A reduction servo motor for a humanoid robot

Abstract

The present invention relates to the field of motor technology, and discloses a reduction servo motor for a humanoid robot, comprising a motor body, a reduction mechanism, and a transmission shaft, wherein the motor body is connected to the transmission shaft via the reduction mechanism, the reduction mechanism comprising a housing, a sun gear, a plurality of planetary gears, a planetary carrier, and a ring gear, wherein a first locking member and a second locking member are slidingly arranged in the housing, wherein when the first locking member is in a first locking state, the first locking member locks the planetary carrier and the transmission block, and when the first locking member is in a second locking state, the first locking member locks the planetary carrier and the housing, and when the second locking member is in the first locking state, the second locking member locks the ring gear and the transmission block, and when the second locking member is in the second locking state, the second locking member locks the ring gear and the housing. The present invention is used to solve the problem in the prior art that the transmission ratio of the reduction servo motor is fixed and cannot be adjusted to different transmission ratios corresponding to different loads.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to a reduction servo motor for a humanoid robot. Background Art

[0002] The reduction servo motor is the core component of the robot joint drive system, and its performance directly affects the robot's motion accuracy, load capacity and dynamic response.

[0003] In the prior art, most reduction servo motors include a motor body and a reduction mechanism, which increases the output torque of the motor body through the reduction mechanism. However, in the prior art, the transmission ratio of the reduction servo motor is fixed, and it is impossible to adjust the transmission ratio to different loads. For example, in the more conventional planetary gear reduction mechanism in the prior art, if the reduction servo motor adopts a larger transmission ratio when the motor is lightly loaded, energy consumption will increase. If the reduction servo motor adopts a smaller transmission ratio when the motor is heavily loaded, the output torque will be insufficient, making it difficult to operate normally. Summary of the Invention

[0004] In view of this, an object of the present invention is to provide a reduction servo motor for a humanoid robot, so as to solve the problem in the prior art that the transmission ratio of the reduction servo motor is fixed and cannot be adjusted to different transmission ratios corresponding to different loads.

[0005] The present invention solves the above technical problems through the following technical means:

[0006] A reduction servo motor for a humanoid robot comprises a motor body, a reduction mechanism and a transmission shaft, wherein the motor body is transmission-connected to the transmission shaft via the reduction mechanism, the reduction mechanism comprising a housing, a sun gear, a plurality of planetary gears, a planet carrier and a ring gear, the sun gear and the ring gear being rotatably mounted within the housing, the sun gear being transmission-connected to the output shaft of the motor body, the plurality of planetary gears meshing with the planetary gears and the ring gear, the plurality of planetary gears being rotationally connected to the planet carrier, a transmission block being rotationally arranged within the housing, the transmission block being fixedly connected to the transmission shaft, a first locking member and a second locking member being slidingly arranged within the housing, the first locking member and the second locking member both being provided with a first locking state and a second locking state, wherein when the first locking member is in the first locking state, the first locking member locks the planet carrier and the transmission block, and when the first locking member is in the second locking state, the first locking member locks the planet carrier and the housing, and when the second locking member is in the first locking state, the second locking member locks the ring gear and the transmission block, and when the second locking member is in the second locking state, the second locking member locks the ring gear and the housing.

[0007] With this structure, when the first locking member is in the first locking state and the second locking member is in the second locking state, the sun gear rotates, driving the planetary gears and the planetary carrier, which in turn drives the transmission block, which in turn drives the transmission shaft. When the first locking member is in the second locking state and the second locking member is in the first locking state, the servo motor is controlled to drive the sun gear in the opposite direction, which in turn drives the planetary gears and the ring gear, which in turn drives the transmission block, which in turn drives the transmission shaft. By switching the locking states of the first and second locking members, the transmission ratio of the reduction servo motor can be changed to accommodate different loads.

[0008] Furthermore, the planetary carrier includes a first ring body, a mounting post is provided on the first ring body, the planetary gear is rotatably mounted on the mounting post, a first through hole is provided in the mounting post, the first locking member is slidably provided in the first through hole, a first blind hole is provided on the shell, and a second through hole is provided at a position corresponding to the first through hole on the transmission block, one end of the first through hole is connected to the first blind hole, and the other end is connected to the second through hole, when the first locking member is in the first locking state, one end of the first locking member is inserted into the second through hole, and when the first locking member is in the second locking state, one end of the first locking member is inserted into the first blind hole.

[0009] By setting the above structure, the locking state of the first locking member can be changed by changing the position of the first locking member, which has a simple structure and is easy to operate.

[0010] Furthermore, a second ring body is fixedly provided on the side of the ring gear away from the motor body, a third through hole is provided on the second ring body, the second locking piece is slidably provided in the third through hole, a second blind hole is provided on the shell, one end of the third through hole is connected to the second through hole, and the other end is connected to the second blind hole, when the second locking piece is in the first locking state, one end of the second locking piece is inserted into the second through hole, and when the second locking piece is in the second locking state, one end of the second locking piece is inserted into the second blind hole.

[0011] By setting the above structure, the locking state of the second locking member can be changed by changing the position of the second locking member, and the structure is simple.

[0012] Furthermore, a first driving member is provided in the first blind hole, the first driving member is transmission-connected to the first locking member, and the first driving member is used to drive the first locking member to slide in the first through hole, and a second driving member is provided in the second blind hole, the second driving member is transmission-connected to the second locking member, and the second driving member is used to drive the second locking member to slide in the third through hole.

[0013] By setting the above structure, the locking states of the first locking member and the second locking member can be changed by controlling the operation of the first driving member and the second driving member, thereby simplifying the operation process.

[0014] Furthermore, the first driving member and the second driving member have the same structure. The first driving member includes a mounting cylinder and a driving block. The mounting cylinder is fixedly connected to the shell. The driving block is slidably arranged in the mounting cylinder. A coil is provided on the inner wall of the mounting cylinder. The driving block is a metal block. The metal block is transmission-connected to the first locking member. When the coil is powered on and the metal block moves, the metal block drives the first locking member to move.

[0015] By setting the above structure, the moving direction of the metal block can be changed by changing the current direction of the coil, which has a simple structure and low cost.

[0016] Furthermore, the shell has a first mounting hole at the first blind hole, the first mounting hole is connected to the first blind hole, and the mounting tube of the first driving member is fixedly installed in the first mounting hole. The shell has a second mounting hole at the second blind hole, the second mounting hole is connected to the second blind hole, and the mounting tube of the second driving member is fixedly installed in the second mounting hole.

[0017] By setting up the above structure, after the mounting tubes of the first driving member and the second driving member are removed, the first locking member can be taken out from the first through hole and the second locking member can be taken out from the third through hole, which facilitates the subsequent replacement of the first locking member and the second locking member.

[0018] Furthermore, a first elastic member is provided in the first through hole, and the first elastic member is provided between the first locking member and the mounting column, and the first elastic member is used to make the first locking member have a tendency to move toward the direction close to the first driving member, and a second elastic member is provided in the third through hole, and the second elastic member is provided between the second locking member and the second ring body, and the second elastic member is used to make the second time period member have a tendency to move toward the direction close to the second driving member.

[0019] By setting the above structure, the driving block of the first driving member can be abutted against the end wall of the first locking member, and the driving block of the second driving member can be abutted against the end of the second locking member. There is no need to set up an additional transmission connection mechanism, which simplifies the structure and further facilitates later maintenance and replacement.

[0020] Furthermore, an infrared emitting element is provided on the first driving element, an infrared receiving element is provided on the second driving element, a first light hole is provided on the first locking element, a second light hole is provided on the second locking element, the first light hole is connected to the first light hole, and when the infrared receiving element receives the light signal of the infrared emitting element, the first driving element, the second driving element, the first locking element and the second locking element are located on the same straight line.

[0021] By setting the above structure, it is convenient to detect whether the first driving member, the second driving member, the first locking member and the second locking member are located on the same straight line.

[0022] Furthermore, a first limiting ring is provided at the end of the driving block.

[0023] By providing the above structure, the maximum moving range of the driving block is limited, thereby preventing the driving block from entering the blind hole.

[0024] Furthermore, one side of the first ring body is abutted against the side wall of the shell, and the other side is grounded against the side wall of the planetary gear. The side of the second ring body away from the planetary gear is abutted against the side wall of the shell. A second limiting ring is provided on the side of the second ring body close to the planetary gear. The side wall of the second limiting ring is abutted against the side wall of the planetary gear. One side of the transmission block is grounded against the side wall of the second ring body, and the other side is abutted against the end wall of the mounting column.

[0025] Beneficial effects of the present invention:

[0026] 1. The present invention comprises a first locking member, a second locking member, and a transmission block. When the first locking member is in the first locking state and the second locking member is in the second locking state, the sun gear rotates, driving the planetary gears and the planetary carrier, which in turn drives the transmission block, which in turn drives the transmission shaft. When the first locking member is in the second locking state and the second locking member is in the first locking state, the servo motor is controlled to drive the sun gear in the opposite direction, which in turn drives the planetary gears and the ring gear, which in turn drives the transmission block, which in turn drives the transmission shaft. By switching the locking states of the first and second locking members, the transmission ratio of the reduction servo motor can be changed to accommodate different loads.

[0027] 2. The present invention provides a first driving member and a second driving member, controls the operation of the first driving member and the second driving member, and can change the locking state of the first locking member and the second locking member, thereby simplifying the operation process.

[0028] 3. The present invention provides an infrared transmitter and an infrared receiver to facilitate detection of whether the first driving member, the second driving member, the first locking member and the second locking member are located on the same straight line, so that when the transmission ratio needs to be changed, the positions of the first driving member, the second driving member, the first locking member and the second locking member can be quickly locked. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic cross-sectional view of a reduction servo motor for a humanoid robot according to the present invention;

[0030] Figure 2 This is a schematic diagram of the cross-sectional structure of a reduction servo motor for a humanoid robot according to the present invention;

[0031] Figure 3 This is a schematic structural diagram of a first locking member and a second locking member in a reduction servo motor for a humanoid robot according to the present invention;

[0032] in,

[0033] 1. Motor body;

[0034] 2. Transmission shaft; 21. Transmission block; 211. Second through hole;

[0035] 3. Housing; 31. First blind hole; 32. Second blind hole; 33. First driving member; 34. Second driving member; 351. Mounting cylinder; 352. Driving block; 353. First limiting ring; 36. First mounting hole; 37. Second mounting hole; 38. Infrared transmitter; 39. Infrared receiver;

[0036] 4. Sun gear;

[0037] 5. Planetary gear;

[0038] 6. Planet carrier; 61. First ring body; 62. Mounting column; 621. First through hole; 63. First elastic member;

[0039] 7. Gear ring; 71. Second ring body; 711. Third through hole; 72. Second elastic member; 73. Second limiting ring;

[0040] 8. First locking member; 81. First light hole;

[0041] 9. Second locking member; 91. Second light hole. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0043] like Figure 1-Figure 3As shown, a reduction servo motor for a humanoid robot of the present invention comprises a motor body 1, a reduction mechanism and a transmission shaft 2. The motor body 1 is connected to the transmission shaft 2 through the reduction mechanism. The reduction mechanism comprises a housing 3, a sun gear 4, a plurality of planetary gears 5, a planetary carrier 6 and a ring gear 7. The housing 3 is fixedly connected to the motor body 1. The sun gear 4 and the ring gear 7 are both rotatably mounted in the housing 3. The sun gear 4 is connected to the output shaft of the motor body 1 through the reduction mechanism. The plurality of planetary gears 5 mesh with the planetary gears 5 and the ring gear 7. The plurality of planetary gears 5 are all connected to the planetary carrier 6 through rotation. A transmission block 21 is rotatably provided in the housing 3. The transmission block 21 is connected to the transmission The driving shaft 2 is fixedly connected, and a first locking member 8 and a second locking member 9 are slidably provided in the housing 3. The first locking member 8 and the second locking member 9 are both provided with a first locking state and a second locking state. When the first locking member 8 is in the first locking state, the first locking member 8 locks the planetary carrier 6 and the transmission block 21. When the first locking member 8 is in the second locking state, the first locking member 8 locks the planetary carrier 6 with the housing 3. When the second locking member 9 is in the first locking state, the second locking member 9 locks the ring gear 7 and the transmission block 21. When the second locking member 9 is in the second locking state, the second locking member 9 locks the ring gear 7 with the housing 3. During use, when the first locking member 8 is in the first locking state and the second locking member 9 is in the second locking state, the sun gear 4 rotates, driving the planetary gear 5 and the planetary carrier 6 to rotate, the planetary carrier 6 drives the transmission block 21 to rotate, and the transmission block 21 drives the transmission shaft 2 to rotate. When first locking member 8 is in the second locking state and second locking member 9 is in the first locking state, motor body 1 is controlled to drive sun gear 4 to rotate in the opposite direction. Sun gear 4 drives planetary gears 5 and ring gear 7 to rotate. Ring gear 7 drives transmission block 21 to rotate. Transmission block 21 drives transmission shaft 2 to rotate. By switching the locking states of first locking member 8 and second locking member 9, the transmission ratio of the reduction servo motor can be changed to adapt to different loads.

[0044] In this embodiment, the planet carrier 6 includes a first ring body 61, which is provided with mounting posts 62. In this embodiment, there are three planetary gears 5 and three mounting posts 62. The three planetary gears 5 are rotatably mounted on the three mounting posts 62, respectively. A first through hole 621 is defined in the mounting posts 62, and a first locking member 8 is slidably disposed within the first through hole 621. The housing 3 includes a first blind hole 31, and the transmission block 21 includes a second through hole 211 at a position corresponding to the first through hole 621. One end of the first through hole 621 communicates with the first blind hole 31, and the other end communicates with the second through hole 211. When the first locking member 8 is in the first locked state, one end of the first locking member 8 is inserted into the second through hole 211. When the first locking member 8 is in the second locked state, one end of the first locking member 8 is inserted into the first blind hole 31. By changing the position of the first locking member 8, the locking state of the first locking member 8 can be changed, resulting in a simple structure and convenient operation. In some other embodiments, the first locking member 8 may be directly fixed on the planet carrier 6 , and the locking state of the first locking member 8 may be changed by moving the positions of the planet carrier 6 and the planetary gear 5 .

[0045] In this embodiment, a second ring body 71 is fixedly provided on the side of the ring gear 7 away from the motor body 1. In this embodiment, the ring gear 7 and the second ring body 71 are integrally formed. In other embodiments, bolts, welding, riveting, or other connection methods can also be used to achieve the fixed connection between the ring gear 7 and the second ring body 71. The second ring body 71 has a third through hole 711, and the second locking member 9 is slidably disposed in the third through hole 711. The housing 3 has a second blind hole 32. One end of the third through hole 711 is connected to the second through hole 211, and the other end is connected to the second blind hole 32. When the second locking member 9 is in the first locking state, one end of the second locking member 9 is inserted into the second through hole 211. When the second locking member 9 is in the second locking state, one end of the second locking member 9 is inserted into the second blind hole 32. By changing the position of the second locking member 9, the locking state of the second locking member 9 can be changed, resulting in a simple structure. In other embodiments, the second locking member 9 can be directly fixed to the second ring body 71, and the locking state of the first locking member 8 can be changed by moving the position of the ring gear.

[0046] In this embodiment, a first driving member 33 is disposed within the first blind hole 31 and is transmission-connected to the first locking member 8. The first driving member 33 is used to drive the first locking member 8 to slide within the first through hole 621. A second driving member 34 is disposed within the second blind hole 32 and is transmission-connected to the second locking member 9. The second driving member 34 is used to drive the second locking member 9 to slide within the third through hole 711. By controlling the operation of the first and second driving members 33, 34, the locking states of the first and second locking members 8, 9 can be changed, simplifying the operation process. In other embodiments, the first driving member 33 can be directly disposed on the mounting post 62, and the second driving member 34 can be disposed on the second ring body 71. In this embodiment, the first and second driving members 33, 34 are respectively mounted within the first and second blind holes 31, 32 of the housing 3. This eliminates the need for the first and second driving members 33, 34 to rotate with the planet carrier 6 or the ring gear 7, facilitating the installation and wiring of the first and second driving members 33, 34.

[0047] In this embodiment, the first driving member 33 and the second driving member 34 have the same structure. The first driving member 33 includes a mounting tube 351 and a driving block 352. The mounting tube 351 is fixedly connected to the housing 3, and the driving block 352 is slidably disposed within the mounting tube 351. The inner wall of the mounting tube 351 is provided with a coil. The driving block 352 is a metal block that is transmission-connected to the first locking member 8. When the coil is powered and the metal block moves, the metal block drives the first locking member 8 to move. In other embodiments, the first driving member 33 and the second driving member 34 can also be configured as pneumatic driving members. In this embodiment, by providing the coil and the metal block, the direction of movement of the metal block can be changed by changing the direction of the current in the coil, resulting in a simple structure and low cost.

[0048] In this embodiment, the housing 3 defines a first mounting hole 36 at the first blind hole 31. The first mounting hole 36 communicates with the first blind hole 31, and the mounting tube 351 of the first driving member 33 is fixedly mounted within the first mounting hole 36. The housing 3 defines a second mounting hole 37 at the second blind hole 32. The second mounting hole 37 communicates with the second blind hole 32, and the mounting tube 351 of the second driving member 34 is fixedly mounted within the second mounting hole 37. After removing the mounting tubes 351 of the first driving member 33 and the second driving member 34, the first locking member 8 can be removed from the first through hole 621, and the second locking member 9 can be removed from the third through hole 711, facilitating subsequent replacement of the first locking member 8 and the second locking member 9.

[0049] In this embodiment, a first elastic member 63 is disposed within the first through hole 621 and is disposed between the first locking member 8 and the mounting post 62. The first elastic member 63 is configured to cause the first locking member 8 to have a tendency to move toward the first driving member 33. A second elastic member 72 is disposed within the third through hole 711 and is disposed between the second locking member 9 and the second ring body 71. The second elastic member 72 is configured to cause the second period member to have a tendency to move toward the second driving member 34. The driving block 352 of the first driving member 33 only needs to abut the end wall of the first locking member 8, and the driving block 352 of the second driving member 34 only needs to abut the end of the second locking member 9. No additional transmission connection mechanism is required, which simplifies the structure and further facilitates subsequent maintenance and replacement.

[0050] In this embodiment, the first driving member 33 is provided with an infrared transmitter 38, and the second driving member 34 is provided with an infrared receiver 39. In this embodiment, the infrared transmitter and infrared receiver are configured. A first optical aperture 81 is defined in the first locking member 8, and a second optical aperture 91 is defined in the second locking member 9. The first optical aperture 81 is connected to the first optical aperture 81. When the infrared receiver 39 receives the optical signal from the infrared transmitter 38, the first driving member 33, the second driving member 34, the first locking member 8, and the second locking member 9 are aligned. This facilitates detection of whether the first driving member 33, the second driving member 34, the first locking member 8, and the second locking member 9 are aligned. In other embodiments, the infrared transmitter 38 and the infrared receiver 39 may be omitted, and the operation of the first driving member 33 and the second driving member 34 may be directly controlled. When the first driving member 33, the second driving member 34, the first locking member 8, and the second locking member 9 rotate to the same straight line, the positions of the first locking member 8 and the second locking member 9 are changed. In this embodiment, an infrared emitting element 38 and an infrared receiving element 39 are provided so that when the transmission ratio needs to be changed, the first driving element 33, the second driving element 34, the first locking element 8 and the second locking element 9 are first positioned on the same straight line, and then the first driving element 33 and the second driving element 34 are controlled to operate, thereby effectively reducing the wear of the first locking element 8 and the second locking element 9.

[0051] In this embodiment, the first light hole 81 and the second light hole 91 are filled with light-transmitting members. Under the premise of ensuring normal transmission of light, the first light hole 81 and the second light hole 91 are blocked to prevent debris from entering the first light hole 81 and the second light hole 91.

[0052] In this embodiment, a first limiting ring 353 is provided at the end of the driving block 352. The diameter of the first limiting ring 353 is larger than the diameters of the first blind hole 31 and the second blind hole 32. The first limiting ring 353 limits the maximum movement range of the driving block 352 and prevents the driving block 352 from entering the blind hole.

[0053] In this embodiment, one side of the first ring body 61 is connected to the side wall of the shell 3, and the other side is connected to the side wall of the planetary gear 5. The side of the second ring body 71 away from the planetary gear 5 is connected to the side wall of the shell 3. A second limiting ring 73 is provided on the side of the second ring body 71 close to the planetary gear 5. The side wall of the second limiting ring 73 is connected to the side wall of the planetary gear 5. One side of the transmission block 21 is connected to the side wall of the second ring body 71, and the other side is connected to the end wall of the mounting column 62.

[0054] The working principle of the present invention is as follows:

[0055] When the transmission ratio of the deceleration servo motor needs to be changed, the motor body 1 is first controlled to rotate, the motor body 1 drives the sun gear 4 to rotate, and the sun gear 4 drives the planetary carrier 6 or the ring gear 7 to rotate until the infrared receiving element 39 receives the light signal of the infrared emitting element 38. At this time, the first driving element 33, the second driving element 34, the first locking element 8 and the second locking element 9 are located on the same straight line.

[0056] If the deceleration servo motor is under light load,

[0057] The coil of the first driving member 33 causes the driving block 352 to move toward the direction close to the mounting column 62, and the driving block 352 pushes one end of the first locking member 8 to withdraw from the first blind hole 31, and the other end is inserted into the second through hole 211. At the same time, the coil of the second driving member 34 causes the driving block 352 to move in the direction away from the second ring body 71, and the driving block 352 pushes one end of the second locking member 9 to withdraw from the second through hole 211, and the other end is inserted into the second blind hole 32.

[0058] If the deceleration servo motor is under heavy load,

[0059] The coil of the first driving member 33 causes the driving block 352 to move in the direction away from the mounting column 62, and the driving block 352 pushes one end of the first locking member 8 to withdraw from the second through hole 211, and the other end is inserted into the first blind hole 31. At the same time, the coil of the second driving member 34 causes the driving block 352 to move in the direction close to the second ring body 71, and the driving block 352 pushes one end of the second locking member 9 to withdraw from the second blind hole 32, and the other end is inserted into the second through hole 211.

[0060] The above embodiments are intended only to illustrate the technical solutions of the present invention and are not intended to limit the scope of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that the technical solutions of the present invention may be modified or replaced with equivalents without departing from the spirit and scope of the technical solutions of the present invention, and such modifications or equivalents shall be encompassed by the claims of the present invention. Any techniques, shapes, and structures not described in detail herein are well known.

Claims

1. A reduction servo motor for a humanoid robot, comprising a motor body (1), a reduction mechanism and a transmission shaft (2), wherein the motor body (1) is connected to the transmission shaft (2) through the reduction mechanism, and is characterized in that: The speed reduction mechanism comprises a housing (3), a sun gear (4), a plurality of planetary gears (5), a planetary carrier (6) and a ring gear (7); the sun gear (4) and the ring gear (7) are both rotatably mounted in the housing (3); the sun gear (4) is transmission-connected to the output shaft of the motor body (1); the plurality of planetary gears (5) are meshed between the planetary gears (5) and the ring gear (7); the plurality of planetary gears (5) are rotationally connected to the planetary carrier (6); a transmission block (21) is rotationally arranged in the housing (3); the transmission block (21) is fixedly connected to the transmission shaft (2); a first locking member (8) and a second locking member (9) are slidingly arranged in the housing (3); the first locking member (8) and the second locking member (9) are slidingly arranged in the housing (3); The locking member (8) and the second locking member (9) are both provided with a first locking state and a second locking state. When the first locking member (8) is in the first locking state, the first locking member (8) locks the planetary carrier (6) and the transmission block (21); when the first locking member (8) is in the second locking state, the first locking member (8) locks the planetary carrier (6) and the housing (3); when the second locking member (9) is in the first locking state, the second locking member (9) locks the ring gear (7) and the transmission block (21); when the second locking member (9) is in the second locking state, the second locking member (9) locks the ring gear (7) and the housing (3).

2. The reduction servo motor for a humanoid robot according to claim 1, characterized in that: The planetary carrier (6) includes a first ring body (61), a mounting column (62) is provided on the first ring body (61), the planetary gear (5) is rotatably mounted on the mounting column (62), a first through hole (621) is provided in the mounting column (62), the first locking member (8) is slidably provided in the first through hole (621), a first blind hole (31) is provided on the housing (3), a second through hole (211) is provided at a position corresponding to the first through hole (621) on the transmission block (21), one end of the first through hole (621) is communicated with the first blind hole (31), and the other end is communicated with the second through hole (211), when the first locking member (8) is in the first locking state, one end of the first locking member (8) is inserted into the second through hole (211), and when the first locking member (8) is in the second locking state, one end of the first locking member (8) is inserted into the first blind hole (31).

3. The reduction servo motor for a humanoid robot according to claim 2, characterized in that: A second ring body (71) is fixedly provided on a side of the gear ring (7) away from the motor body (1); a third through hole (711) is provided on the second ring body (71); the second locking member (9) is slidably provided in the third through hole (711); a second blind hole (32) is provided on the housing (3); one end of the third through hole (711) is communicated with the second through hole (211), and the other end is communicated with the second blind hole (32); when the second locking member (9) is in the first locking state, one end of the second locking member (9) is inserted into the second through hole (211); when the second locking member (9) is in the second locking state, one end of the second locking member (9) is inserted into the second blind hole (32).

4. The reduction servo motor for a humanoid robot according to claim 3, characterized in that: A first driving member (33) is provided in the first blind hole (31), the first driving member (33) is in transmission connection with the first locking member (8), and the first driving member (33) is used to drive the first locking member (8) to slide in the first through hole (621); a second driving member (34) is provided in the second blind hole (32), the second driving member (34) is in transmission connection with the second locking member (9), and the second driving member (34) is used to drive the second locking member (9) to slide in the third through hole (711).

5. The reduction servo motor for a humanoid robot according to claim 4, characterized in that: The first driving member (33) and the second driving member (34) have the same structure. The first driving member (33) includes a mounting cylinder (351) and a driving block (352). The mounting cylinder (351) is fixedly connected to the housing (3). The driving block (352) is slidably arranged in the mounting cylinder (351). A coil is arranged on the inner wall of the mounting cylinder (351). The driving block (352) is a metal block. The metal block is transmission-connected to the first locking member (8). When the coil is powered on and the metal block moves, the metal block drives the first locking member (8) to move.

6. The reduction servo motor for a humanoid robot according to claim 5, characterized in that: The housing (3) is provided with a first mounting hole (36) at the first blind hole (31), the first mounting hole (36) is communicated with the first blind hole (31), and the mounting tube (351) of the first driving member (33) is fixedly mounted in the first mounting hole (36). The housing (3) is provided with a second mounting hole (37) at the second blind hole (32), the second mounting hole (37) is communicated with the second blind hole (32), and the mounting tube (351) of the second driving member (34) is fixedly mounted in the second mounting hole (37).

7. The reduction servo motor for a humanoid robot according to claim 5, characterized in that: A first elastic member (63) is provided in the first through hole (621), and the first elastic member (63) is provided between the first locking member (8) and the mounting column (62). The first elastic member (63) is used to make the first locking member (8) have a tendency to move toward the direction close to the first driving member (33). A second elastic member (72) is provided in the third through hole (711), and the second elastic member (72) is provided between the second locking member (9) and the second ring body (71). The second elastic member (72) is used to make the second time member have a tendency to move toward the direction close to the second driving member (34).

8. The reduction servo motor for a humanoid robot according to claim 4, characterized in that: The first driving member (33) is provided with an infrared emitting member (38), the second driving member (34) is provided with an infrared receiving member (39), the first locking member (8) is provided with a first light hole (81), the second locking member (9) is provided with a second light hole (91), the first light hole (81) is communicated with the first light hole (81), and when the infrared receiving member (39) receives the light signal of the infrared emitting member (38), the first driving member (33), the second driving member (34), the first locking member (8) and the second locking member (9) are located on the same straight line.

9. The reduction servo motor for a humanoid robot according to claim 6, characterized in that: A first limiting ring (353) is provided at the end of the driving block (352).

10. The reduction servo motor for a humanoid robot according to claim 3, characterized in that: One side of the first ring body (61) is connected to the side wall of the housing (3), and the other side is connected to the side wall of the planetary gear (5). The side of the second ring body (71) away from the planetary gear (5) is connected to the side wall of the housing (3). A second limiting ring (73) is provided on the side of the second ring body (71) close to the planetary gear (5). The side wall of the second limiting ring (73) is connected to the side wall of the planetary gear (5). One side of the transmission block (21) is connected to the side wall of the second ring body (71), and the other side is connected to the end wall of the mounting column (62).

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