Planetary gear and servo motor integrated joint transmission assembly

Abstract

The invention discloses a planetary gear and servo motor integrated joint transmission assembly which comprises a servo motor, a clutch mechanism, a first output shaft, a second output shaft, a planetary gear reduction gearbox, a transmission mechanism, a roller, a telescopic mechanism and a shifting plate. The first output shaft and the second output shaft are independent of the servo motor and are rotationally arranged relative to the servo motor in the left-right direction. The first output shaft can rotate forwards and backwards by controlling the servo motor to rotate forwards and backwards, so that the shank part bends and stretches compared with the thigh part, and walking is achieved; rollers can rotate through rotation of a second output shaft, when the rollers make contact with the ground, rapid advancing can be achieved, and when a telescopic mechanism is controlled to act, a shifting plate can stretch out, and at the moment, if the bottoms of the rollers are located below the water surface and the robot dog floats on the water surface, the robot dog can rapidly advance.

Description

Technical Field

[0001] The present invention relates to a joint drive assembly, and in particular to a joint drive assembly integrating a planetary gear and a servo motor. Background Art

[0002] When a robot performs actions, it inevitably requires multiple joints to perform corresponding actions to achieve the corresponding operation purpose. A robot dog is a relatively common robot that can perform a variety of tasks by imitating the actions of dogs. However, when the existing robot dog is moving forward, it mostly relies on the flexion and extension of its legs or feet to walk, or relies on the rotation of rollers to move forward, and it is difficult to have both of these two moving functions at the same time. Moreover, when the existing robot dog is moving forward, it mainly moves on land and it is difficult to have both land and water moving functions at the same time, resulting in poor moving effects, highlighting the deficiencies of the existing technology. Summary of the Invention

[0003] The purpose of the present invention is to provide a joint drive assembly integrating a planetary gear and a servo motor to solve the technical problems of single moving function and poor moving effect in the existing technology.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions: A joint drive assembly integrating a planetary gear and a servo motor includes a servo motor, a clutch mechanism, a first output shaft, a second output shaft, a planetary gear reduction box, a transmission mechanism, a roller, a telescopic mechanism, and a toggle plate. The rotating shaft of the servo motor is equipped with a clutch mechanism, and its rotating shaft is vertically arranged. The first output shaft and the second output shaft are independent of the servo motor and are rotatably arranged in the left-right direction relative to the servo motor. The input shaft of the planetary gear reduction box is separated or synchronously driven from the rotating shaft of the servo motor through the clutch mechanism. The output shaft of the planetary gear reduction box is continuously driven by the first output shaft through the transmission mechanism. The second output shaft is separated or synchronously driven from the rotating shaft of the servo motor through the clutch mechanism. The second output shaft is coaxially fixed with a roller. The roller is equipped with a telescopic mechanism, and a plurality of toggle plates are slidably connected to the circumference at equal angles. The telescopic mechanism is used to drive the toggle plates to slide left and right or radially. The plate surface of the toggle plate is parallel to the radial direction of the roller. The servo motor is electrically connected to an external electronic control system.

[0005] On the basis of the above technical solution, a lower support seat is fixed on the outer wall of the planetary gear reducer. The telescopic mechanism includes a conductive slip ring and an electric push rod. The left and right parts of the lower support seat are each rotatably connected to a second output shaft, and a conductive slip ring is installed on each of the left and right parts. A plurality of electric push rods in the radial direction are fixedly arranged on the circumference of the roller at equal angles. The rotor of the conductive slip ring is coaxially fixed with the second output shaft. The rotor of the conductive slip ring is electrically connected to the electric push rod. The stator of the conductive slip ring is fixed to the lower support seat. The stator of the conductive slip ring is electrically connected to an external electric control system.

[0006] On the basis of the above technical solution, the telescopic mechanism further includes a main guide groove. A plurality of radial main guide grooves are formed on the outer circumferential wall of the roller at equal angles in the circumferential direction. Each of the main guide grooves is slidably connected to a toggle plate in the radial direction. The toggle plate is fixed to the end of the push rod of the electric push rod. When the electric push rod extends and retracts the push rod, the toggle plate can reciprocate radially along the main guide groove so as to retract into the main guide groove or extend out of the main guide groove.

[0007] On the basis of the above technical solution, the telescopic mechanism further includes a guide rod, a receiving cavity, a right guide groove, and a left guide groove. A guide rod is perpendicularly fixed to the push rod of the electric push rod. The guide rod is perpendicular to the axial direction of the roller. A plurality of receiving cavities are arranged on the circumference of the roller at equal angles. Each of the receiving cavities is respectively penetrated through the right and left by a right guide groove and a left guide groove. The toggle plate includes a left toggle plate and a right toggle plate that are parallel to each other. Each of the right guide grooves is slidably connected to the right toggle plate in the left and right directions. Each of the left guide grooves is slidably connected to the left toggle plate in the left and right directions. The left toggle plate and the right toggle plate are respectively penetrated by a sliding groove. The sliding grooves of the left toggle plate and the right toggle plate are in a converging shape away from the second output shaft. Each of the sliding grooves is slidably connected to the guide rod. When the electric push rod extends the push rod, the left toggle plate and the right toggle plate can be brought closer to each other and retracted into the receiving cavity through the sliding connection between the guide rod and the sliding groove. When the electric push rod retracts the push rod, the left toggle plate and the right toggle plate can be separated from each other and extended out of the receiving cavity through the sliding connection between the guide rod and the sliding groove.

[0008] On the basis of the above technical solution, the roller includes a wheel body and a rim. The electric push rod and the accommodating cavity are located inside the wheel body. The rim is coaxially and rotatably connected to the outside of the wheel body. A plurality of limiting holes are circumferentially and equally angled on the inner circumferential wall of the rim. The push rods of the electric push rods can respectively penetrate through the outer circumferential wall of the wheel body. Each of the limiting holes corresponds radially to the push rod of each electric push rod. A pin is axially slidably connected to the push rod of each electric push rod. A secondary compression spring is fixed to the pin and the electric push rod. The pin has a tendency to move away from the push rod of the electric push rod under the elastic repulsive force of the secondary compression spring and can be inserted into the limiting hole. The rim is penetrated left and right at equal angles in the circumferential direction with flow holes. Guide plates are respectively fixed to the flow holes. The guide plates are inclined with respect to the axial direction of the flow holes. The inclination directions of the guide plates where the two rims are located are the same.

[0009] On the basis of the above technical solution, the clutch mechanism includes an upper support frame, a hollow shaft, an upper worm, an upper friction disk, an upper permanent magnet, an upper compression spring, an upper electromagnet, a middle friction disk, a third output shaft, and an upper worm gear. The bottom end of the servo motor is fixed with an upper support frame. The upper support frame is rotatably connected with a hollow shaft. The hollow shaft is coaxially and slidably inserted outside the rotating shaft of the servo motor. An upper worm is coaxially fixed to the outer wall of the hollow shaft. An upper friction disk is axially slidably connected to the bottom of the hollow shaft. The top end of the upper friction disk is fixed with an upper permanent magnet, and an upper compression spring is fixed between the upper friction disk and the hollow shaft. The upper friction disk has a tendency to move downward under the elastic repulsive force of the upper compression spring. The bottom end of the upper support frame is fixed with an upper electromagnet. The upper electromagnet is electrically connected to an external electronic control system. The upper electromagnet and the upper permanent magnet are correspondingly arranged up and down. When the upper electromagnet is energized with current in different directions, different magnetic field directions can be generated, so that the upper electromagnet can magnetically attract or magnetically repel the first lower electromagnet, so that the upper friction disk moves up and down along the hollow shaft. The bottom end of the rotating shaft of the servo motor is coaxially fixed with a middle friction disk. The bottom end of the upper friction disk can be coaxially attached and rubbed against the top end of the middle friction disk. The upper support frame is rotatably connected with a third output shaft. The third output shaft is horizontally arranged left and right and is coaxially fixed with an upper worm gear. The upper worm gear meshes with the upper worm and is continuously driven with the second output shaft through a gear transmission mechanism or a synchronous belt transmission mechanism or a sprocket transmission mechanism.

[0010] On the basis of the above technical solution, the clutch mechanism also includes a lower electromagnet, a lower friction plate, a lower compression spring, and a lower permanent magnet. A lower electromagnet is fixed to the top of the planetary gear reducer, and the input shaft of the planetary gear reducer is axially slidably connected to the lower friction plate. A lower compression spring is fixed between the lower friction plate and the input shaft of the planetary gear reducer. A lower permanent magnet is fixed to the bottom end of the lower friction plate, and has a tendency to move upward under the elastic repulsive force of the lower compression spring and can engage and rub with the same axis with the bottom end of the middle friction plate. The lower permanent magnet and the lower electromagnet correspond to each other up and down, and the lower electromagnet is electrically connected to the external electronic control system. When the lower electromagnet is passed with current in different directions, magnetic fields in different directions can be formed, thereby magnetically attracting or magnetically repelling the lower electromagnet, thereby causing the lower friction plate to move up and down.

[0011] Based on the above technical solution, an upper support seat is fixed to the outer wall of the servo motor, the transmission mechanism includes a lower support frame, a lower worm wheel, and a lower worm, the bottom end of the planetary gear reducer is fixed with a lower support frame, the first output shaft is rotatably connected to the lower support frame, and a lower worm wheel is coaxially fixed thereto, the output shaft of the planetary gear reducer is coaxially fixed thereto a lower worm, and the lower worm is meshed with the lower worm wheel.

[0012] Compared with the prior art, the present invention has the following advantages: the present invention controls the servo motor to rotate forward and reverse, so that the first output shaft can rotate forward and reverse, thereby causing the calf part to flex and extend compared to the thigh part to achieve walking; the second output shaft rotates, so that the roller can rotate, and when the roller contacts the ground, rapid movement can be achieved, and by controlling the movement of the telescopic mechanism, the toggle plate can be extended. At this time, if the bottom of the roller is below the water surface and the robot dog floats on the water surface, the roller can be used to drive the toggle plate to move forward or backward circumferentially to achieve movement in the water, that is, both water and land movement modes are realized.

[0013] When the electric push rod retracts the push rod, the guide rod and the sliding groove can make the left and right toggle plates move away from each other and protrude from the left guide groove and the right guide groove, so that they can push the water during circumferential movement to achieve underwater travel. Since there are more toggle plates, the efficiency of traveling in water is higher. By controlling the electric push rod to extend the push rod, the guide rod and the sliding groove can make the left and right toggle plates move closer to each other and retract into the left guide groove and the right guide groove, thereby reducing wind resistance during land travel, reducing unnecessary losses during land travel, and improving travel effects.

[0014] When the electric push rod is extended and the pin is plugged into the limit hole, the rim and the wheel body are synchronously transmitted. If the rim is completely in the water, the radial water can be transported through the circumferentially moving guide plate, so that it can move left and right. If the servo motors in multiple joint transmission components rotate in different directions, the robot dog can also achieve the action of "turning around in the water", thereby improving the movement effect and function in the water. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the shaft side structure of the radial sliding of the toggle plate of the present invention.

[0016] Figure 2 This is a schematic diagram of the shaft side structure of the toggle plate sliding left and right in the present invention.

[0017] Figure 3 It is a schematic diagram of the right side cross-section structure of the roller when the toggle plate of the present invention slides radially.

[0018] Figure 4 This is a schematic diagram of the right side cross-section of the roller when the toggle plate slides left and right.

[0019] Figure 5 It is a schematic diagram of the partially enlarged structure of point A of the present invention.

[0020] Figure 6 It is a schematic diagram of the cooperation between the friction disc and the upper friction disc in the present invention.

[0021] Figure 7 It is a partial front cross-sectional structural schematic diagram of the present invention.

[0022] Figure 8 Schematic diagram of the cooperation between the guide rod and the sliding groove of the present invention.

[0023] In the figure: 1. servo motor, 3. first output shaft, 4. second output shaft, 5. planetary gear reduction box, 7. roller, 9. toggle plate, 10. lower support seat, 11. conductive slip ring, 12. electric push rod, 13. guide rod, 14. accommodating cavity, 15. right guide groove, 16. left guide groove, 17. left toggle plate, 18. right toggle plate, 19. sliding groove, 20. main guide groove, 21. wheel body, 22. wheel rim, 23. limit hole, 24. pin, 25. auxiliary Compression spring, 26, circulation hole, 27, guide plate, 28, upper support frame, 29, hollow shaft, 30, upper worm, 31, upper friction plate, 32, upper permanent magnet, 33, upper compression spring, 34, upper electromagnet, 35, middle friction plate, 36, third output shaft, 37, upper worm gear, 38, lower electromagnet, 39, lower friction plate, 40, lower compression spring, 41, lower permanent magnet, 42, upper support seat, 43, lower support frame, 44, lower worm gear, 45, lower worm. DETAILED DESCRIPTION

[0024] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0025] As Figures 1-8 shown, a joint drive assembly integrating a planetary gear and a servo motor includes a servo motor 1, a clutch mechanism, a first output shaft 3, a second output shaft 4, a planetary gear reducer 5, a transmission mechanism, a roller 7, a telescopic mechanism, and a toggle plate 9. The rotating shaft of the servo motor 1 is equipped with a clutch mechanism, and its rotating shaft is vertically arranged. The first output shaft 3 and the second output shaft 4 are independent of the servo motor 1 and are rotatably arranged in the left-right direction relative to the servo motor 1. The input shaft of the planetary gear reducer 5 is separated or synchronously driven from the rotating shaft of the servo motor 1 through the clutch mechanism. The output shaft of the planetary gear reducer 5 and the first output shaft 3 are continuously driven through the transmission mechanism. The second output shaft 4 is separated or synchronously driven from the rotating shaft of the servo motor 1 through the clutch mechanism. The second output shaft 4 is coaxially fixed with a roller 7. The roller 7 is equipped with a telescopic mechanism and is circumferentially and equally angularly slidably connected with a plurality of toggle plates 9. The telescopic mechanism is used to drive the toggle plates 9 to slide left and right or radially. The plate surface of the toggle plate 9 is parallel to the radial direction of the roller 7. The servo motor 1 is electrically connected to an external electric control system.

[0026] During use, by controlling the operation of the clutch mechanism, the servo motor 1 can drive the first output shaft 3 or the second output shaft 4 to rotate. The servo motor 1 is fixed to the thigh part of the robot dog, and the first output shaft 3 is fixed to the calf part of the robot dog, so that the roller 7 is exposed. By controlling the servo motor 1 to rotate forward and backward, the first output shaft 3 can rotate forward and backward, so that the calf part can flex and extend relative to the thigh part to achieve walking. By rotating the second output shaft 4, the roller 7 can rotate. When the roller 7 contacts the ground, rapid progress can be achieved. By controlling the operation of the telescopic mechanism, the toggle plates 9 can be extended. At this time, if the bottom of the roller 7 is below the water surface and the robot dog floats on the water surface, the forward or reverse circumferential movement of the roller 7 driving the toggle plates 9 can be used to achieve forward or backward movement in the water, that is, two modes of land and water travel and two modes of land travel are realized.

[0027] A lower support base 10 is fixed to the outer wall of the planetary gear speed reducer 5. The telescopic mechanism includes a conductive slip ring 11 and an electric push rod 12. Each of the left and right parts of the lower support base 10 is rotatably connected to a second output shaft 4, and a conductive slip ring 11 is installed on each of the left and right parts. A plurality of electric push rods 12 in the radial direction are fixedly arranged on the circumference of the roller 7 at equal angles. The rotor of the conductive slip ring 11 is coaxially fixed to the second output shaft 4. The rotor of the conductive slip ring 11 is electrically connected to the electric push rod 12. The stator of the conductive slip ring 11 is fixed to the lower support base 10. The stator of the conductive slip ring 11 is electrically connected to an external electric control system.

[0028] The telescopic mechanism further includes a main guiding groove 20. A plurality of radial main guiding grooves 20 are formed on the outer circumferential wall of the roller 7 at equal angles in the circumferential direction. Each of the main guiding grooves 20 is slidably connected to a toggle plate 9 in the radial direction. The toggle plate 9 is fixed to the end of the push rod of the electric push rod 12. When the electric push rod 12 extends and retracts the push rod, the toggle plate 9 can reciprocally slide in the radial direction along the main guiding groove 20 so as to retract into the main guiding groove 20 or extend out of the main guiding groove 20.

[0029] Further, when the electric push rod 12 extends, the toggle plate 9 protrudes from the main guiding groove 20. At this time, the toggle plate 9 that follows the circumferential movement of the roller 7 can stir the water, realizing traveling in the water. When the electric push rod 12 retracts, the toggle plate 9 retracts into the main guiding groove 20. At this time, the rotating roller 7 can travel on land.

[0030] The telescopic mechanism further includes a guiding rod 13, a receiving cavity 14, a right guiding groove 15, and a left guiding groove 16. A guiding rod 13 is vertically fixed to the push rod of the electric push rod 12. The guiding rod 13 is perpendicular to the axial direction of the roller 7. A plurality of receiving cavities 14 are arranged on the circumference of the roller 7 at equal angles. Each of the receiving cavities 14 penetrates through the right guiding groove 15 and the left guiding groove 16 from left to right. The toggle plate 9 includes a left toggle plate 17 and a right toggle plate 18 that are parallel to each other. Each of the right guiding grooves 15 is slidably connected to the right toggle plate 18 in the left-right direction. Each of the left guiding grooves 16 is slidably connected to the left toggle plate 17 in the left-right direction. The left toggle plate 17 and the right toggle plate 18 are respectively penetrated by a sliding groove 19. The sliding groove 19 of the left toggle plate 17 and the sliding groove 19 of the right toggle plate 18 are in a converging shape away from the second output shaft 4. Each of the sliding grooves 19 is slidably connected to the guiding rod 13. When the electric push rod 12 extends the push rod, the left toggle plate 17 and the right toggle plate 18 can be made to approach each other and contract into the receiving cavity 14 through the sliding connection between the guiding rod 13 and the sliding groove 19. When the electric push rod 12 retracts the push rod, the left toggle plate 17 and the right toggle plate 18 can be made to move away from each other and extend out of the receiving cavity 14 through the sliding connection between the guiding rod 13 and the sliding groove 19.

[0031] Furthermore, when the electric push rod 12 retracts the push rod, the guide rod 13 and the sliding groove 19 can make the left toggle plate 17 and the right toggle plate 18 move away from each other and protrude from the left guide groove 16 and the right guide groove 15, so that they can push the water during circumferential movement to achieve underwater travel. Compared with the former, since the number of toggle plates 9 is greater, the efficiency of traveling in water is higher. By controlling the electric push rod 12 to extend the push rod, the guide rod 13 and the sliding groove 19 can make the left toggle plate 17 and the right toggle plate 18 move closer to each other and retract into the left guide groove 16 and the right guide groove 15, thereby reducing wind resistance during land travel and reducing unnecessary losses during land travel.

[0032] The roller 7 includes a wheel body 21 and a wheel rim 22. The electric push rod 12 and the accommodating cavity 14 are located in the wheel body 21. The wheel rim 22 is coaxially connected to the outside of the wheel body 21. A plurality of limiting holes 23 are opened at equal angles on the inner circumferential wall of the wheel rim 22. The push rods of the electric push rods 12 can respectively pass through the outer circumferential wall of the wheel body 21. The limiting holes 23 respectively correspond to the push rods of the electric push rods 12 in radial direction. The push rods of the electric push rods 12 are respectively axially connected with pins 24 for sliding. The pin 24 and the electric push rod 12 are jointly fixed with a secondary compression spring 25. Under the elastic repulsive force of the secondary compression spring 25, the pin 24 has a tendency to move away from the push rod of the electric push rod 12 and can be plugged into the limiting hole 23. The rim 22 is circumferentially penetrated by flow holes 26 at equal angles on the left and right sides. Each of the flow holes 26 is fixed with a guide plate 27. The guide plate 27 is inclined compared to the axial direction of the flow hole 26, and the inclination direction of the guide plates 27 where the two rims 22 are located is consistent.

[0033] Furthermore, when the electric push rod 12 extends the push rod, the left toggle plate 17 and the right toggle plate 18 retract into the left guide groove 16 and the right guide groove 15, and the pin 24 will approach the circumferential position of the limiting hole 23. If the wheel body 21 rotates following the second output shaft 4 at this time, the wheel rim 22 rotates relative to the wheel body 21 under the action of inertia until the limiting hole 23 moves to a position radially corresponding to the pin 24. At this time, under the elastic repulsive force of the secondary compression spring 25, the pin 24 is plugged into the limiting hole 23, and the wheel rim 22 and the wheel body 21 realize synchronous transmission. If the wheel rim 22 rolls and rubs against the land at this time, it can When traveling on land, if the wheel rim 22 is completely in water, the circumferentially moving guide plate 27 can transport water radially, thereby enabling left and right movement. If the servo motors 1 in the multiple joint transmission assemblies rotate in different directions, the robot dog can also achieve the action of "turning around in water" (such as the two hind legs transporting water to the right and the two front legs transporting water to the left), thereby improving the traveling effect and function in the water. When the electric push rod 12 retracts the push rod, the left and right toggle plates 17 and 18 extend, and the pin 24 disengages from the limit hole 23. At this time, the wheel body 21 can rotate freely compared to the wheel rim 22, thereby moving forward or backward in the water.

[0034] The clutch mechanism includes an upper support frame 28, a hollow shaft 29, an upper worm 30, an upper friction disc 31, an upper permanent magnet 32, an upper compression spring 33, an upper electromagnet 34, a middle friction disc 35, a third output shaft 36, and an upper worm gear 37. The upper support frame 28 is fixed to the bottom end of the servo motor 1. The upper support frame 28 is rotatably connected to the hollow shaft 29. The hollow shaft 29 is coaxially inserted outside the rotating shaft of the servo motor 1 with a gap. The upper worm 30 is coaxially fixed to the outer wall of the hollow shaft 29. The bottom of the hollow shaft 29 is axially slidably connected to the upper friction disc 31. The top of the upper friction disc 31 is fixed with an upper permanent magnet 32, and an upper compression spring 33 is fixed between the upper friction disc 31 and the hollow shaft 29. The upper friction disc 31 has a tendency to move downward under the elastic repulsive force of the upper compression spring 33. The lower end of the upper support frame 28 is fixed with an upper electromagnet 34. The upper electromagnet 34 is electrically connected to the external electric control system. The upper electromagnet 34 corresponds to the upper permanent magnet 32 up and down. When the upper electromagnet 34 is passed with current in different directions, it can generate different magnetic field directions, thereby being able to magnetically attract or magnetically repel the No. 1 lower electromagnet 38, so that the upper friction disc 31 moves up and down along the hollow shaft 29. The bottom end of the rotating shaft of the servo motor 1 is coaxially fixed with the middle friction disc 35, and the bottom end of the upper friction disc 31 can be coaxially fitted and rubbed with the top end of the middle friction disc 35. The upper support frame 28 is rotatably connected to the third output shaft 36. The third output shaft 36 is horizontally arranged left and right, and is coaxially fixed with an upper worm gear 37. The upper worm gear 37 is meshed with the upper worm 30, and is continuously transmitted to the second output shaft 4 through a gear transmission mechanism, a synchronous belt transmission mechanism, or a sprocket transmission mechanism.

[0035] Furthermore, by controlling the direction of the current flowing to the upper electromagnet 34 through the electronic control system, the upper electromagnet 34 can be magnetically attracted or repelled by the upper permanent magnet 32. When magnetically attracted, the upper friction disk 31 can move upward against the elastic repulsive force of the upper compression spring 33, so as to disengage from the middle friction disk 35 and stop the frictional contact. When magnetically repelled or when current is applied, under the action of magnetic force or the elastic repulsive force of the upper compression spring 33, the upper friction disk 31 can be in frictional contact with the middle friction disk 35, so that the upper friction disk 31 and the middle friction disk 35 rotate synchronously, thereby driving the hollow shaft 29, the upper worm 30, the upper worm gear 37, the third output shaft 36, the second output shaft 4 and the roller 7 to rotate.

[0036] The clutch mechanism further includes a lower electromagnet 38, a lower friction disk 39, a lower compression spring 40, and a lower permanent magnet 41. The lower electromagnet 38 is fixed to the top of the planetary gear reducer 5. The input shaft of the planetary gear reducer 5 is axially slidably connected with the lower friction disk 39. A lower compression spring 40 is fixedly arranged between the lower friction disk 39 and the input shaft of the planetary gear reducer 5. The lower permanent magnet 41 is fixed to the bottom end of the lower friction disk 39, and has a tendency to move upward under the elastic repulsive force of the lower compression spring 40 and can be in coaxial frictional contact with the bottom end of the middle friction disk 35. The lower permanent magnet 41 and the lower electromagnet 38 are arranged corresponding to each other vertically. The lower electromagnet 38 is electrically connected to an external electronic control system. When the lower electromagnet 38 is energized with currents in different directions, magnetic fields in different directions can be formed, so that the lower electromagnet 38 can be magnetically attracted or repelled, and then the lower friction disk 39 can move up and down.

[0037] Further, by controlling the current flowing from the electronic control system to the lower electromagnet 38, the lower electromagnet 38 can be magnetically attracted or repelled by the lower permanent magnet 41. When magnetically attracted, the lower friction disk 39 can move downward against the elastic repulsive force of the lower compression spring 40, so as to disengage from the middle friction disk 35 and stop the frictional contact. When magnetically repelled or when no current is applied, under the action of magnetic force and the elastic repulsive force of the lower compression spring 40, the lower friction disk 39 moves upward and is in frictional contact with the middle friction disk 35 to rotate synchronously.

[0038] An upper support seat 42 is fixed to the outer wall of the servo motor 1. The transmission mechanism includes a lower support frame 43, a lower worm gear 44, and a lower worm 45. The lower support frame 43 is fixed to the bottom end of the planetary gear reducer 5. The first output shaft 3 is rotatably connected to the lower support frame 43 and is coaxially fixed with the lower worm gear 44. The output shaft of the planetary gear reducer 5 is coaxially fixed with the lower worm 45. The lower worm 45 meshes with the lower worm gear 44.

[0039] Fix the upper support base 42 to the thigh part of the robotic dog. When the lower friction disc 39 rotates, the lower leg part can be made to rotate slowly through the planetary gear reduction box 5, the lower worm 45 and the lower worm gear 44. When the lower leg part is lifted to a certain position, the roller 7 can be made to contact the ground. At this time, if the lower friction disc 39 is disengaged from the middle friction disc 35 and stops the frictional contact, due to the self-locking characteristic of the lower worm 45 and the lower worm gear 44, the position of the lower leg part relative to the lower support frame 43 can be kept unchanged, thereby reducing the interference caused by the friction between the roller 7 and the ground.

[0040] The above is a preferred embodiment of the present invention. For those of ordinary skill in the art, according to the teachings of the present invention, without departing from the principle and spirit of the present invention, the changes, modifications, substitutions and variations made to the embodiments still fall within the protection scope of the present invention.

Claims

1. A joint transmission assembly integrating a planetary gear and a servo motor, comprising a servo motor (1), a clutch mechanism, a first output shaft (3), a second output shaft (4), a planetary gear reduction box (5), a transmission mechanism, a roller (7), a telescopic mechanism, and a toggle plate (9), wherein the rotating shaft of the servo motor (1) is provided with a clutch mechanism, and the rotating shaft thereof is vertically arranged, the first output shaft (3) and the second output shaft (4) are independent of the servo motor (1) and are arranged to rotate relative to the servo motor (1) in the left and right directions, the input shaft of the planetary gear reduction box (5) is separated from or synchronously transmitted with the rotating shaft of the servo motor (1) through the clutch mechanism, the output shaft of the planetary gear reduction box (5) and the first output shaft (3) are continuously transmitted through the transmission mechanism, and the second output shaft (4) is separated from or synchronously transmitted with the rotating shaft of the servo motor (1) through the clutch mechanism, and is characterized in that: The second output shaft (4) is coaxially fixed with a roller (7), the roller (7) is equipped with a telescopic mechanism, and is connected to a plurality of toggle plates (9) in a circular and equiangular sliding manner. The telescopic mechanism is used to drive the toggle plates (9) to slide left and right or radially. The plate surface of the toggle plates (9) is parallel to the radial direction of the roller (7), and the servo motor (1) is electrically connected to an external electric control system.

2. The joint drive assembly integrating a planetary gear and a servo motor according to claim 1, wherein: A lower support seat (10) is fixed to the outer wall of the planetary gear reduction box (5), and the telescopic mechanism includes a conductive slip ring (11) and an electric push rod (12). The left and right parts of the lower support seat (10) are each rotatably connected to the second output shaft (4), and the left and right parts are each installed with a conductive slip ring (11). The roller (7) is fixed with multiple radial electric push rods (12) at equal angles on the circumference. The rotor of the conductive slip ring (11) is fixed on the same axis as the second output shaft (4), and the rotor of the conductive slip ring (11) is electrically connected to the electric push rod (12). The stator of the conductive slip ring (11) is fixed to the lower support seat (10), and the stator of the conductive slip ring (11) is electrically connected to an external electric control system.

3. The joint drive assembly integrating a planetary gear and a servo motor according to claim 2, characterized in that: The telescopic mechanism further comprises a main guide groove (20), and a plurality of radial main guide grooves (20) are formed at equal angles on the outer circumferential wall of the roller (7), and each of the main guide grooves (20) is radially slidably connected to a toggle plate (9), and the toggle plate (9) is fixed to the end of the push rod of the electric push rod (12). When the electric push rod (12) is telescopic, the toggle plate (9) can slide back and forth radially along the main guide groove (20), thereby retracting into the main guide groove (20) or extending from the main guide groove (20).

4. The joint transmission assembly integrating a planetary gear and a servo motor according to claim 2, characterized in that: The telescopic mechanism further comprises a guide rod (13), an accommodating cavity (14), a right guide groove (15), and a left guide groove (16). The push rod of the electric push rod (12) is vertically fixed with the guide rod (13). The guide rod (13) is perpendicular to the axial direction of the roller (7). The roller (7) is provided with a plurality of accommodating cavities (14) at equal angles on the circumference. Each of the accommodating cavities (14) is respectively penetrated by a right guide groove (15) and a left guide groove (16). The toggle plate (9) comprises a left toggle plate (17) and a right toggle plate (18) which are parallel to each other. Each of the right guide grooves (15) is respectively connected to a right toggle plate (18) in a sliding manner to the left and right. Each of the left guide grooves (16) is respectively connected to a left toggle plate (17) in a sliding manner to the left and right. The left toggle plate (17) and The right toggle plate (18) is respectively penetrated by a sliding groove (19), and the sliding groove (19) of the left toggle plate (17) and the sliding groove (19) of the right toggle plate (18) are gathered in a direction away from the second output shaft (4), and each of the sliding grooves (19) is respectively slidably connected to the guide rod (13). When the electric push rod (12) extends the push rod, the sliding connection between the guide rod (13) and the sliding groove (19) can make the left toggle plate (17) and the right toggle plate (18) approach each other and shrink into the accommodating chamber (14). When the electric push rod (12) retracts the push rod, the sliding connection between the guide rod (13) and the sliding groove (19) can make the left toggle plate (17) and the right toggle plate (18) move away from each other and extend from the accommodating chamber (14).

5. The joint drive assembly integrating a planetary gear and a servo motor according to claim 4, characterized in that: The roller (7) includes a wheel body (21) and a wheel rim (22), the electric push rod (12) and the accommodating cavity (14) are located in the wheel body (21), the wheel rim (22) is coaxially rotatably connected to the outside of the wheel body (21), a plurality of limiting holes (23) are opened at equal angles on the inner circumferential wall of the wheel rim (22), the push rods of each of the electric push rods (12) can respectively penetrate the outer circumferential wall of the wheel body (21), each of the limiting holes (23) respectively corresponds to the push rods of each of the electric push rods (12) in radial direction, and the push rods of each of the electric push rods (12) are respectively axially slidably connected to a pin (24) The pin (24) and the electric push rod (12) are fixed with a secondary compression spring (25) together. The pin (24) has a tendency to move away from the push rod of the electric push rod (12) under the elastic repulsive force of the secondary compression spring (25), and can be plugged into the limiting hole (23). The circumference of the wheel rim (22) is penetrated by flow holes (26) at equal angles on the left and right. Each of the flow holes (26) is fixed with a guide plate (27). The guide plate (27) is inclined compared to the axial direction of the flow hole (26). The inclination direction of the guide plates (27) where the two wheel rims (22) are located is consistent.

6. A planetary gear and servo motor integrated joint drive assembly according to any one of claims 1-5, characterized in that: The clutch mechanism includes an upper support frame (28), a hollow shaft (29), an upper worm (30), an upper friction disc (31), an upper permanent magnet (32), an upper compression spring (33), an upper electromagnet (34), a middle friction disc (35), a third output shaft (36), and an upper worm gear (37). The bottom end of the servo motor (1) is fixed with an upper support frame (28). The upper support frame (28) is rotatably connected with a hollow shaft (29). The hollow shaft (29) is coaxially inserted outside the rotating shaft of the servo motor (1) with a clearance. The outer wall of the hollow shaft (29) is coaxially fixed with an upper worm (30). The bottom of the hollow shaft (29) is axially slidably connected with an upper friction disc (31). The top end of the upper friction disc (31) is fixed with an upper permanent magnet (32), and an upper compression spring (33) is jointly fixed between the upper friction disc (31) and the hollow shaft (29). The upper friction disc (31) has a tendency to move downward under the elastic repulsive force of the upper compression spring (33). The bottom end of the upper support frame (28) is fixed with an upper electromagnet (34). The upper electromagnet (34) is electrically connected to an external electric control system. The upper electromagnet (34) and the upper permanent magnet (32) are vertically corresponding to each other. When the upper electromagnet (34) is energized with currents in different directions, it can generate magnetic field directions in different directions, thereby magnetically attracting or repelling the first lower electromagnet (38), so that the upper friction disc (31) moves up and down along the hollow shaft (29). The bottom end of the rotating shaft of the servo motor (1) is coaxially fixed with a middle friction disc (35). The bottom end of the upper friction disc (31) can be coaxially attached and frictionally engaged with the top end of the middle friction disc (35). The upper support frame (28) is rotatably connected with a third output shaft (36). The third output shaft (36) is horizontally arranged left and right and is coaxially fixed with an upper worm gear (37). The upper worm gear (37) is meshed with the upper worm (30) and is continuously driven with the second output shaft (4) through a gear transmission mechanism or a synchronous belt transmission mechanism or a sprocket transmission mechanism.

7. The joint drive assembly integrating a planetary gear and a servo motor according to claim 6, characterized in that: The clutch mechanism further includes a lower electromagnet (38), a lower friction disc (39), a lower compression spring (40), and a lower permanent magnet (41). The top end of the planetary gear reduction box (5) is fixed with a lower electromagnet (38). The input shaft of the planetary gear reduction box (5) is axially slidably connected with a lower friction disc (39). A lower compression spring (40) is jointly fixed between the lower friction disc (39) and the input shaft of the planetary gear reduction box (5). The bottom end of the lower friction disc (39) is fixed with a lower permanent magnet (41). Under the elastic repulsive force of the lower compression spring (40), the lower friction disc (39) has a tendency to move upward and can be coaxially attached and frictionally engaged with the bottom end of the middle friction disc (35). The lower permanent magnet (41) and the lower electromagnet (38) are vertically corresponding to each other. The lower electromagnet (38) is electrically connected to an external electric control system. When the lower electromagnet (38) is energized with currents in different directions, it can form magnetic fields in different directions, thereby magnetically attracting or repelling the lower electromagnet (38), and then making the lower friction disc (39) move up and down.

8. A planetary gear and servo motor integrated joint drive assembly according to any one of claims 1, 2, 3, 4, 5, and 7, characterized in that: An upper support base (42) is fixed to the outer wall of the servo motor (1). The transmission mechanism includes a lower support frame (43), a lower worm gear (44), and a lower worm (45). The lower support frame (43) is fixed to the bottom end of the planetary gear reducer (5). The first output shaft (3) is rotatably connected to the lower support frame (43) and coaxially fixed with the lower worm gear (44). The output shaft of the planetary gear reducer (5) is coaxially fixed with the lower worm (45). The lower worm (45) meshes with the lower worm gear (44).

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