A two-stage transmission for a humanoid robot

Abstract

The application discloses a two-stage transmission device for a humanoid robot, which comprises a power assembly, a connecting assembly, a transmission assembly, a planetary assembly and an output assembly, wherein the power assembly outputs rotary power; the connecting assembly is arranged on the power assembly to form an installation cavity; the transmission assembly is arranged in the installation cavity; the output assembly is arranged in the installation cavity, and a transmission cavity is formed between the output assembly and the transmission assembly; the planetary assembly is arranged in the transmission cavity; the planetary assembly comprises a driving tooth, a planet carrier and a planetary gear, and the planet carrier is arranged in the transmission cavity; the driving tooth is sleeved on the output end of the power assembly; and the planetary gear is arranged on the planet carrier. The application adopts a planetary gear structure with a built-in cylinder and a triangular distribution, realizes synchronous rotation of multiple planetary gears driven by a single motor power, adopts an independent segmented sleeve joint engagement mode, realizes two-stage power speed change output by sharing a set of planetary gears, and effectively improves the transmission ratio on the premise of shortening the transmission stroke.

Description

Technical Field

[0001] This invention relates to the field of robot transmission component manufacturing equipment, and in particular to a two-stage transmission device for humanoid robots. Background Technology

[0002] Gearboxes are core components of mechanical transmission systems, transmitting power, adjusting speed, and converting torque through gear meshing. They are widely used in wind power, automobiles, and industrial equipment. The main functions of a gearbox are: speed change and torque adjustment. By changing the gear ratio through different combinations of gears with varying numbers of teeth, larger gears reduce speed and increase torque, while smaller gears increase speed and reduce torque.

[0003] Existing 12mm planetary gearboxes typically have a two-stage transmission ratio below 100. If a higher transmission ratio is required, the number of stages must be increased, necessitating 3 or 4 stages. This results in a longer transmission stroke, increased gearbox length, and increased difficulty in disassembly, assembly, and maintenance. For the demands of lightweight and miniaturization, especially in the increasingly common humanoid robot joint gearboxes, existing two-stage gearboxes cannot meet the required transmission ratio. Therefore, it is necessary to design a two-stage transmission device for humanoid robots. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the shortcomings of the prior art by providing a two-stage transmission device for humanoid robots. This device uses a cylindrical, triangularly distributed planetary gear structure to enable a single motor to drive multiple planetary gears to rotate synchronously. It adopts an independent segmented meshing method and shares a set of planetary gears to achieve two-stage power transmission output, effectively improving the transmission ratio while shortening the transmission stroke.

[0005] The technical solution adopted in this invention is as follows: A two-stage transmission device for a humanoid robot, used for outputting power, includes a power component, a connecting component, a transmission component, a planetary component, and an output component, wherein the power component outputs rotational power; the connecting component is disposed on the power component, used for connecting and providing an installation support platform, and an installation cavity is formed on the connecting component; the output end of the power component extends into the installation cavity along the axial X direction; the transmission component is disposed in the installation cavity and inserted into the connecting component along the axial X direction, positioned radially with the connecting component in the Y direction; the output component is disposed in the installation cavity and stacked on the transmission component along the axial X direction, forming a transmission cavity extending along the axial X direction between the output component and the transmission component; the planetary component is disposed... The planetary assembly is placed inside the transmission cavity and connected to the output end of the power component, converting power and transmitting it to the transmission and output components. The planetary assembly includes a drive gear, a planet carrier, and planetary gears. The planet carrier is rotatably disposed in the transmission cavity along the Y direction and has a through hole in its middle. The drive gear is sleeved on the output end of the power component and extends into the planet carrier through the through hole. The planetary gears include at least two, which are disposed on the planet carrier along the X direction and rotate freely along the Y direction. The at least two planetary gears are respectively meshed with the drive gear. When the drive gear rotates, it simultaneously drives the at least two planetary gears to rotate. The outer sides of the at least two planetary gears are respectively meshed with the transmission and output components, transmitting the rotational power to the output component after speed conversion.

[0006] Preferably, the power assembly includes a motor and an output shaft, wherein the output end of the motor extends along the X direction; the output shaft is connected to the output shaft of the motor and is driven by the motor to rotate along the Y direction; and the motor has at least two first mounting holes along the X direction.

[0007] Preferably, the connecting assembly includes a support and an outer sleeve, wherein the support is a circular base structure, stacked on the motor along the X direction, and has a through hole in its middle for the output shaft to pass through; the support has at least two countersunk holes along the X direction, which correspond to at least two first mounting holes respectively, and screws are inserted into the countersunk holes and the first mounting holes to fix the support and the motor; the side wall of the support has at least two second mounting holes; and the support has at least two recessed holes along the X direction.

[0008] Preferably, the outer sleeve is a cylindrical structure and is fitted over the support. At least two second mounting holes are provided on the side wall of the outer sleeve, and the second mounting holes on the outer sleeve are aligned with the second mounting holes on the support. Screws are inserted into the second mounting holes to lock and fix the outer sleeve and the support. The inner part of the outer sleeve is provided with a cavity that extends in the axial direction, and the cavity and the support form a mounting cavity extending in the X direction.

[0009] Preferably, the transmission assembly includes a first internal gear ring, which is a cylindrical structure with a central through hole and a first internal tooth on its inner wall, the first internal tooth meshing with a planetary gear; at least two inserts are provided on one end wall of the first internal gear ring, the at least two inserts being embedded in two corresponding holes on the support along the X direction to radially position the first internal gear ring; an inwardly extending annular support is also provided on the inner wall of the first internal gear ring.

[0010] Preferably, the planetary carrier is mounted on an annular support and rotates freely on the annular support.

[0011] Preferably, the planetary carrier has three mounting protrusions spaced apart along the Y direction, the mounting protrusions extend along the X direction, and a support shaft extending along the X direction is provided in the gap space between two adjacent mounting protrusions; the end wall of the mounting protrusion is provided with an insert shaft extending along the X direction; the planetary gear includes three planetary gears, each of which is rotatably sleeved on the support shaft, and the end of the planetary gear is provided with a protruding post extending along the X direction.

[0012] Preferably, the planetary assembly further includes a planetary cover, which is disposed on the planet carrier; one side of the planetary cover is provided with three connecting protrusions extending in the X direction, the connecting protrusions being disposed corresponding to the mounting protrusions and stacked on the mounting protrusions; the planetary cover and the mounting protrusions are provided with insertion holes for the protrusions and insert shafts corresponding to the planetary gears, so that the protrusions and insert shafts can be inserted.

[0013] Preferably, the output component includes a second internal gear ring, which is a cylindrical structure stacked on the first internal gear ring along the X direction and covered outside the planetary assembly. The internal space of the second internal gear ring and the second internal gear ring form a transmission cavity. The inner wall of the second internal gear ring is provided with second internal teeth, which mesh with the planetary gears. When the planetary gears rotate, they drive the second internal gear ring to rotate.

[0014] Preferably, the output component further includes an output bushing, which is disposed in the middle of the second internal gear ring and has a shaft hole for inserting an external rotating shaft. The second internal gear ring drives the output bushing to rotate, thereby outputting rotational power.

[0015] The beneficial effects of this invention are as follows:

[0016] This invention addresses the shortcomings and deficiencies of existing technologies by independently developing and designing a planetary gear structure with a built-in cylindrical triangular distribution. This structure enables a single motor to simultaneously drive multiple planetary gears to rotate synchronously. It employs an independent segmented meshing method and shares a set of planetary gears to achieve two-stage power transmission output. This invention effectively improves the transmission ratio while shortening the transmission stroke, making it a two-stage transmission device for humanoid robots.

[0017] This invention applies to the field of joint actuation for humanoid robots. Based on the requirements for precision and miniaturization in humanoid robot joint actuation, this invention achieves a high transmission ratio through a two-stage transmission system. This effectively shortens the transmission stroke, reduces overall size, and significantly improves the transmission ratio. Specifically, the invention has a cylindrical structure, including a power component, a connecting component, a transmission component, a planetary component, and an output component. The power component outputs rotational power via a motor. The connecting component provides a mounting platform and forms a mounting cavity extending along the axial direction (X-direction) for mounting the transmission component, planetary component, and output component. The transmission component and output component overlap axially, forming a transmission cavity within each other. The planetary component is housed within the transmission cavity and moves freely within it, creating an interlocking connection between the mounting cavity and the transmission cavity. The installation of the transmission component, planetary component, and output component is integrated into two cavities, transforming the transmission path from an axial direction to a radial direction, effectively reducing the transmission path length. Specifically, the power assembly of this invention uses a motor as the output structure. A circular support is stacked and fixed on the motor. A cylindrical outer sleeve is fitted on the outside of the support, and the cavity inside the outer sleeve forms an installation cavity with the support. The transmission assembly and output assembly of this invention are cylindrical structures, which are stacked on each other in the installation cavity along the axial direction and supported by the support. That is, the first internal gear ring of the transmission assembly is stacked on the support along the axial direction, and its radial positioning is achieved by inserting multiple protruding inserts at its ends into the holes on the support. The second internal gear ring of the output assembly is stacked on the first internal gear ring and can rotate freely on the first internal gear ring. The cylindrical spaces inside the first and second internal gear rings are connected to form the transmission cavity. In addition, the output shaft of the motor passes through the support and extends into the transmission cavity along the axial direction. The inner wall of the first internal gear ring is provided with an inwardly extending annular support for placing the planetary assembly. Furthermore, the planetary assembly of the present invention uses a planet carrier as a support structure. The planet carrier is a cylindrical structure that is set on an annular support and rotates freely on the annular support. Three mounting protrusions are arranged radially on the planet carrier, and a shaft is provided on the end wall of the mounting protrusion. A support shaft is provided between two adjacent mounting protrusions in the axial direction. Three planetary gears are rotatably sleeved on the three support shafts to form a three-wheel transmission structure. A protruding post is provided on the end wall of the planetary gear. A planet cover is stacked on the outer side of the planet carrier in the axial direction. The shaft and the protruding post are inserted into the insertion hole on the planet cover for installation and positioning. The planet cover provides axial positioning for the planetary gears.Furthermore, a drive tooth is fitted onto the output shaft of the motor. The drive tooth passes through the support and planetary carrier along the axial direction and extends into the gap space between the three planetary gears, meshing with each of the three planetary gears. When the drive tooth rotates, it simultaneously drives the three planetary gears to rotate. At the same time, the outer sides of the three planetary gears mesh with the first and second internal teeth provided on the inner walls of the first and second internal gear rings, respectively. Thus, the drive tooth, planetary gears, and first internal teeth form a first-stage transmission, while the planetary gears, second internal teeth, and the output shaft sleeve located in the middle of the end wall of the first internal gear ring form a second-stage transmission. The first-stage transmission and the second-stage transmission share the planetary gears and drive tooth. The output shaft sleeve is an output structure that outputs the variable torque rotational power outward. In practical applications, one possible approach for this invention is as follows: motor teeth z1=6, planetary gear teeth z2=22, internal gear ring 1 teeth z3=51, and internal gear ring 2 teeth z4=54; resulting in a first-stage component transmission ratio i1=9.5, a second-stage transmission ratio i2=18, and a total transmission ratio i=i1*i2=171. This satisfies the requirements for a large transmission ratio and high torque, and the overall length and size are smaller than existing gearboxes. Furthermore, compared to the traditional method of axial fixation with two fasteners, the outer casing of this invention uses a radial fixing method. Screws are inserted and locked in place after aligning the first and second mounting holes on the side walls of both components. This avoids the problem of misalignment of the internal gear rings and increased gearbox noise that can occur with axial fixation. The radial fixing method improves the concentricity of the gearbox and simultaneously reduces noise during operation. Attached Figure Description

[0018] Figure 1 This is one of the component disassembly structural diagrams of the present invention.

[0019] Figure 2 This is the second schematic diagram of the component disassembly structure of the present invention.

[0020] Figure 3 This is one of the schematic diagrams of the disassembled structure after the hidden components of the present invention.

[0021] Figure 4 This is the second schematic diagram of the disassembled structure after the hidden components of the present invention.

[0022] Figure 5 This is a three-dimensional structural diagram of the present invention.

[0023] Figure 6 This is the front view of the present invention.

[0024] Figure 7 for Figure 6 Sectional view of section II.

[0025] In the picture:

[0026] 1. Motor; 2. Output shaft; 3. Support; 4. Screw; 5. Outer sleeve; 6. First internal gear ring; 7. Insert; 8. First internal gear; 9. Drive gear; 10. Planetary carrier; 11. Mounting protrusion; 12. Support shaft; 13. Insert shaft; 14. Planetary gear; 15. Planetary cover; 16. Connecting protrusion; 17. Second internal gear ring; 18. Output shaft sleeve; 19. Second internal gear;

[0027] A. First mounting hole; B. Countersunk hole; C. Second mounting hole; D. Embedded hole; E. Cavity; F. Annular support; G. Insertion hole. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0029] It should be noted that all directional indications in the embodiments of the present invention, such as up, down, left, right, front, back, etc., are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0030] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0031] like Figures 1 to 7As shown, this invention proposes a two-stage transmission device for a humanoid robot, used for outputting power, including a power component, a connecting component, a transmission component, a planetary assembly, and an output component. The power component outputs rotational power; the connecting component is disposed on the power component, used to connect to and provide a mounting platform, and forms a mounting cavity on the connecting component; the output end of the power component extends into the mounting cavity along the axial X direction; the transmission component is disposed within the mounting cavity and inserted into the connecting component along the axial X direction, positioned radially with the connecting component in the Y direction; the output component is disposed within the mounting cavity and stacked on the transmission component along the axial X direction, forming a transmission cavity extending along the axial X direction between the output component and the transmission component; the planetary assembly is disposed within the transmission cavity and is connected to the power component... The output end is connected to convert power and transmit it to the transmission assembly and the output assembly. The planetary assembly includes a drive gear 9, a planet carrier 10, and planetary gears 14. The planet carrier 10 is rotatably disposed in the transmission cavity along the Y direction and has a through hole in its middle. The drive gear 9 is sleeved on the output end of the power assembly and extends into the planet carrier 10 through the through hole. The planetary gears 14 include at least two, which are disposed on the planet carrier 10 along the X direction and rotate freely along the Y direction. The at least two planetary gears 14 are respectively meshed with the drive gear 9. When the drive gear 9 rotates, it simultaneously drives the at least two planetary gears 14 to rotate. The outer sides of the at least two planetary gears 14 are respectively meshed with the transmission assembly and the output assembly to transmit the rotational power to the output assembly after speed change.

[0032] The power assembly includes a motor 1 and an output shaft 2, wherein the output end of the motor 1 extends along the X direction; the output shaft 2 is connected to the output shaft of the motor 1 and is driven by the motor 1 to rotate along the Y direction; the motor 1 has at least two first mounting holes A along the X direction.

[0033] The connecting assembly includes a support 3 and an outer sleeve 5. The support 3 is a circular base structure, which is stacked on the motor 1 along the X direction. A through hole is provided in the middle so that the output shaft 2 can pass through. At least two countersunk holes B are provided on the support 3 along the X direction. The at least two countersunk holes B are respectively provided along the X direction and correspond to at least two first mounting holes A. Screws 4 are inserted into the countersunk holes B and the first mounting holes A to fix the support 3 and the motor 1. At least two second mounting holes C are provided on the side wall of the support 3. At least two recessed holes D are provided on the support 3 along the X direction.

[0034] The outer sleeve 5 is a cylindrical structure and is fitted onto the outside of the support 3. At least two second mounting holes C are provided on the side wall of the outer sleeve 5. The second mounting holes C on the outer sleeve 5 are aligned with the second mounting holes C on the support 3. Screws 4 are inserted into the second mounting holes C to lock and fix the outer sleeve 5 and the support 3. The inner part of the outer sleeve 5 is provided with a cavity E that runs through the axial direction. The cavity E and the support 3 form a mounting cavity that extends in the X direction.

[0035] The transmission assembly includes a first internal gear ring 6, which is a cylindrical structure with a through hole in the middle. The inner wall of the first internal gear ring 6 is provided with first internal teeth 8, which mesh with planetary gears 14. At least two inserts 7 are provided on one end wall of the first internal gear ring 6. The at least two inserts 7 are embedded in two corresponding holes D on the support 3 along the X direction to radially position the first internal gear ring 6. The inner wall of the first internal gear ring 6 is also provided with an inwardly extending annular support F.

[0036] The planetary carrier 10 is mounted on the annular support F and rotates freely on the annular support F.

[0037] The planetary carrier 10 has three mounting protrusions 11 spaced apart along the Y direction. The mounting protrusions 11 extend along the X direction. A support shaft 12 extending along the X direction is provided in the gap space between two adjacent mounting protrusions 11. An insert shaft 13 extending along the X direction is provided on the end wall of the mounting protrusion 11. The planetary gears 14 include three, and the three planetary gears 14 are rotatably sleeved on the support shaft 12. The end of the planetary gear 14 is provided with a protruding post extending along the X direction.

[0038] The planetary assembly also includes a planet cover 15, which covers the planet carrier 10. The planet cover 15 has three connecting protrusions 16 extending in the X direction on one side. The connecting protrusions 16 are corresponding to the mounting protrusions 11 and are stacked on the mounting protrusions 11. The planet cover 15 and the mounting protrusions 11 have insertion holes G corresponding to the protrusions and insertion shafts 13 of the planetary gears 14 so that the protrusions and insertion shafts 13 can be inserted.

[0039] The output component includes a second internal gear ring 17, which is a cylindrical structure. It is stacked on the first internal gear ring 6 along the X direction and covers the outside of the planetary assembly. The internal space of the second internal gear ring 17 and the first internal gear ring 6 forms a transmission cavity. The inner wall of the second internal gear ring 17 is provided with a second internal tooth 19, which meshes with the planet gear 14. When the planet gear 14 rotates, it drives the second internal gear ring 17 to rotate.

[0040] The output assembly also includes an output bushing 18, which is located in the middle of the second internal gear ring 17 and has a shaft hole for inserting an external rotating shaft. The second internal gear ring 17 drives the output bushing 18 to rotate, thereby outputting rotational power.

[0041] Furthermore, this invention designs a planetary gear structure with a built-in triangular distribution, enabling a single motor to simultaneously drive multiple planetary gears to rotate synchronously. It employs an independent, segmented, nested meshing method, sharing a common set of planetary gears to achieve two-stage power transmission output. This effectively increases the transmission ratio while shortening the transmission stroke, making it a two-stage transmission device for humanoid robots. This invention is applied to the field of joint actuation in humanoid robots. Based on the requirements for precision and miniaturization in humanoid robot joint actuation, this invention achieves high transmission ratios through a two-stage transmission, effectively shortening the transmission stroke, reducing overall size, and simultaneously increasing the transmission ratio. Specifically, the present invention has a cylindrical structure, including a power component, a connecting component, a transmission component, a planetary component, and an output component. The power component outputs rotational power through a motor. The connecting component provides an installation support platform and forms an installation cavity extending along the axial direction (i.e., the X direction) for installing the transmission component, the planetary component, and the output component. The transmission component and the output component overlap each other along the axial direction, forming a transmission cavity inside each other. The planetary component is set in the transmission cavity and moves freely within it, forming a nested connection between the installation cavity and the transmission cavity. The installation of the transmission component, the planetary component, and the output component is integrated into two cavities, changing the transmission path from the axial direction to the radial direction, effectively reducing the transmission path. Specifically, the power assembly of this invention uses a motor as the output structure. A circular support is stacked and fixed on the motor. A cylindrical outer sleeve is fitted on the outside of the support, and the cavity inside the outer sleeve forms an installation cavity with the support. The transmission assembly and output assembly of this invention are cylindrical structures, which are stacked on each other in the installation cavity along the axial direction and supported by the support. That is, the first internal gear ring of the transmission assembly is stacked on the support along the axial direction, and its radial positioning is achieved by inserting multiple protruding inserts at its ends into the holes on the support. The second internal gear ring of the output assembly is stacked on the first internal gear ring and can rotate freely on the first internal gear ring. The cylindrical spaces inside the first and second internal gear rings are connected to form the transmission cavity. In addition, the output shaft of the motor passes through the support and extends into the transmission cavity along the axial direction. The inner wall of the first internal gear ring is provided with an inwardly extending annular support for placing the planetary assembly. Furthermore, the planetary assembly of the present invention uses a planet carrier as a support structure. The planet carrier is a cylindrical structure that is set on an annular support and rotates freely on the annular support. Three mounting protrusions are arranged radially on the planet carrier, and a shaft is provided on the end wall of the mounting protrusion. A support shaft is provided between two adjacent mounting protrusions in the axial direction. Three planetary gears are rotatably sleeved on the three support shafts to form a three-wheel transmission structure. A protruding post is provided on the end wall of the planetary gear. A planet cover is stacked on the outer side of the planet carrier in the axial direction. The shaft and the protruding post are inserted into the insertion hole on the planet cover for installation and positioning. The planet cover provides axial positioning for the planetary gears.Furthermore, a drive tooth is fitted onto the output shaft of the motor. The drive tooth passes through the support and planetary carrier along the axial direction and extends into the gap space between the three planetary gears, meshing with each of the three planetary gears. When the drive tooth rotates, it simultaneously drives the three planetary gears to rotate. At the same time, the outer sides of the three planetary gears mesh with the first and second internal teeth provided on the inner walls of the first and second internal gear rings, respectively. Thus, the drive tooth, planetary gears, and first internal teeth form a first-stage transmission, while the planetary gears, second internal teeth, and the output shaft sleeve located in the middle of the end wall of the first internal gear ring form a second-stage transmission. The first-stage transmission and the second-stage transmission share the planetary gears and drive tooth. The output shaft sleeve is an output structure that outputs the variable torque rotational power outward. In practical applications, one possible approach for this invention is as follows: motor teeth z1=6, planetary gear teeth z2=22, internal gear ring 1 teeth z3=51, and internal gear ring 2 teeth z4=54; resulting in a first-stage component transmission ratio i1=9.5, a second-stage transmission ratio i2=18, and a total transmission ratio i=i1*i2=171. This satisfies the requirements for a large transmission ratio and high torque, and the overall length and size are smaller than existing gearboxes. Furthermore, compared to the traditional method of axial fixation with two fasteners, the outer casing of this invention uses a radial fixing method. Screws are inserted and locked in place after aligning the first and second mounting holes on the side walls of both components. This avoids the problem of misalignment of the internal gear rings and increased gearbox noise that can occur with axial fixation. The radial fixing method improves the concentricity of the gearbox and simultaneously reduces noise during operation.

[0042] The embodiments of this invention are merely illustrative of specific implementation methods and are not intended to limit the scope of protection. Those skilled in the art can make modifications based on these embodiments; therefore, all equivalent changes or modifications made in accordance with the scope of this invention's patent claims fall within the scope of this invention's patent claims.

Claims

1. A secondary transmission for a humanoid robot for outputting power, characterized by: The power assembly, the connecting assembly, the transmission assembly, the planetary assembly and the output assembly are provided, The power assembly outputs rotary power; The connecting assembly is arranged on the power assembly and is used for connecting and providing a mounting bearing platform, and a mounting cavity is formed on the connecting assembly; the output end of the power assembly extends into the mounting cavity along the axial X direction; The transmission assembly is arranged in the mounting cavity and is inserted into the connecting assembly along the axial X direction and is positioned in the radial Y direction of the connecting assembly; The output assembly is arranged in the mounting cavity and is stacked on the transmission assembly along the axial X direction, and a transmission cavity extending along the axial X direction is formed between the output assembly and the transmission assembly; The planetary assembly is arranged in the transmission cavity and is connected with the output end of the power assembly, converts the power and then transmits the power to the transmission assembly and the output assembly; The planetary assembly comprises a driving tooth (9), a planet carrier (10) and planet gears (14), wherein the planet carrier (10) is rotatably arranged in the transmission cavity along the Y direction and is provided with a through hole in the middle; the driving tooth (9) is sleeved on the output end of the power assembly and extends into the planet carrier (10) through the through hole of the planet carrier (10); the planet gears (14) are at least two, are arranged on the planet carrier (10) along the X direction and are freely rotatable along the Y direction, and the at least two planet gears (14) are respectively toothedly connected with the driving tooth (9), so that the driving tooth (9) rotates to simultaneously drive the at least two planet gears (14) to rotate; the outer sides of the at least two planet gears (14) are respectively toothedly connected with the transmission assembly and the output assembly, so that the rotary power is transmitted to the output assembly after being speed-changed.

2. The secondary transmission for a humanoid robot of claim 1, wherein: The power assembly comprises a motor (1) and an output shaft (2), wherein the output end of the motor (1) extends along the X direction; the output shaft (2) is connected to the output shaft of the motor (1) and is rotatable along the Y direction by the motor (1); at least two first mounting holes (A) are formed in the motor (1) along the X direction.

3. The secondary transmission for a humanoid robot of claim 2, wherein: The connecting assembly comprises a support (3) and a sleeve (5), wherein the support (3) is a circular seat body structure, is stacked on the motor (1) along the X direction, is provided with a through hole in the middle to allow the output shaft (2) to pass through, is provided with at least two counterbores (B) along the X direction, the at least two counterbores (B) are respectively arranged along the X direction corresponding to the at least two first mounting holes (A) and are inserted into the counterbores (B) and the first mounting holes (A) through screws (4) to fix the support (3) and the motor (1); at least two second mounting holes (C) are formed in the side wall of the support (3); and at least two embedding holes (D) are formed in the support (3) along the X direction.

4. The secondary transmission of claim 3, wherein: The outer sleeve (5) is a cylindrical structure, and the outer sleeve (5) is sleeved outside the support (3); at least two second mounting holes (C) are formed in the side wall of the outer sleeve (5), the second mounting holes (C) on the outer sleeve (5) are aligned with the second mounting holes (C) on the support (3), screws (4) are inserted into the second mounting holes (C) to lock and fix the outer sleeve (5) and the support (3); the inner sleeve (5) is provided with a sleeve cavity (E) penetrating in the axial direction, and the sleeve cavity (E) and the support (3) form an installation cavity extending in the X direction.

5. The secondary transmission device for a humanoid robot according to claim 3, characterized in that: The transmission assembly comprises a first inner gear ring (6), which is a cylindrical structure, has a central through hole, and is provided with a first inner gear (8) on the inner wall, the first inner gear (8) is engaged with the planetary gear (14); at least two inserts (7) are arranged on one side end wall of the first inner gear ring (6), the at least two inserts (7) are correspondingly inserted into the two insert holes (D) on the support (3) in the X direction, so as to radially position the first inner gear ring (6); the inner wall of the first inner gear ring (6) is further provided with an annular support platform (F) extending inward.

6. The secondary transmission of claim 5, wherein: The planet carrier (10) is arranged on the annular support platform (F) and can rotate freely on the annular support platform (F).

7. The secondary transmission of claim 1, wherein: Three mounting lugs (11) are arranged on the planet carrier (10) in the Y direction, the mounting lugs (11) extend in the X direction, and a support shaft (12) extending in the X direction is arranged in the gap space between adjacent two mounting lugs (11); an insertion shaft (13) extending in the X direction is arranged on the end wall of the mounting lug (11); the planetary gear (14) comprises three planetary gears (14), the three planetary gears (14) are rotatably sleeved on the support shaft (12), and the end portion of the planetary gear (14) is provided with a protruding column extending in the X direction.

8. The secondary transmission of claim 7, wherein: The planet assembly further comprises a planet cover (15) arranged on the planet carrier (10); one side of the planet cover (15) is provided with three connection lugs (16) extending in the X direction, the connection lugs (16) are arranged corresponding to the mounting lugs (11) and are stacked on the mounting lugs (11); the planet cover (15) and the mounting lugs (11) are provided with insertion holes (G) corresponding to the protruding columns of the planetary gears (14) and the insertion shafts (13), so that the protruding columns and the insertion shafts (13) are inserted.

9. The secondary transmission device for a humanoid robot according to claim 3, characterized by: The output assembly comprises a second inner gear ring (17), which is a cylindrical structure, is stacked on the first inner gear ring (6) in the X direction, is arranged outside the planet assembly, and forms a transmission cavity with the inner space of the first inner gear ring (6); the inner wall of the second inner gear ring (17) is provided with a second inner gear (19), the second inner gear (19) is engaged with the planetary gear (14), and the planetary gear (14) drives the second inner gear ring (17) to rotate when rotating.

10. The secondary transmission device for a humanoid robot according to claim 9, characterized in that: The output assembly further comprises an output shaft sleeve (18) arranged in the middle of the second inner gear ring (17), which is provided with a shaft hole for inserting an external rotating shaft, and the second inner gear ring (17) drives the output shaft sleeve (18) to rotate for outputting rotating power.

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