CN111396518A

CN111396518A - Planetary centrifugal stepless transmission mechanism and control method thereof

Info

Publication number: CN111396518A
Application number: CN202010361622.2A
Authority: CN
Inventors: 钱昌贤; 范淑瑞
Original assignee: Beijing Ruichang Tongchuang Electromechanical Technology Co ltd
Current assignee: Beijing Ruichang Tongchuang Electromechanical Technology Co ltd
Priority date: 2020-04-30
Filing date: 2020-04-30
Publication date: 2020-07-10

Abstract

The invention discloses a planetary centrifugal stepless transmission mechanism and a control method thereof, wherein the planetary centrifugal stepless transmission mechanism comprises: a sun gear, at least two planet gears meshing with the sun gear, and a frame; the sun wheel is provided with a sun wheel shaft, the frame is provided with a frame shaft, the frame shaft is connected with the sun wheel shaft through a bearing, and the planetary gear is fixedly connected with the planetary gear shaft and is rotatably arranged on the frame; the frame comprises a track disc, track cavities with the same number as the gears are arranged on the track disc, the inner wall of each track cavity is a closed curve track, a track curve is offset relative to the planet wheel shaft, and the offset direction is consistent with the rotation direction of the track disc; one end of the planet gear shaft is provided with a guide groove, a slidable sliding block is arranged in the guide groove, the sliding direction of the sliding block is vertical to the axis of the planet gear shaft, and one end of the sliding block along the sliding direction of the sliding block is abutted to the offset section of the closed curve track. The invention has simple structure, self-adaptive adjustment of the output rotating speed and the torque of the frame and realization of mechanical stepless speed change.

Description

Planetary centrifugal stepless transmission mechanism and control method thereof

Technical Field

The invention belongs to the technical field of mechanical transmission, and particularly relates to a planetary centrifugal type stepless transmission mechanism and a control method thereof.

Background

There are a variety of transmissions for improving the performance of a power plant to meet the driving needs of a vehicle, and a planetary transmission is a widely used one. The planetary mechanism has a planetary gear capable of revolving around a central shaft, and is connected with a sun gear, a gear ring and a frame which rotate around the central shaft; the planetary gear is supported on the frame and can rotate around the axis of the planetary gear, although the planetary gear is an internal core of the planetary mechanism, the planetary gear is only an internal connecting part of the mechanism and does not directly influence the transmission ratio of the mechanism.

In the planetary mechanism with two degrees of freedom, the sun gear, the frame and the gear ring have differential relation, when one member is in a certain speed, the rotating speeds of the other two members can be freely changed according to a certain rule, the operating mechanism is used for controlling the speed of one of the two members, the rest speed is in a certain speed, and only when the rotating speed of one member is zero, the other member can obtain the rotating speed for determining the transmission ratio.

Due to the structural limitation and the complexity of avoiding operation, the currently used planetary mechanisms generally adopt a speed change mode of 'dead (or fixed) one component by braking, reducing one degree of freedom and obtaining a determined transmission ratio of another degree of freedom', and are applied to a transmission mechanism in the form of a differential with a determined transmission ratio. In order to obtain a transmission ratio meeting the use requirement, a plurality of groups of planet rows, a plurality of control elements and a complex operating system are often adopted, so that the structure of the transmission device becomes complex, the volume and the mass are large, and the cost is high.

With the development of science and technology and the improvement of use comfort of people, transmission devices for improving the performance of a power device to meet the driving requirement of a vehicle are various, and planetary transmission is widely applied. It adopts multiple planetary rows, numerous control elements and complex control system, and makes the structure of vehicle transmission device become complex, its volume and mass are large and its cost is high. Often becomes the technical bottleneck of new vehicle development and development. Therefore, it is necessary to explore a novel transmission with good speed change performance, simple structure and low cost.

Patent application No. 200910133067.1 discloses a drive arrangement for a gripper assembly, comprising a gripper frame with a lower gripper plate, a drive element articulated on the gripper frame being in driving connection with a drive shaft performing an intermittent pivoting movement, a gear unit having a differential gear train with at least two gear stages, a first of which is provided with non-circular gears, the sun gears of which are fixed on a rotatably mounted shaft connected to a drive mechanism, a second of which has non-circular gears, the planet gears of the first gear stage being fixed on a common shaft together with the planet gears of the second gear stage, and the output shaft of the second sun gear being mounted coaxially with the shaft of the first sun gear and being connected to the drive shaft of the gripper assembly either directly or via a further gear stage. The non-circular gear structure and application in the driving device are different from the scheme.

Disclosure of Invention

The invention mainly aims to provide a planetary centrifugal stepless transmission mechanism and a control method thereof, and aims to solve the problem that the existing planetary transmission mechanism with full-mechanical stepless speed change is complex in structure.

In order to achieve the above object, the present invention provides a planetary centrifugal type continuously variable transmission mechanism, including: a sun gear, at least two planet gears meshing with the sun gear, and a frame; the sun gear is provided with a sun gear shaft, the frame is provided with a frame shaft, the sun gear is arranged in the frame, the planetary gear is fixed on a planetary gear shaft, and the planetary gear shaft is rotatably arranged on the frame; the frame comprises an orbit disc, an orbit cavity is arranged on the orbit disc at the position corresponding to each planetary gear, the inner wall of the orbit cavity is a closed curve orbit, the closed curve orbit is offset relative to the planetary gear shaft, and the offset direction of the closed curve orbit is consistent with the rotation direction of the orbit disc; one end of the planet gear shaft is provided with a guide groove, a slidable sliding block is arranged in the guide groove, the sliding direction of the sliding block is perpendicular to the axis of the planet gear shaft, and one end of the sliding block along the sliding direction is abutted to the offset section of the closed curve track.

Preferably, the two ends of the sliding block along the sliding direction are provided with rollers.

Preferably, the shape of the cross section of the guide groove along a plane perpendicular to the sliding direction of the guide groove is rectangular, and the slider is strip-shaped.

Preferably, both ends of the sliding block are smooth curved surfaces.

Preferably, the planet gear shaft includes axial region, slider installation department, the one end of slider installation department is equipped with the apron, the guide slot is established in the slider installation department.

Preferably, the frame further comprises a front planet wheel supporting disc, a rear planet wheel supporting disc and an auxiliary supporting disc, the front planet wheel supporting disc, the rear planet wheel supporting disc, the auxiliary supporting disc and the track disc are fixedly connected into a whole, and the front planet wheel supporting disc, the rear planet wheel supporting disc, the auxiliary supporting disc and the track disc are all connected with the frame shaft through spline pairs.

Preferably, the planetary centrifugal continuously variable transmission mechanism further comprises: the solar wheel shaft and the frame shaft are erected in the box body.

The invention also provides a control method of the planetary centrifugal stepless transmission mechanism, which comprises the following steps:

s1, driving the sun gear shaft to rotate, driving the sun gear shaft to drive the sun gear and the planet gear to rotate, when the planet gear rotates, the sliding block rotates around the axis of the planet gear shaft, meanwhile, the sliding block also slides along the guide groove, the end part of the sliding block applies thrust to the track disc, and the thrust can generate a rotating moment to the frame;

s2, when the input rotation speed is increased, the rotation moment is increased, when the rotation moment is larger than the external resistance moment applied to the frame, the frame rotates, and the rotation speed is output through the frame;

s3, when the input rotation speed increases, the planetary gear revolves around the sun gear while rotating, the outer resistance torque increases after the frame rotates, when the rotation torque is consistent with the outer resistance torque, the rotation speed of the planetary gear does not increase, and when the input rotation speed increases, the output rotation speed increases correspondingly;

s4, if the external resistance torque is increased from outside the mechanism, but the input rotation speed is kept constant, the self-transmitting angular velocity of the planetary gear is increased, the thrust force applied to the orbit disk by the slider is increased until the rotation torque and the external resistance torque coincide again, and the output rotation speed is decreased.

Compared with the prior art, the technical scheme of the invention has the beneficial effects that:

firstly, the position of a frame for supporting a planetary gear shaft is provided with an orbit cavity, the inner wall of the orbit cavity is provided with a closed curve, the orbit cavity is offset relative to the planetary gear shaft, and the offset direction is consistent with the rotation direction of an orbit disc. The guide groove is arranged at one end of the planet gear shaft, the slidable sliding block is arranged in the guide groove, and the curve moving pair is formed between the sliding block and the closed curve track in the track cavity, so that the planet gear shaft, the sliding block and the frame together form an outer eccentric and inner guide eccentric device.

Compared with the existing planetary mechanism, the invention abandons a gear ring, a brake and a clutch for operation, the sun gear is used as an active part, the frame is a passive part, the input power from the sun gear is adaptively adjusted between the sun gear and the frame through a new active part sliding block on a new structure of the planetary gear shaft and the frame, and the required speed and torque are output through the frame shaft, so that the structure of the existing stepless transmission mechanism is greatly simplified, the structure is superior in speed change performance, simple in structure, convenient to operate, small in volume and weight, low in cost and free of a complex operation control system, and in the interaction between the inner members of the mechanism, the input and the output are adaptively adjusted, so that the automatic stepless speed change is realized.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a structural view of a conventional common planetary gear mechanism;

fig. 2 is a structural diagram of a planetary centrifugal type continuously variable transmission mechanism according to an embodiment of the present invention;

FIG. 3 is a cross-sectional view of FIG. 2;

FIG. 4 is a structural view of a frame and planet pins of the planetary centrifugal type continuously variable transmission mechanism of FIG. 2;

FIG. 5 is a structural view of a planet pin of the planetary centrifugal type continuously variable transmission mechanism of FIG. 2;

fig. 6 is a schematic diagram of a structure of a track disk.

The invention is illustrated by the reference numerals:

reference numerals	Name (R)	Reference numerals	Name (R)
				1	Sun wheel	2	Planetary gear
3	Frame structure	31	Track disc
				32	Track cavity	33	Closed curve track
34	Auxiliary supporting disk	35	Front support disc of planet wheel
				36	Planet wheel rear support disc	4	Planet gear shaft
41	Guide groove	42	Shaft part
				43	Slider mounting part	44	Cover plate
7	Sliding block	71	Roller wheel
				5	Sun wheel shaft	6	Frame shaft

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The invention provides a planetary centrifugal stepless transmission mechanism.

First, the following general planetary mechanism is described.

Referring to fig. 1, fig. 1 shows a simplest planetary gear mechanism, and in a commonly used planetary gear mechanism, a sun gear 4 ', a ring gear 1' and a frame 3 'are connected and interacted with each other through a planetary gear 2' supported on the frame 3 ', and the planetary gear 2' rotates with the frame 3 'and rotates with respect to the frame 3'.

If the sun gear 4 'is the input rotation speed of the driving part and the frame 3' is the output rotation speed of the driven part, then:

since the planet gears 2 'revolve with the frame 3',angular velocity of frame 3I.e. epicyclic angular velocity of the planet gears 2', alsoIs made into a machine Angular velocity of output of structure。

Since the planet gears 2 'cannot be connected to other components than the mechanism as the frame 3' rotates, they can only be present as internal connections, but the actuation of the mechanism changes its operation.

If the gear ring 1 'is braked, the rotating speed of the gear ring 1' is changed from fast to slow to zero, and the rotating speed of the planet gear 2 'meshed with the gear ring 1' is changed to a fixed rotating speed according to the transmission ratio between the two. According to the above formula, if the rotational angular velocity of the corresponding planetary gear 2' is reduced, the epicyclic angular velocity is increased, while the input rotational speed is unchanged; if the rotation angular speed is increased, the turnover angular speed is reduced; if the rotational angular velocity is zero, the epicyclic angular velocity is equal to the input angular velocity, and the planetary mechanism rotates integrally. Therefore, if the rotation speed of the planetary gear can be automatically changed according to the use requirement, the mechanism can obtain stepless speed change.

However, in the conventional planetary mechanism, the way of changing the rotation speed of the planetary gear can be generated only by braking the ring gear to different degrees. The braking of the running component generates friction between the braking piece and the braked piece, which causes a series of problems of abrasion and ablation of parts, shortened service life, lowered transmission efficiency and the like. Therefore, in order to realize stepless speed change on the planetary mechanism, a speed change mode of 'obtaining a determined transmission ratio of another degree of freedom by braking (or fixing) a component and reducing one degree of freedom' is avoided, and a novel planetary transmission mechanism is innovated and invented, so that the invention provides a planetary centrifugal type mechanical stepless speed change device.

Next, a planetary centrifugal type continuously variable transmission mechanism according to the present invention will be described.

Referring to fig. 2 to 6, the planetary centrifugal stepless transmission mechanism includes: a sun gear 1, at least two planet gears 2 and a frame 3 (only one planet gear is shown in fig. 2), the sun gear 1 being arranged on a sun gear shaft 5, the frame 3 being mounted on a frame shaft 6, the frame shaft 6 being connected to the sun gear shaft 5 via a bearing, the planet gears 2 being arranged on planet gear shafts 4, being supported by the planet gear shafts 4, the planet gears 2 being mounted on a rotatable frame 3, the planet gears 2 rotating with the planet gear shafts 4. The sun wheel shaft 5 is an input shaft, the frame shaft 6 is an output shaft, and power is input by the sun wheel 1 and output by the frame 3.

Referring to fig. 4, the frame 3 includes an orbit plate 31, an orbit cavity 32 is formed at a supporting position of the planet pin 4 on the orbit plate 31, an inner wall of the orbit cavity 32 forms a closed curve orbit 33, and the orbit cavity 32 surrounds the planet pin 4 and is offset from a center of the planet pin 4, and is biased to an output rotation direction of the orbit plate 31.

Referring to fig. 4, 5 and 6 again, one side of the planet gear shaft 4 away from the planet gear 2 passes through the track cavity 32, one end of the planet gear shaft 4 away from the planet gear 2 is provided with a guide groove 41, a sliding block 7 with quality requirement is arranged in the guide groove 41 in a sliding manner, two ends of the sliding block 7 along the sliding direction are curved surfaces, and at least one end of the sliding block is abutted to the closed curved track 33. The slider 7 can slide relative to the guide groove 41 and also rotate with the rotation of the pinion shaft 4. When the sliding block 7 rotates along with the planet gear shaft 4, two ends of the sliding block 7 are alternatively abutted with the closed curve track 33 of the frame 3 according to the eccentric requirement, and the sliding block 7 and the guide groove 41 are precisely matched to move relatively and slide on the closed curve track 33 once every half cycle of rotation.

Therefore, under the combined action of the planetary gear shaft 4 and the closed curve track 33, when the sun gear 1 rotates to drive the planetary gear 2 and the planetary gear shaft 4 thereof to rotate, the planetary gear shaft 4 drives the sliding block 7 to do compound motion along with the rotation of the planetary gear 2 and the radial movement relative to the planetary gear shaft 4, and the curve shape of the closed curve track 33 enables the displacement, the speed and the acceleration of the sliding block 7 to be changed repeatedly according to a set rule. The eccentric rotation of the slide block 7 generates centrifugal force, and the frame 3 is pushed to rotate to output rotating speed after the resistance on the frame 3 is overcome, so that the speed change purpose is achieved.

Specifically, in fig. 4 and 6, the rotation direction of the orbit plate 31 is clockwise, and the orbit cavity 32 is offset in the clockwise direction with respect to the planet pins. The orbit cavity 32 is an eccentric circle, namely the center of the orbit cavity is not on the rotation point (the axle center of the planet gear shaft 4), and a curve moving pair is formed between the slide block 7 and the orbit disk 3.

Taking the rail cavity 32 at the lowest end in fig. 6 as an example, the closed curve rail 33 is divided by the center line of the slider 7, and the right side thereof is a reference section and the left side thereof is a working section, and the working section has a special curve shape. For example, the working section of the closed curve track 33 may be an elliptic curve or a cycloid curve, the working section and the reference section are connected to form a smooth arc line adapted to the end surface of the slider 7, the specific shape of the closed curve track 33 may be drawn by combining with a drawing of an eccentric circle of a cam in the prior art, and the specific shape of the closed curve track 33 can be obtained according to the base circle, the stroke of the slider 7, and the like.

In the structure, the slide block 7 and the track disc 3 jointly form an eccentric device with external eccentricity and internal guidance, the slide block 7 generates centrifugal force to act on the closed curve track 33 under the driving and guidance of the planet gear shaft 4, the centrifugal force changes along with the rotation angular speed, the frame shaft 6 generates variable torque, and meanwhile different requirements are put forward on input power.

The working principle of the invention is as follows:

1. when the torque applied to the frame shaft 6 by the centrifugal force of the sliding block 7 is larger than the external resistance torque on the frame 3 in the static state of the frame 3, the input rotating speed is increased, the frame 3 rotates, and the structure has output;

2. when the mechanism runs and the frame 3 outputs, if the torque generated by the slide block 7 is equal to the external resistance torque on the frame 3, the autorotation rotating speed of the planetary gear 2 is not increased any more, the input rotating speed is increased, and the output rotating speed is increased;

3. if the external resistance moment is increased and the input rotating speed is not increased, the planetary gear 2 automatically accelerates to rotate, the centrifugal moment generated by the sliding block 7 is increased, the moment balance on the frame 3 is achieved, and the revolving angular speed is reduced.

Therefore, under the change of the external resistance torque, the required output rotating speed can be obtained by changing the input rotating speed and the torque, and the planetary centrifugal stepless speed change is achieved.

The invention has simple overall structure, only adopts a single planetary mechanism, abandons a gear ring and a brake and a clutch for operation, takes the sun gear 1 as a driving part and the frame 3 as a driven part, carries out self-adaptive adjustment on the input power from the sun gear 1 through the new structures of the planetary gear shaft 4 and the frame 3, and outputs the required speed and torque through the frame shaft 6.

Further, the planet gear shaft 4 comprises a shaft portion 42 and a slider mounting portion 43, the slider mounting portion 43 is provided with the guide groove 41, the slider 7 is inserted into the slider mounting portion 43, and in order to reduce friction between the slider 7 and the closed curved track 33, rollers 71 are arranged at two ends of the slider 7, so that the slider 7 can roll on the closed curved track 33. A cover plate 44 having a supporting function is provided on one side of the guide groove 41, the guide groove 41 is cut in a rectangular shape on a plane perpendicular to the extending direction of the guide groove 41, and correspondingly, the slider 7 is also rectangular in section, and the slider 7 is precisely slidably connected to the guide groove 41.

Further, the frame 3 further includes: the planet wheel front support disc 35, the planet wheel rear support disc 36 and the auxiliary support disc 34 are fixedly connected into a whole with the planet wheel front support disc 35, the planet wheel rear support disc 36 and the track disc 31 and the auxiliary support disc 34 and are connected with the frame shaft 6 through splines. The planet gear shaft 5 is mounted on a planet wheel front support disc 35, an auxiliary support disc 34, a planet wheel rear support disc 36 and penetrates the orbital disc 31.

Furthermore, the planetary centrifugal stepless transmission mechanism also comprises a box body, the box body comprises a lower box body and an upper box cover, and the sun wheel shaft 5 and the frame shaft 6 are erected in the box body.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A planetary centrifugal continuously variable transmission, comprising: a sun gear (1), at least two planet gears (2) meshing with the sun gear (1) and a frame (3);

the sun gear (1) is provided with a sun gear shaft (5), the frame (3) is provided with a frame shaft (6), the sun gear (1) is arranged in the frame (3), the planetary gear (2) is fixed on a planetary gear shaft (4), and the planetary gear shaft (4) is rotatably arranged on the frame (3);

the frame (3) comprises an orbit disc (31), an orbit cavity (32) is arranged at the position of the orbit disc (31) corresponding to each planetary gear (2), the inner wall of the orbit cavity (32) is a closed curve orbit (33), the closed curve orbit (33) is offset relative to the planetary gear shaft (4), and the offset direction of the closed curve orbit is consistent with the rotation direction of the orbit disc (31);

one end of the planet gear shaft (4) is provided with a guide groove (41), a slidable sliding block (7) is arranged in the guide groove (41), the sliding direction of the sliding block (7) is perpendicular to the axis of the planet gear shaft (4), and one end of the sliding block (7) along the sliding direction is abutted to the offset section of the closed curve track (33).

2. A planetary centrifugal continuously variable transmission mechanism according to claim 1, wherein both ends of said slider (7) in its sliding direction are provided with rollers (71).

3. A planetary centrifugal type continuously variable transmission mechanism according to claim 2, wherein the shape of the guide groove (41) sectioned by a plane perpendicular to the sliding direction of the guide groove (41) is a rectangle, and the slider (7) is a bar.

4. A planetary centrifugal stepless transmission mechanism according to claim 1, characterized in that both ends of the slide block (7) are rounded curved surfaces.

5. A planetary centrifugal type continuously variable transmission mechanism according to claim 1, wherein the planetary gear shaft (4) includes a shaft portion (42), a slider mounting portion (43), one end of the slider mounting portion (43) is provided with a cover plate (44), and the guide groove (41) is provided in the slider mounting portion (43).

6. A planetary centrifugal continuously variable transmission according to any of claims 1 to 5, characterized in that said frame (3) further comprises a planet front carrier disc (35), a planet rear carrier disc (36) and an auxiliary carrier disc 34, said planet front carrier disc (35), planet rear carrier disc (36), auxiliary carrier disc (34) and said orbital disc (31) being fixedly connected as one, said planet front carrier disc (35), planet rear carrier disc (36), auxiliary carrier disc (34) and said orbital disc (31) being connected to said frame shaft (6) by means of a spline pair.

7. A planetary centrifugal continuously variable transmission mechanism according to claim 6, further comprising: the solar energy power generation device comprises a box body, wherein the solar wheel shaft (5) and a frame shaft (6) are erected in the box body.

8. A control method of a planetary centrifugal type continuously variable transmission mechanism according to any one of claims 1 to 7, characterized by comprising the steps of:

s1, the sun gear shaft (5) is driven to rotate, the sun gear shaft (5) drives the sun gear (1) and the planet gear (2) to rotate, when the planet gear (2) rotates, the sliding block (7) rotates around the axis of the planet gear shaft (4), meanwhile, the sliding block (7) also slides along the guide groove (41), the end part of the sliding block (7) applies thrust to the track disc (31), and the thrust can generate a rotating moment on the frame (3);

s2, when the input rotating speed is increased, the rotating torque is increased, when the rotating torque is larger than the external resistance torque applied to the frame (3), the frame (3) rotates, and the rotating speed is output through the frame (3);

s3, when the input rotation speed increases, the planetary gear (2) revolves around the sun gear (1) while rotating, the outer resistance torque of the frame (3) increases after the rotation, when the rotation torque matches the outer resistance torque, the rotation speed of the planetary gear (2) does not increase, and when the input rotation speed increases, the output rotation speed increases correspondingly;

s4, if the external resistance torque is increased from the outside of the mechanism, but the input rotating speed is kept unchanged, the self-transmission angular speed of the planetary gear (2) is improved, the thrust force applied to the orbit disc (31) by the slide block (7) is increased until the rotating torque and the external resistance torque are consistent again, and the output rotating speed is reduced.