CN111692296B - Planetary gear reducer with self-adaptive fastening planet carrier - Google Patents

Abstract

The invention discloses a planetary gear reducer with a self-adaptive fastening planetary carrier, which comprises a planetary carrier, wherein the planetary carrier comprises a half disc and a half disc, a limiting frame and a traction plate are arranged between the half disc and the half disc, the limiting frame is fixed with the half disc, one end of the limiting frame is provided with an insertion plate, the insertion plate and the traction plate are respectively provided with a fastening port, the half disc is provided with a sliding groove, an insertion groove and a traction groove, a fastening device is arranged in the sliding groove, and the fastening device comprises a shell, a balance weight part and a fastening inclined plane. Utilize fastener's counterweight, when the planet carrier is high-speed rotatory, exert centrifugal force to the counterweight for centrifugal force tractive fastener makes the thicker one end of fastening inclined plane extrude to the fastening mouth, thereby makes plugboard and tractive board when the rotational speed is higher, can provide bigger extrusion force more, makes the outer tip of planet carrier and interior tip all have sufficient clamp force, makes the interior outer end atress of planetary gear more even, vibration when reducing planetary gear and rotating.

Description

Planetary gear reducer with self-adaptive fastening planet carrier

Technical Field

The invention relates to a planetary gear reducer, in particular to a planetary gear reducer with a self-adaptive and fastened planet carrier.

Background

Planetary gear reducers, also known as planetary reducers, servo reducers. In the reducer family, the planetary reducer is widely applied to transmission systems such as servo motors, stepping motors, direct current motors and the like due to the advantages of small size, high transmission efficiency, wide reduction range, high precision and the like. The function of the device is mainly used for reducing the rotating speed, increasing the torque and reducing the rotational inertia ratio of the load/the motor on the premise of ensuring the precision transmission. A large number of planetary gear reducers are used as matching parts in the industries of hoisting, digging, transportation, building and the like.

As shown in fig. 16, the planetary gear reducer includes a planetary carrier, the planetary carrier is composed of a first half disc 1' and a second half disc 2', a limiting frame 10' is disposed between the first half disc 1' and the second half disc 2', the limiting frame 10' and the first half disc 1' are integrally formed, and the limiting frame 10' and the second half disc 2' are finally fixed by a positioning pin 6' and a bolt 4' to ensure that the first half disc 1' and the second half disc 2' rotate synchronously.

The existing planet carrier connection mode is that a butt joint hole and a threaded hole are formed in a limiting frame 10' and a second half disc 2', a positioning pin 6' is inserted between the second half disc 2' and the limiting frame 10', a pressing plate 5' is covered at the outer end of the positioning pin 6', and finally the pressing plate 5' is firmly pressed on the surface of the second half disc 2' by screwing a bolt 4' so as to avoid the positioning pin 6' from being separated.

Therefore, the mechanical fixing mode has the following defects:

1. in the permanent use of speed reducer, because the vibration of speed reducer, constantly produce deformation between bolt 4 'and the place screw hole for bolt 4' is difficult to firmly fix, makes the clearance appear between spacing 10 'and the second half dish 2', and the speed reducer operation, the rotatory vibration and the noise of existence of planet carrier.

2. Because the bolt 4' has the risk of breaking away from, consequently clamp plate 5' is difficult to continuous compress tightly at two half dish 2' surfaces, once produce the clearance between bolt 4' and the clamp plate 5', clamp plate 5' can produce the skew rotation around bolt 4', leads to locating pin 6' outer end to lose spacing to make spacing 10' lack the spacing and separate of locating pin 6' with two half dish 2', consequently have certain potential safety hazard.

3. When the rotation speed is higher, the vibration frequency of the planet carrier is higher, and if a gap exists between the two half discs, the generated noise is higher.

Disclosure of Invention

The invention aims to provide a planetary gear reducer with a self-adaptive fastening planet carrier, which utilizes a counterweight of a fastening device to apply centrifugal force to the counterweight when the planet carrier rotates at high speed, so that the centrifugal force pulls the fastening device, one end with a thicker fastening inclined plane is extruded to a fastening port, and thus, when the rotating speed of a plugboard and a pulling board is higher, higher extrusion force can be provided, two half discs of the planet carrier are extruded more tightly, the outer end and the inner end of the planet carrier both have enough clamping force, the inner end and the outer end of the planet carrier are stressed more uniformly, and the vibration of the planet carrier during rotation is reduced.

In order to realize the purpose of the invention, the invention adopts the following technical scheme: a planetary gear reducer with a self-adaptive fastening planetary carrier comprises a cylinder body and a planetary carrier, wherein the planetary carrier is positioned inside the cylinder body and comprises a half disc and a half disc, a limiting frame and a traction plate are fixed on the surface of the half disc, the limiting frame and the traction plate face the half disc, one end, facing the half disc, of the limiting frame is provided with an insertion plate, the middle parts of the insertion plate and the traction plate are provided with fastening ports, the half disc is provided with a sliding groove, the sliding groove is positioned on the surface, facing away from the half disc, of the half disc, the bottom of the sliding groove is provided with an insertion groove and a traction groove, the insertion groove and the traction groove penetrate through the half disc, the position of the insertion groove corresponds to that of the insertion plate, and the position of the traction groove corresponds to that of the traction plate; a fastening device is arranged in the sliding groove and comprises a shell, a counterweight piece and a fastening inclined plane, the fastening inclined plane faces the surface of one side, back to the two half discs, of the fastening port, the fastening inclined plane is positioned on the surface of the shell, and the thickness of the inner end of the fastening inclined plane is larger than that of the outer end of the fastening inclined plane; the surface of the fastening port, which is in contact with the fastening inclined surface, is a pressing surface, and the pressing surfaces at the fastening ports of the insertion plate and the traction plate are in the same plane; the fastening device penetrates through the fastening openings of the insertion plate and the traction plate, the extrusion surface contacts with the fastening inclined surface of the fastening device, and the bottom of the sliding groove contacts with the lower part of the fastening device; the plugboard is inserted into the plugboard groove, the traction plate is inserted into the traction groove, and the fastening device penetrates through the fastening ports of the plugboard and the traction plate and is pressed in the sliding groove.

Preferably, three sets of planet gears are arranged on the planet carrier, and the sliding groove and the fastening device are positioned between the two adjacent sets of planet gears.

Preferably, the surfaces of the two half plates are also provided with counterweight grooves, fastening devices are arranged in the counterweight grooves, the fastening devices in the counterweight grooves are identical in structure with the fastening devices in the sliding grooves, fixing plates are arranged on the surfaces of the counterweight grooves, and the fixing plates compress and fix the fastening devices in the counterweight grooves.

Preferably, the traction plate, the limiting frame and the insertion plate are integrally formed in the same half disc.

Preferably, the fastening device further comprises a telescopic rod, a fastening spring and a limiting part, the telescopic rod, the fastening spring and the limiting part are all located inside the shell, two ends of the telescopic rod are respectively connected with the counterweight part and the limiting part, and the surface of the telescopic rod is sleeved with the fastening spring.

Preferably, the weight member is a roller, and the middle part of the weight member is pivoted to the end part of the telescopic rod.

Preferably, the counterweight is cylindrical, rubber protrusions and metal protrusions are arranged on the arc-shaped surface of the counterweight, the rubber protrusions and the metal protrusions are arranged on the surface of the counterweight in an alternating annular array mode, and the height of the rubber protrusions is larger than that of the metal protrusions.

Preferably, the outer end surface of the metal protrusion is arc-shaped, and the outer end surface of the metal protrusion and the arc-shaped surface of the counterweight are concentrically arranged.

Preferably, a through hole is formed in the circle center of the two half discs, and the sliding groove penetrates through the side wall of the through hole.

Preferably, the limiting structure for preventing the fastening device from moving towards the inner side of the sliding groove is arranged at the bottom of the sliding groove and comprises a limiting bolt and a plurality of threaded holes, the threaded holes are located on one side of the inner end face of the fastening device, and the threaded holes are perpendicular to the bottom surface of the sliding groove and are arranged at equal intervals.

Compared with the prior art, the planet carrier of the planetary gear speed reducer adopting the technical scheme has the following beneficial effects:

1. by adopting the planet carrier, the centrifugal force towards the outer peripheral side can be generated on the weight part of the fastening device through the rotation of the planet carrier, so that the fastening device forms traction and displacement towards the outer peripheral side; the fastening inclined plane through the fastening device exerts pulling force to socket plate and tractive board to make two half dishes firmly compress tightly on spacing, when the planet carrier is along with the high-speed rotation of speed reducer, the rotational speed is higher more, and half dish and two half dishes are pressed and are tightened more. Because the threaded fasteners such as bolts and the like are eliminated, even if the speed reducer is influenced by vibration, looseness and deviation between the fastening opening and the fastening inclined plane can not be caused, and the generation of vibration and noise during the rotation of the planet carrier is effectively avoided.

2. The extrusion surfaces on the traction plate and the insertion plate are in the same plane, so that the clamping force generated by the fastening inclined surface of the fastening device at the fastening opening is ensured to be the same inside and outside.

3. The insertion plates generate clamping force at the edge of the planet carrier, and the traction plates maintain the clamping force at the middle of the planet carrier, so that the situation that the stress of the outer side part of the planet gear is larger than that of the part close to the circle center is avoided, and the problem of planet gear vibration caused by uneven stress is prevented.

4. And in the rotation process, along with the increase of the rotating speed, the linear velocity of the fastening device is continuously increased, the centrifugal force of the weight part is increased and tends to move towards the edge of the planet carrier, so that the fastening inclined plane moves outwards, the thickness of the fastening inclined plane which is abutted against the fastening port is continuously increased, the first half disc and the second half disc are pressed more tightly at a high rotating speed, namely the rotating speed is pressed more tightly, and the vibration and the noise during high-speed rotation are effectively reduced.

Drawings

Fig. 1 is a schematic structural diagram of a planetary gear reducer with a self-adaptive fastening planet carrier according to the invention.

Fig. 2 is a schematic structural diagram of a planet carrier in the embodiment.

Fig. 3 is a schematic structural diagram (at high-speed rotation) of the planetary carrier in the embodiment.

FIG. 4 is a schematic structural diagram of a planet carrier in an embodiment.

Fig. 5 is a schematic view showing the connection of the first half disk and the second half disk in the embodiment.

Fig. 6 is a schematic view showing the connection of the first half disk and the second half disk in the embodiment.

Fig. 7 is a schematic view showing the connection of the fastening port and the fastening device in the embodiment.

Fig. 8 is a sectional view of a fastening port and a fastening device in the embodiment.

Fig. 9 is a schematic structural view of a fastening device in an embodiment.

Fig. 10 is a disassembled schematic view of the fastening device in the embodiment.

Fig. 11 is a sectional view of the fastening device in the embodiment.

Fig. 12 is a sectional view (stretched state) of the fastening device in the embodiment.

Fig. 13 is a schematic structural view of the weight member in the embodiment.

Fig. 14 is a schematic structural view of the weight member in the embodiment.

Fig. 15 is a partial enlarged view at B in fig. 14.

Fig. 16 is a schematic structural view of a planetary gear reducer in the prior art.

Fig. 17 is a schematic structural view of a planetary gear reducer in the prior art.

Fig. 18 is a schematic structural view of a planetary gear reducer in the prior art.

Reference numerals: 1. a half disc; 10. a limiting frame; 11. a plugboard; 12. a fastening opening; 13. a counterweight groove; 14. a fixing plate; 2. two half discs; 20. a sliding groove; 21. inserting grooves; 22. a threaded hole; 23. a limit bolt; 3. a fastening device; 30. fastening the inclined plane; 31. a counterweight; 32. a telescopic rod; 33. a limiting member; 34. a fastening spring; 35. a housing.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

The carrier of the planetary gear reducer shown in fig. 1 to 12 includes a half disc 1 and a half disc 2.

As shown in fig. 5, a limiting frame 10 and a traction plate 19 are fixed on the surface of the first half disc 1, the limiting frame 10 and the traction plate 19 face the second half disc 2, and an insertion plate 11 is arranged at one end of the limiting frame 10 facing the second half disc 2. The middle parts of the inserting plate 11 and the traction plate 19 are provided with fastening ports 12. The traction plate 19, the limiting frame 10 and the inserting plate 11 are integrally formed with the half disc 1 to improve the structural strength, and meanwhile, no gap exists at the joint, so that the vibration is further avoided.

The two half discs 2 are provided with sliding grooves 20, the sliding grooves 20 are positioned on the surfaces of the two half discs 2, which are back to the first half disc 1, the bottoms of the sliding grooves 20 are provided with inserting grooves 21 and drawing grooves 29, the inserting grooves 21 and the drawing grooves 29 penetrate through the two half discs 2, the positions of the inserting grooves 21 correspond to the inserting plates 11, and the positions of the drawing grooves 29 correspond to the drawing plates 19; the slide groove 20 is provided with a fastening device 3.

Referring to fig. 5 and 6, when the socket plate 11 is inserted into the socket slot 21, the pulling plate 19 is inserted into the pulling slot 29, the fastening opening 12 is aligned with the sliding slot 20, and the fastening device 3 is inserted into the sliding slot 20 through the fastening openings 12 of the two plates.

As shown in fig. 6, the fastening device 3 comprises a housing 35, a weight member 31 and a fastening inclined surface 30, the fastening inclined surface 30 faces to one side surface of the fastening port 12 opposite to the two half discs 2, the fastening inclined surface 30 is positioned on the surface of the housing 35, and the thickness of the inner end of the fastening inclined surface 30 is larger than that of the outer end. The surface of the fastening opening 12 contacting with the fastening inclined surface 30 is a pressing surface, and the pressing surfaces at the fastening opening 12 of the insertion plate 11 and the pulling plate 19 are in the same plane. The fastening device 3 passes through the insertion plate 11 and the fastening opening 12 of the traction plate 19, the pressing surface contacts the fastening inclined surface 30 of the fastening device 3, and the groove bottom of the sliding groove 20 contacts with the lower part of the fastening device 3.

When the planet carrier rotates at a high speed, the planet carrier generates centrifugal force to the fastening device 3 (the fastening device 6 in fig. 6 is subjected to rightward centrifugal force), the fastening device 3 moves outwards along the sliding groove 20 along with the counterweight 31, the thickness of the fastening inclined plane 30 below the fastening port 12 continuously becomes thicker when the fastening device 3 moves outwards, and the plugboard 11 and the traction board 19 further move towards the side of the second half disc 2, so that the second half disc 2 is further attached to the limiting frame 10, the two half discs are firmly attached and fixed, and the connection mode of screwing the bolts is replaced.

In the present embodiment, the planet carrier is provided with three sets of planet gears, three sets of sliding grooves 20 and three sets of fastening devices 3, and the sliding grooves 20 and the fastening devices 3 are located between two adjacent sets of planet gears. The centrifugal force generated by the weight 31 of the tightening device 3 can be evenly distributed to the two half discs 2.

As shown in fig. 9, the fastening device 3 further includes an expansion link 32, a fastening spring 34 and a limiting member 33, the expansion link 32, the fastening spring 34 and the limiting member 33 are all located inside the housing 35, two ends of the expansion link 32 are respectively connected with the counterweight 31 and the limiting member 33, and the fastening spring 34 is sleeved on a surface of the expansion link 32. Before the planet carrier rotates or rotates at a low speed, the counterweight 31 is not stressed, the counterweight 31 is under the action of the elastic force of the spring 34 and is positioned at the position shown in the figure 10, when the planet carrier rotates at the low speed, drivers (an engine, a motor and the like) are all at lower power, the counterweight 31 has shorter moving distance, the load of a speed reducer can be reduced, the power is smaller, and meanwhile, the generated shaking and vibration are also smaller.

When the planet carrier rotates at a higher rotation speed, the centrifugal force received by the weight 31 is greater than the elastic force of the spring 34, the weight 31 starts to move relative to the housing 35, the weight 31 moves to a position farther from the rotation center, and under the condition of unchanged angular velocity, the position farther from the rotation center is a higher linear velocity, and the generated centrifugal force is also higher, so that when the planet carrier rotates at a high speed, after the weight 31 is far from the rotation center, the pulling force of the weight 31 on the fastening device 3 becomes greater, and a higher clamping force is provided for the planet carrier.

When the planet carrier rotates at a low speed, the counterweight 31 is closer to the rotation center, the power and the load are smaller, the whole speed reducer shakes less, and the noise is lower. When the planet carrier rotates at a high speed, the distance from the counterweight 31 to the rotation center is increased, larger pulling force is provided, and the planet carrier is ensured to have stable connection.

The weight member 31 is a roller, and the middle part of the weight member 31 is pivoted to the end part of the telescopic rod 32. The counterweight 31 moves along with the rotation speed of the planet carrier, when the counterweight 31 is thrown to the maximum distance, if the fastening device 3 is connected with the fastening port 121 to be loosened or damaged, the counterweight 31 can contact the inner wall of the speed reducer cylinder body (see fig. 1), and the counterweight 31 adopts a roller structure, so that the counterweight 31 can be effectively prevented from scraping the inner wall of the speed reducer cylinder body.

The weight 31 is made of copper, the cylinder body is generally made of steel, and the hardness of the weight 31 is reduced to protect the inner wall of the cylinder body and prevent scratches or damages.

As shown in fig. 13, the weight member 31 is cylindrical, and the arc-shaped surface of the weight member 31 is provided with a rubber protrusion 312 and a metal protrusion 311, wherein the metal protrusion 311 and the weight member 31 are made of the same material and are made of copper material.

As shown in fig. 15, the rubber protrusions 312 and the metal protrusions 311 are alternately and annularly arranged on the surface of the weight 31, when the weight 31 contacts the inner wall of the speed reducer cylinder, the rubber protrusions 312 and the metal protrusions 311 alternately contact the inner wall of the cylinder to generate bang bang bang rhythmic impact sound, and compared with the sharp sound generated by directly contacting the metal weight 31 with the inner wall of the speed reducer cylinder to scrape, the impact sound has higher loudness compared with the scraping sharp sound, and the warning effect is more obvious.

The rubber bumps 312 are higher than the metal bumps 311. When the weight member 31 is thrown out and impacts the inner surface of the cylinder body of the speed reducer, the rubber bulge 312 provides elasticity, and is mainly used for resisting impact force generated by instant impact and avoiding damage to the inner wall.

Secondly, when the rubber bump 312 rolls along the inner wall of the cylinder body when the weight 31, the rubber bump 312 deforms to enable the metal bump 311 to contact the inner wall of the cylinder body of the speed reducer, namely when the weight 31 contacts the inner wall of the cylinder body, the metal bump 311 does not contact the inner wall, and only clunking impact sounds exist.

That is, only when rotating at a high speed, the weight member 31 is thrown out to contact the inner wall of the cylinder body, and simultaneously the weight member 31 is tightly attached to the inner wall of the cylinder body until the metal protrusion 311 contacts, at this time, the metal protrusion 311 contacts the inner wall, and a more crisp and loud impact sound is given out.

The rubber bumps 312 and the metal bumps 311 are arranged alternately, and the metal bumps 311 are used for buffering through the rubber bumps 312 after impacting the inner wall, so that the over-high vibration frequency is avoided, and the counterweight 31 is prevented from being damaged due to the fact that resonance is formed between the counterweight 31 and the cylinder body.

As shown in fig. 15, the outer end surface of the metal protrusion 311 is arc-shaped, and the outer end surface of the rubber protrusion 312 is concentrically arranged with the arc-shaped surface of the weight 31, that is, when the weight 31 is attached to the inner wall of the cylinder body and rotates at a low speed, the rubber protrusion 312 contacts with the inner wall of the cylinder body and forms a relatively gentle rolling, and the rubber protrusion 312 impacts the inner wall of the cylinder body to generate clunking impact sound. The system is used for warning operators and stopping the machine in time to detect the condition of the speed reducer.

If the operator does not find the situation, the fastening device 3 further moves outwards, and at the moment, the rubber bump 312 deforms, so that the metal bump 311 contacts the inner wall of the cylinder body, the weight member 31 bounces slightly after the metal bump 311 collides, and the rubber bump 312 contacts the inner wall of the cylinder body again to reduce the impact vibration. The impact sound is generated at the moment, and the impact sound is crisp and loud and clunky and alternated. The operator can easily perceive the internal condition of the speed reducer cylinder.

As shown in fig. 6, a through hole is formed in the center of the circle of the two half discs 2, the sliding groove 20 penetrates through the side wall of the through hole, and the fastening device 3 can be inserted from the sliding groove 20 at the through hole when penetrating into the fastening port 12, so that a special assembly process is not needed, and the assembly difficulty is effectively reduced. If the through hole does not exist, the fastening device 3 can only be inserted from the outer end, so that the fastening device 3 has large temperature difference change, the size difference is obtained due to cold and hot expansion, the low temperature is reduced and the fastening device is plugged into the high temperature for resetting, and the assembly process consumes time and energy.

As shown in fig. 6 and 8, the bottom of the sliding groove 20 is provided with a limiting structure for preventing the fastening device 3 from moving towards the inner side of the sliding groove 20, the limiting structure comprises a limiting bolt 24 and a plurality of threaded holes 25, the threaded holes 25 are located on one side of the inner end face of the fastening device 3, the threaded holes 25 are perpendicular to the bottom surface of the sliding groove 20, and the threaded holes 25 are arranged at equal intervals. The limiting bolt 24 can limit the inner end surface of the fastening device 3 so that the fastening device 3 can only move outwards.

Therefore, when the planet carrier is used for a long time and abrasion is formed between the fastening inclined surface 30 and the fastening opening 12, the limiting bolt 24 is put into the threaded hole 25 closer to the inner end of the fastening device 3 to limit the inner end of the fastening device 3, so that the fastening device 3 can only move towards the outer end and can not fall out of the sliding groove 20 inwards.

Therefore, even if the gap is formed after abrasion, the fastening device 3 is difficult to move inwards to get out of the sliding groove 20 after the planet carrier stops rotating, and after abrasion, the thicker end of the fastening inclined plane 30 can enter the fastening opening 12 only by swinging the limiting bolt 24 outwards, and the fastening device 3 does not need to be replaced frequently.

As shown in fig. 4, a counterweight groove 13 is further formed on the surface of the two half plates 2, a fastening device 3 is arranged in the counterweight groove 13, the fastening device 3 in the counterweight groove 13 has the same structure as the fastening device 3 in the sliding groove 20, a fixing plate 14 is arranged on the surface of the counterweight groove 13, and the fixing plate 14 presses and fixes the fastening device 3 in the counterweight groove 13. The weight distribution of the half-disk 1 and the half-disk 2 is more uniform by the arrangement of the weight distribution groove 13, and the weight distribution of the planet carrier is kept balanced.

The above description is of the preferred embodiment of the present invention, and it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit of the invention, and these are to be considered within the scope of the invention.

Claims (10)

1. The utility model provides a planetary gear reducer of planet carrier self-adaptation type fastening, includes cylinder body and planet carrier, the planet carrier is located inside the cylinder body, and the planet carrier includes half dish (1) and half dish (2) of two, its characterized in that:

a limiting frame (10) and a traction plate (19) are fixed on the surface of the first half disc (1), the limiting frame (10) and the traction plate (19) face the second half disc (2), an inserting plate (11) is arranged at one end of the limiting frame (10) facing the second half disc (2), fastening ports (12) are arranged in the middle of the inserting plate (11) and the traction plate (19),

the two half discs (2) are provided with sliding grooves (20), the sliding grooves (20) are positioned on the surfaces, back to the first half disc (1), of the two half discs (2), the bottoms of the sliding grooves (20) are provided with inserting grooves (21) and drawing grooves (29), the inserting grooves (21) and the drawing grooves (29) penetrate through the two half discs (2), the positions of the inserting grooves (21) correspond to the inserting plates (11), and the positions of the drawing grooves (29) correspond to the drawing plates (19);

a fastening device (3) is arranged in the sliding groove (20), the fastening device (3) comprises a shell (35), a counterweight part (31) and a fastening inclined plane (30), the sliding groove (20) and the fastening device (3) are arranged along the radial direction of the planet carrier,

the fastening inclined plane (30) faces the fastening opening (12) and faces away from one side surface of the two half discs (2), the fastening inclined plane (30) is located on the surface of the shell (35), and the fastening inclined plane (30) enables the thickness of one end, located on the radial inner side, of the shell to be larger than that of one end, located on the radial outer side, of the planet carrier;

the surface of the fastening opening (12) contacted with the fastening inclined surface (30) is a pressing surface, and the pressing surfaces at the fastening opening (12) of the inserting plate (11) and the traction plate (19) are in the same plane;

the fastening device (3) penetrates through the insertion plate (11) and the fastening opening (12) of the traction plate (19), the pressing surface contacts with the fastening inclined surface (30) of the fastening device (3), and the bottom of the sliding groove (20) contacts with the lower part of the fastening device (3);

the inserting plate (11) is inserted into the inserting groove (21), the pulling plate (19) is inserted into the pulling groove (29), and the fastening device (3) penetrates through the inserting plate (11) and the fastening port (12) of the pulling plate (19) and is pressed tightly in the sliding groove (20);

when the planet carrier rotates at a high speed, the planet carrier generates centrifugal force on the fastening device (3), and the fastening device (3) moves along the sliding groove (20) to the outer periphery along with the counterweight part (31); the bottom of the sliding groove (20) is provided with a limiting structure for preventing the fastening device (3) from moving towards the inner side of the sliding groove (20).

2. A planet carrier-adaptively fastened planetary gear reducer according to claim 1, wherein: the planet carrier is provided with three groups of planet gears, and the sliding groove (20) and the fastening device (3) are positioned between two adjacent groups of planet gears.

3. A planetary gear reducer with adaptively fastened planet carrier according to claim 1, wherein: the surface of the two half discs (2) is also provided with a counterweight groove (13), a fastening device (3) is arranged in the counterweight groove (13), the fastening device (3) in the counterweight groove (13) has the same structure as the fastening device (3) in the sliding groove (20), the surface of the counterweight groove (13) is provided with a fixing plate (14), and the fixing plate (14) compresses and fixes the fastening device (3) in the counterweight groove (13).

4. A planet carrier-adaptively fastened planetary gear reducer according to claim 1, wherein: the traction plate (19), the limiting frame (10) and the inserting plate (11) are integrally formed with the half disc (1).

5. A planetary gear reducer with adaptively fastened planet carrier according to claim 1, wherein: the fastening device (3) further comprises a telescopic rod (32), a fastening spring (34) and a limiting part (33), the telescopic rod (32), the fastening spring (34) and the limiting part (33) are all located inside the shell (35), two ends of the telescopic rod (32) are connected with the weight part (31) and the limiting part (33) respectively, and the surface of the telescopic rod (32) is sleeved with the fastening spring (34).

6. A planet carrier-adaptively fastened planetary gear reducer according to claim 4, wherein: the weight piece (31) is a roller, and the middle part of the weight piece (31) is pivoted at the end part of the telescopic rod (32).

7. A planet carrier-adaptively fastened planetary gear reducer according to claim 6, wherein: the weight (31) is cylindric, and weight (31) arc surface is equipped with rubber arch (312) and metal arch (311), rubber arch (312) and metal arch (311) annular array in turn set up on weight (31) surface, rubber arch (312) height is greater than metal arch (311) height.

8. A planetary gear reducer with adaptively fastened planet carrier according to claim 7, characterized in that: the outer end surface of the metal protrusion (311) is arc-shaped, and the outer end surface of the metal protrusion (311) and the arc-shaped surface of the counterweight (31) are concentrically arranged.

9. A planet carrier-adaptively fastened planetary gear reducer according to claim 1, wherein: a through hole is formed in the circle center of the two half discs (2), and the sliding groove (20) penetrates through the side wall of the through hole.

10. A planet carrier-adaptively fastened planetary gear reducer according to claim 9, wherein: the limiting structure for preventing the fastening device (3) from moving towards the inner side of the sliding groove (20) is arranged at the bottom of the sliding groove (20), the limiting structure comprises a limiting bolt (24) and a plurality of threaded holes (25), the threaded holes (25) are located on one side of the inner end face of the fastening device (3), the threaded holes (25) are perpendicular to the groove bottom face of the sliding groove (20), and the threaded holes (25) are arranged at equal intervals.

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