer diameter of the second gear (432) is smaller than that 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).