Humanoid robot trunk structure and hydraulic humanoid robot

Abstract

The invention belongs to the related technical field of hydraulic robot body structures, and discloses a humanoid robot trunk structure and a hydraulic humanoid robot, the trunk structure forms a closed oil way system, and a flow channel of the closed oil way system is embedded in the trunk structure; the trunk structure comprises a bottom plate, an arm supporting column, an oil inlet valve block, a motor pump, an oil outlet valve block and a hydraulic cylinder, the arm supporting column is arranged on the bottom plate, the oil inlet valve block and the oil outlet valve block are connected with the two opposite ends of the motor pump respectively, and the motor pump is arranged on the bottom plate; the hydraulic cylinder is arranged on the arm supporting column; the bottom plate, the arm supporting column, the oil inlet valve block, the oil outlet valve block and the hydraulic cylinder are all constituent parts of the closed type oil way system. According to the invention, the integration level is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field related to the hydraulic robot body structure, and more specifically, relates to a humanoid robot torso structure and a hydraulic humanoid robot. Background Art

[0002] Hydraulic bipedal robots rely on hydraulic systems to simulate human walking movements. Although much progress has been made in this field recently, there are still some technical challenges, especially the application of hoses. In hydraulic bipedal robots, hoses are widely used to transport hydraulic oil or compressed air. However, hoses encounter several problems when working: first, they cause energy loss when bending and twisting, which will reduce the robot's walking efficiency; second, hoses are very sensitive to the external environment and are easily affected by friction, wear and even rupture, which will reduce the robot's stability and service life. In addition, the use of hoses also increases the weight of the robot and makes the system more complicated. Summary of the invention

[0003] In view of the above defects or improvement needs of the prior art, the present invention provides a humanoid robot torso structure and a hydraulic humanoid robot, which aim to improve the integration of the humanoid robot torso structure.

[0004] To achieve the above-mentioned purpose, according to one aspect of the present invention, a humanoid robot torso structure is provided, wherein the torso structure is formed with a closed oil circuit system, and the flow channel of the closed oil circuit system is embedded in the torso structure; the torso structure includes a base plate, an arm support, an oil inlet valve block, a motor pump, an oil outlet valve block and a hydraulic cylinder, the arm support is arranged on the base plate, the oil inlet valve block and the oil outlet valve block are respectively connected to the opposite ends of the motor pump, and the motor pump is arranged on the base plate; the hydraulic cylinder is arranged on the arm support; the base plate, the arm support, the oil inlet valve block, the oil outlet valve block and the hydraulic cylinder are all components of the closed oil circuit system.

[0005] Furthermore, the trunk structure also includes a back plate, a filter and an oil tank. The back plate is vertically connected to one side of the bottom plate, and the filter and the oil tank are respectively arranged on the back plate.

[0006] Furthermore, a third bottom plate longitudinal pipe and a second bottom plate longitudinal pipe are provided in an area adjacent to the upper surface of the bottom plate, and the third bottom plate longitudinal pipe and the second bottom plate longitudinal pipe are parallel to each other and perpendicular to the length direction of the bottom plate; the bottom plate is also provided with a bottom plate oil inlet valve block connection port, a relief valve oil inlet port, a first arm support connection port, a second arm support connection port, a bottom plate relief valve block connection port, a third bottom plate connection port, a first bottom plate back plate connection port, a second bottom plate back plate connection port, a fourth arm support connection port and a third arm support connection port that pass through the upper surface of the bottom plate, and the bottom plate is also provided with a first bottom plate axial oil port; the bottom plate is also provided with a first bottom plate longitudinal pipe, a first bottom plate transverse pipe, a fourth bottom plate transverse pipe, a second bottom plate transverse pipe, a fourth bottom plate longitudinal pipe and a third bottom plate transverse pipe; the bottom plate The oil inlet valve block connection port and the second base plate back plate connection port are respectively connected to the two ends of the third base plate longitudinal pipeline; the first base plate axial oil port is connected to the second base plate longitudinal pipeline and the fourth base plate transverse pipeline; the first base plate back plate connection port is connected to the second base plate longitudinal pipeline; the overflow valve oil inlet port is connected to the first base plate transverse pipeline; the fourth base plate transverse pipeline is connected to the third base plate transverse pipeline; the second base plate transverse pipeline is connected to the second arm support connection port and the first arm support connection port; the third arm support connection port and the fourth arm support connection port are respectively connected to the fourth base plate transverse pipeline and the third base plate transverse pipeline; the base plate overflow valve valve block connection port and the third base plate back plate connection port are both connected to the fourth base plate longitudinal pipeline.

[0007] Furthermore, a third backplane longitudinal pipe, a third backplane longitudinal pipe and a first backplane longitudinal pipe are provided on one side of the backplane adjacent to the bottom plate, and the third backplane longitudinal pipe runs through the two opposite sides of the backplane; the backplane is also provided with a second backplane longitudinal pipe, and the first backplane longitudinal pipe, the second backplane longitudinal pipe and the third backplane longitudinal pipe are parallel to each other; the backplane is also provided with a first backplane transverse pipe, and the first backplane transverse pipe runs through one side of the backplane; the backplane is also provided with a second bottom plate oil inlet and a first bottom plate oil inlet, and the first bottom plate oil inlet and the second bottom plate oil inlet are both connected to the first bottom plate oil inlet The backplane transverse pipes are connected; the first backplane longitudinal pipe intersects with the first backplane transverse pipe; the backplane is also provided with a first backplane filter interface, a first backplane oil tank interface, a second backplane oil tank interface and a second backplane filter interface that penetrate the surface of the backplane toward the arm support, the first backplane oil tank interface and the second backplane filter interface are respectively connected with the second backplane longitudinal pipe; the first backplane filter interface and the second backplane oil tank interface are respectively connected with the first backplane longitudinal pipe and the third backplane longitudinal pipe; the third backplane longitudinal pipe is connected with the second bottom plate backplane connecting port.

[0008] Furthermore, a first backplane interface and a second backplane interface are respectively opened on one side of the filter, and a filter cavity is opened in the middle. The first backplane interface and the second backplane interface are arranged at intervals, and both are connected to the filter cavity; the second backplane interface is connected to the second backplane filter interface.

[0009] Furthermore, the trunk structure also includes a one-way valve, a relief valve block, a relief valve, an oil outlet transfer pipe and a one-way valve transfer pipe, the relief valve block is arranged on the base plate, and the relief valve is arranged on the relief valve block; the oil outlet transfer pipe connects the oil outlet valve block and the one-way valve, and the one-way valve transfer pipe connects the one-way valve and the relief valve block.

[0010] Furthermore, the trunk structure also includes a servo valve arranged on the arm support, and the servo valve is provided with a servo valve P port, a first servo valve oil outlet port, a servo valve T port and a second servo valve oil outlet port that penetrates one surface of the servo valve, and the servo valve P port is connected with the servo valve T port; the first servo valve oil outlet port is connected with the second servo valve oil outlet port.

[0011] Furthermore, an arm support oil outlet, a second arm support vertical pipe and a first arm support oil inlet are provided at one end of the arm support, and a first arm support vertical pipe is provided at the other end; a second arm support transverse pipe and a first arm support transverse pipe are respectively provided on opposite sides of the arm support, and the second arm support transverse pipe and the first arm support transverse pipe are respectively connected with the arm support oil outlet and the first arm support oil inlet; a first oil outlet, a first servo valve oil outlet, a second arm support oil inlet and a second servo valve oil port are provided on the side of the arm support facing the servo valve, and the first oil outlet is connected with the first arm support transverse pipe; the first servo valve oil port is connected with the first The arm support vertical pipe is connected; the second arm support oil inlet is connected with the second arm support transverse pipe; the second servo valve oil port is connected with the second arm support vertical pipe; the other side of the arm support is also provided with a first hydraulic cylinder oil port and a second hydraulic cylinder oil port, the first hydraulic cylinder oil port is connected with the first arm support vertical pipe, and the second hydraulic cylinder oil port is connected with the second arm support vertical pipe; the arm support is connected to the hydraulic cylinder through the first hydraulic cylinder oil port and the second hydraulic cylinder oil port; the first oil outlet is connected with the servo valve T port; the first servo valve oil port and the second servo valve oil port are respectively connected with the first servo valve oil outlet and the second servo valve oil outlet.

[0012] Furthermore, a first vertical pipe and a second vertical pipe are provided at one end of the relief valve block, and a stepped relief valve slot is provided at the other end; a total oil inlet pipe and a second relief valve block horizontal pipe are also provided on the periphery of the relief valve block, and the second vertical pipe and the first vertical pipe are respectively connected to the second relief valve block horizontal pipe and the total oil inlet pipe; the relief valve block is also provided with a first relief valve block horizontal pipe, and the first relief valve block horizontal pipe is connected to the relief valve slot; the second relief valve block horizontal pipe is connected to the relief valve slot; the second vertical pipe is connected to the bottom plate relief valve block connecting port.

[0013] The present invention also provides a hydraulic humanoid robot, comprising an upper body structure, a lower body structure and the humanoid robot trunk structure as described above, wherein the humanoid robot trunk structure connects the upper body structure and the lower body structure.

[0014] In general, compared with the prior art, the humanoid robot torso structure and hydraulic humanoid robot provided by the present invention have the following beneficial effects:

[0015] 1. Pipes are opened inside the trunk structure to form a closed oil circuit system, which realizes the transmission of hydraulic oil, avoids the use of hoses, reduces the impact of hoses on the robot's movement reliability, and improves the robot's movement efficiency. At the same time, the trunk structure integrates the closed oil circuit and support functions, thereby improving the integration level.

[0016] 2. The trunk structure adopts a tubeless design, which can reduce energy loss and improve efficiency, making the robot's gait smoother and more stable.

[0017] 3. The trunk structure is the core part of the bipedal robot body. The trunk structure is connected to the lower body structure and serves as the root of the arm. The application of tubeless structural design in the trunk of the hydraulic robot can make the trunk serve as both the robot skeleton and the valve block, achieving a high degree of integration of the trunk structure, thereby reducing the weight of the upper body and improving the overall movement flexibility and speed of the robot. At the same time, through the embedded transmission pipeline and internal sealing structure, the hydraulic medium can flow in the structure of the robot, making the core part of the trunk less susceptible to interference and damage from the external environment, thereby increasing the working stability and durability of the robot.

[0018] 4. The oil circuit and motion structure of the arm support can realize the up and down translation of the arm, which ensures the movement accuracy and makes the overall structure of the torso more compact, the space utilization rate higher, and the robot movement more reliable and flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 , Figure 2 , Figure 3 and Figure 4 They are three-dimensional schematic diagrams of different angles of the torso structure of a humanoid robot provided by the present invention;

[0020] Figure 5 yes Figure 1 A schematic diagram of a humanoid robot torso structure along an angle;

[0021] Figure 6 yes Figure 1 A schematic plan view of the torso structure of the humanoid robot along another angle;

[0022] Figure 7 yes Figure 1 A cross-sectional view of a filter of a humanoid robot torso structure;

[0023] Figure 8 and Fig. 9 They are Figure 1 Schematic diagram of the bottom plate of the humanoid robot torso structure along different angles;

[0024] Fig.10 and Fig.11 They are Fig. 9 The cross-sectional view of the bottom plate along the AA and BB directions;

[0025] Fig.12 (a) and (b) are the cross-sectional view and the schematic plan view of the back plate, respectively, wherein (a) is the cross-sectional view of the back plate in (b) along the BB direction;

[0026] Fig.13 yes Figure 1 Schematic diagram of the arm support of the humanoid robot torso structure;

[0027] Fig.14 (c), (b), and (a) are Figure 1 A three-dimensional schematic diagram, a plan schematic diagram and a cross-sectional view along the AA direction in (b) of the left hydraulic nail of the humanoid robot torso structure;

[0028] Fig.15 (c), (b), and (a) are Figure 1 A three-dimensional schematic diagram, a plan schematic diagram and a cross-sectional view along the AA direction in (b) of the right hydraulic nail of the humanoid robot torso structure;

[0029] Fig.16 (b) and (a) are Figure 1 A schematic plan view of the oil outlet valve block of the humanoid robot torso structure and a cross-sectional view along the AA direction in (b);

[0030] Fig.17 (b) and (a) are Figure 1 A schematic plan view of the overflow valve block of the humanoid robot torso structure and a cross-sectional view along the AA direction in (b);

[0031] Fig.18 yes Figure 1 A cross-sectional view of an arm support of a humanoid robot torso structure;

[0032] Fig.19 (b) and (a) are Figure 1 Schematic diagram of the oil inlet valve block of the humanoid robot torso structure in (b) and a cross-sectional view along the AA direction in (b).

[0033] In all the drawings, the same reference numerals are used to represent the same elements or structures, among which: 1-cylinder, 2-arm support, 2-1-first arm support vertical pipe, 2-2-second arm support transverse pipe, 2-3-arm support oil outlet, 2-4-first arm support oil inlet, 2-5-second arm support vertical pipe, 2-6-first arm support transverse pipe, 2-7-first hydraulic cylinder oil port, 2-8-second hydraulic cylinder oil port, 2-9-first oil outlet, 2-10-first servo valve oil port, 2-11-second arm support oil inlet, 2-12-second servo valve oil port, 3-check valve, 4-oil outlet valve block, 4-1-total oil inlet, 4-2-vertical oil port, 4-3-total oil outlet, 5-bottom Plate, 5-1-bottom plate oil inlet valve block connection port, 5-2-fourth bottom plate transverse pipeline, 5-3-third arm support connection port, 5-4-second arm support connection port, 5-5-second bottom plate transverse pipeline, 5-6-third bottom plate longitudinal pipeline, 5-7-second bottom plate back plate connection port, 5-8-second bottom plate longitudinal pipeline, 5-9-first bottom plate back plate connection port, 5-10-bottom plate overflow valve block connection port, 5-11-fourth bottom plate longitudinal pipeline, 5-12-third bottom plate back plate connection port, 5-13-first bottom plate longitudinal pipeline, 5-14-overflow valve oil inlet port, 5-15-first bottom plate transverse pipeline, 5-16-first arm support connection port, 5-17-fourth arm support connection port, 5-18-first Three bottom plate transverse pipelines, 5-19-first bottom plate axial oil port, 6-overflow valve block, 6-1-main oil inlet pipe, 6-2-first overflow valve block horizontal pipe, 6-3-first vertical pipe, 6-4-overflow valve slot, 6-5-second vertical pipe, 6-6-second overflow valve block horizontal pipe, 7-overflow valve, 8-filter, 8-1-first back plate interface, 8-2-filter cavity, 8-3-second back plate interface, 9-oil tank, 10-back plate, 10-1-third back plate longitudinal pipeline, 10-2-first back plate transverse pipeline, 10-3-second bottom plate oil inlet, 10-4-first bottom plate oil inlet, 10-5-first back plate longitudinal pipeline, 10-6-second back plate longitudinal pipeline, 10-7-oil tank cavity , 10-8-first back plate filter interface, 10-9-first back plate oil tank interface, 10-10-second back plate oil tank interface, 10-11-second back plate filter interface, 11-motor pump, 12-servo valve, 12-1-servo valve P port, 12-2-first servo valve oil outlet, 12-3-servo valve T port, 12-4-second servo valve oil outlet, 13-hydraulic cylinder, 14-oil inlet valve block, 14-1-third connection port, 14-2-fourth connection port, 15-left hydraulic nail, 15-1-left hydraulic nail oil inlet, 15-2-left hydraulic nail oil outlet, 16-right hydraulic nail, 16-1-first connection port, 16-2-second connection port, 17-oil outlet transfer pipe, 18-check valve transfer pipe. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0035] The robot trunk is the core component of the humanoid robot body, which is used to house the power source and transmit power to the robot's limbs. The robot's trunk adopts a tubeless structural design, which allows the trunk to simultaneously assume the functions of structural support and control valves. This design achieves a high degree of integration in the trunk area, helps to reduce the weight of the trunk, and improves the overall movement flexibility and speed of the robot. In addition, by embedding the transmission pipeline into the robot's structure and using internal sealing technology, the hydraulic medium can flow inside the robot, so that this key part of the trunk is not easily affected by the external environment, such as friction, wear or damage, thereby enhancing the stability and durability of the robot.

[0036] See also Figure 1 , Figure 2 , Figure 3 and Figure 4 The present invention provides a humanoid robot trunk structure, the trunk structure includes a support structure and a motion structure, and the motion structure is arranged on the support structure. A hydraulic oil flow channel is arranged inside the support structure, and the motion structure is driven to move by circulating the hydraulic oil between the components of each support structure in turn. The trunk structure serves as both a support member and a valve block, thereby realizing a high degree of integration of the trunk structure.

[0037] See also Figure 5 and Figure 6A closed oil circuit system is formed in the support structure, which includes a base plate 5, two arm struts 2, a one-way valve 3, an oil outlet valve block 4, a relief valve block 6, a relief valve 7, a filter 8, an oil tank 9, a back plate 10, a left hydraulic nail 15, an oil outlet transfer pipe 17, a one-way valve transfer pipe 18, two cylinders 1, a right hydraulic nail 16, a motor pump 11, a servo valve 12, a hydraulic cylinder 13 and an oil inlet valve block 14. The back plate is vertically connected to one side of the base plate 5. One end of the two arm struts 2 is fixedly connected to the middle of the base plate, and the two are spaced apart. One end of the two cylinders 1 is fixedly connected to one end of the base plate away from the back plate, and the two are spaced apart. The two cylinders 1 are spaced apart from the two arm struts 2. The oil outlet valve block 4 and the oil inlet valve block 14 are respectively fixed on the base plate, and the two are located between the two arm struts 2. The left hydraulic nail 15 and the right hydraulic nail 16 are respectively arranged on the oil outlet valve block and the oil inlet valve block. The oil inlet valve block and the oil outlet valve block are respectively connected to the opposite ends of the motor pump. The two servo valves are respectively arranged on the two arm supports 2.

[0038] The overflow valve block is arranged on the bottom plate, and the overflow valve is arranged on the overflow valve block. The oil outlet transfer pipe 17 connects the oil outlet valve block and the one-way valve, and the one-way valve transfer pipe 18 connects the one-way valve and the overflow valve block. The filter and the oil tank are respectively arranged on the back plate.

[0039] See also Figure 7 A first backplane interface 8-1 and a second backplane interface 8-3 are respectively opened on one side of the filter, and a filter cavity 8-2 is opened in the middle. The first backplane interface 8-1 and the second backplane interface are arranged at intervals, and both are connected to the filter cavity 8-2.

[0040] See also Figure 8 , Fig. 9 , Fig.10 and Fig.11The area adjacent to the upper surface of the bottom plate is provided with a third bottom plate longitudinal pipeline 5-6 and a second bottom plate longitudinal pipeline 5-8, and the third bottom plate longitudinal pipeline is parallel to the second bottom plate longitudinal pipeline and perpendicular to the length direction of the bottom plate. The bottom plate is also provided with a bottom plate oil inlet valve block connection port 5-1, a relief valve oil inlet port 5-14, a first arm support connection port 5-16, a second arm support connection port 5-4, a bottom plate relief valve block connection port 5-10, a third bottom plate connection port, a first bottom plate back plate connection port 5-9, a second bottom plate back plate connection port 5-7, a fourth arm support connection port 5-17 and a third arm support connection port 5-3, and the bottom plate is also provided with a first bottom plate axial oil port 5-19. The base plate is also provided with a first base plate longitudinal pipe 5-13, a first base plate transverse pipe 5-15, a fourth base plate transverse pipe 5-2, a second base plate transverse pipe 5-5, a fourth base plate longitudinal pipe 5-11 and a third base plate transverse pipe 5-18.

[0041] The bottom plate oil inlet valve block connection port 5-1 and the second bottom plate back plate connection port are respectively connected to the two ends of the third bottom plate longitudinal pipeline. The first bottom plate axial oil port is connected to the second bottom plate longitudinal pipeline and the fourth bottom plate transverse pipeline 5-2. The first bottom plate back plate connection port is connected to the second bottom plate longitudinal pipeline. The overflow valve oil inlet port is connected to the first bottom plate transverse pipeline. The fourth bottom plate transverse pipeline is connected to the third bottom plate transverse pipeline. The second bottom plate transverse pipeline is connected to the second arm support connection port and the first arm support connection port. The third arm support connection port 5-3 and the fourth arm support connection port are respectively connected to the fourth bottom plate transverse pipeline and the third bottom plate transverse pipeline. The bottom plate overflow valve valve block connection port and the third bottom plate back plate connection port 5-12 are both connected to the fourth bottom plate longitudinal pipeline.

[0042] See also Fig.12The back plate is provided with a third back plate longitudinal pipe 10-1, a first back plate transverse pipe 10-2 and a first back plate longitudinal pipe 10-5 on one side of the back plate adjacent to the bottom plate, and the third back plate longitudinal pipe runs through the two opposite sides of the back plate. The back plate is also provided with a second back plate longitudinal pipe 10-6, and the first back plate longitudinal pipe, the second back plate longitudinal pipe 10-6 and the third back plate longitudinal pipe are parallel to each other. The back plate is also provided with a first back plate transverse pipe, and the first back plate transverse pipe runs through one side of the back plate. The back plate is also provided with a second bottom plate oil inlet 10-3 and a first bottom plate oil inlet 10-4, and the first bottom plate oil inlet 10-4 and the second bottom plate oil inlet 10-3 are both connected to the first back plate transverse pipe. The first back plate longitudinal pipe intersects with the first back plate transverse pipe. The backboard is also provided with a first backboard filter interface 10-8, a first backboard oil tank interface 10-9, a second backboard oil tank interface 10-10 and a second backboard filter interface 10-11 which penetrate through the surface of the backboard facing the arm support, the first backboard oil tank interface 10-9 and the second backboard filter interface are respectively connected to the second backboard longitudinal pipe. The first backboard filter interface 10-8 and the second backboard oil tank interface 10-10 are respectively connected to the first backboard longitudinal pipe and the third backboard longitudinal pipe.

[0043] See also Fig.13 The servo valve is provided with a servo valve P port 12-1, a first servo valve oil outlet 12-2, a servo valve T port 12-3 and a second servo valve oil outlet 12-4 which penetrate through one surface of the servo valve. The servo valve P port 12-1 is connected with the servo valve T port. The first servo valve oil outlet is connected with the second servo valve oil outlet 12-4.

[0044] See also Fig.14 The left hydraulic nail is stepped, and a left hydraulic nail oil inlet 15-1 is provided along its axial direction. The left hydraulic nail also has a left hydraulic nail oil outlet 15-2, and the left hydraulic nail oil outlet 15-2 penetrates the left hydraulic nail. The left hydraulic nail oil inlet 15-1 penetrates one end of the left hydraulic nail. The left hydraulic nail oil inlet intersects and communicates with the left hydraulic nail oil outlet. The left hydraulic screw oil inlet is connected to the motor pump.

[0045] See also Fig.15 The right hydraulic nail is stepped, and has a first connection port 16-1 along its axial direction, and the first connection port 16-1 passes through one end of the right hydraulic nail. The right hydraulic nail also has a second connection port 16-2, and the second connection port 16-2 passes through the right hydraulic nail, and the second connection port intersects and communicates with the first connection port at right angles.

[0046] See also Fig.16 The oil outlet valve block is provided with a vertical oil port 4-2 along its own axial direction, and the vertical oil port passes through one end of the oil outlet valve block. The other end of the oil outlet valve block is provided with a total oil inlet 4-1 that passes through, and the total oil inlet is connected to one end of the vertical oil port. The side of the oil outlet valve block is also provided with a total oil outlet 4-3, and the total oil outlet 4-3 is connected to the vertical oil port. The left hydraulic nail is arranged at the total oil inlet, and the total oil inlet is connected to the left hydraulic nail oil inlet, and the left hydraulic nail oil outlet is connected to the vertical oil port.

[0047] See also Fig.17 , a first vertical pipe 6-3 and a second vertical pipe 6-5 are provided at one end of the relief valve block, and a stepped relief valve slot 6-4 is provided at the other end. A total oil inlet pipe 6-1 and a second relief valve block horizontal pipe 6-6 are also provided on the periphery of the relief valve block, and the second vertical pipe and the first vertical pipe 6-3 are respectively connected to the second relief valve block horizontal pipe 6-6 and the total oil inlet pipe. The relief valve block is also provided with a first relief valve block horizontal pipe 6-2, and the first relief valve block horizontal pipe 6-2 is connected to the relief valve slot 6-4. The second relief valve block horizontal pipe is connected to the relief valve slot.

[0048] See also Fig.18 One end of the arm support is provided with an arm support oil outlet 2-3, a second arm support vertical pipe 2-5 and a first arm support oil inlet 2-4, and the other end is provided with a first arm support vertical pipe 2-1. The first arm support vertical pipe 2-1 is coaxially arranged with the second arm support vertical pipe 2-5. The second arm support transverse pipe 2-2 and the first arm support transverse pipe 2-6 are respectively provided on the opposite sides of the arm support, and the second arm support transverse pipe 2-2 and the first arm support transverse pipe 2-6 are respectively connected with the arm support oil outlet 2-3 and the first arm support oil inlet 2-4.

[0049] The arm support is provided with a first oil outlet 2-9, a first servo valve oil port 2-10, a second arm support oil inlet 2-11 and a second servo valve oil port 2-12 on one side thereof facing the servo valve, wherein the first oil outlet 2-9 is connected to the first arm support transverse pipe. The first servo valve oil port 2-10 is connected to the first arm support vertical pipe 2-1. The second arm support oil inlet 2-11 is connected to the second arm support transverse pipe 2-2. The second servo valve oil port 2-12 is connected to the second arm support vertical pipe.

[0050] The other side of the arm support is also provided with a first hydraulic cylinder oil port 2-7 and a second hydraulic cylinder oil port 2-8, wherein the first hydraulic cylinder oil port 2-7 is connected to the first arm support vertical pipe, and the second hydraulic cylinder oil port 2-8 is connected to the second arm support vertical pipe. The arm support is connected to the hydraulic cylinder through the first hydraulic cylinder oil port and the second hydraulic cylinder oil port 2-8.

[0051] See also Fig.19 The oil inlet valve block is provided with a fourth connection port 14-2 and a third connection port 14-1, and the fourth connection port 14-2 intersects the third connection port vertically. The fourth connection port passes through one end of the oil inlet valve block and is arranged along the axial direction of the oil inlet valve block. The third connection port passes through the other end of the oil inlet valve block. The right hydraulic nail is arranged in the third connection port, and the third connection port is connected to the first connection port. The second connection port is connected to the fourth connection port.

[0052] There are two motion structures, which are respectively arranged on the two arm supports, so as to be used for the up and down movement of the left and right arms respectively. The motion structure includes a hydraulic cylinder, a series plate, a second series plate, a linear guide slider, a rack, a linear guide slide, a gear cover plate, a connecting plate at the hydraulic cylinder, and a hydraulic cylinder shaft. The hydraulic cylinder is arranged on the arm support; the hydraulic cylinder is connected to the series plate; the series plate is connected to the second series plate; the second series plate is connected to the linear guide slider; the linear guide slider is connected to the linear guide; the linear guide is connected to the arm support.

[0053] The circulating oil circuit corresponding to the left arm: the motor pump is connected to the oil inlet of the left hydraulic nail, and the oil outlet of the left hydraulic nail is connected to the total oil inlet. The total oil outlet is connected to the oil outlet transfer pipe. The oil outlet transfer pipe is connected to the one-way valve. The one-way valve is connected to the one-way valve transfer pipe. The one-way valve transfer pipe is connected to the total oil inlet pipe. The first vertical pipe is connected to the overflow valve oil inlet. The first arm support connection port is connected to the first arm support oil inlet. The first oil outlet is connected to the servo valve T port. The first servo valve oil outlet and the second servo valve oil outlet are connected to the first servo valve oil outlet and the second servo valve oil outlet respectively. The arm support oil outlet 2-3 is connected to the second bottom plate back plate connection port. The first bottom plate back plate connection port is connected to the first bottom plate oil inlet. The first back plate filter interface is connected to the first back plate interface. The second back plate interface is connected to the second back plate filter interface. The third back plate longitudinal pipeline is connected to the second bottom plate back plate connection port. The bottom plate oil inlet valve block connection port is connected to the fourth connection port. The third connection port is connected to the second connection port. The first connection port is connected to the hydraulic pump, thus forming an internal circulation.

[0054] Internal circulation overflow connection: the motor pump is connected to the oil inlet of the left hydraulic nail. The oil outlet of the left hydraulic nail is connected to the total oil inlet. The total oil outlet is connected to the oil outlet transfer pipe. The oil outlet transfer pipe is connected to the one-way valve. The one-way valve is connected to the one-way valve transfer pipe. The one-way valve transfer pipe is connected to the total oil inlet pipe. In the overflow valve block, the total oil inlet pipe is connected to the first vertical pipe, and the first vertical pipe is connected to the oil inlet of the overflow valve. The first vertical pipe is connected to the horizontal pipe of the first overflow valve block. The horizontal pipe of the first overflow valve block is connected to the overflow valve slot. The overflow valve is connected to the overflow valve slot. The overflow valve slot is connected to the second vertical pipe. The second vertical pipe is connected to the bottom plate overflow valve block connection port. The bottom plate overflow valve block connection port is connected to the fourth bottom plate longitudinal pipeline. The fourth bottom plate longitudinal pipeline is connected to the third bottom plate back plate connection port. The third bottom plate back plate connection port is connected to the second bottom plate oil inlet. The second bottom plate oil inlet is connected to the first back plate transverse pipeline, and the first back plate longitudinal pipeline is connected to the first back plate filter interface. The first back plate filter interface is connected to the first back plate interface. The first back plate interface is connected to the filter cavity, and the filter cavity is connected to the second back plate interface. The second back plate interface is connected to the second back plate filter interface. The second back plate filter interface is connected to the second back plate longitudinal pipeline, the second back plate longitudinal pipeline is connected to the first back plate oil tank interface, the first back plate oil tank interface is connected to the oil tank cavity 10-7, the oil tank cavity is connected to the second back plate oil tank interface, and the second back plate oil tank interface is connected to the third back plate longitudinal pipeline. The third back plate longitudinal pipeline is connected to the second bottom plate back plate connection port. The second bottom plate back plate connection port is connected to the third bottom plate longitudinal pipeline, and the third bottom plate longitudinal pipeline is connected to the bottom plate oil inlet valve block connection port. The bottom plate oil inlet valve block connection port is connected to the fourth connection port. The fourth connection port is connected to the third connection port. The third connection port is connected to the second connection port. The second connection port is connected to the first connection port. The first connection port is connected to the hydraulic pump oil inlet port. This achieves the effect of internal circulation.

[0055] The present invention also provides a hydraulic humanoid robot, which comprises an upper body structure, a lower body structure and a humanoid robot trunk structure connecting the upper body structure and the lower body structure.

[0056] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A humanoid robot torso structure, characterized in that: The trunk structure forms a closed oil circuit system, and the flow channel of the closed oil circuit system is embedded in the trunk structure; the trunk structure includes a base plate, an arm support, an oil inlet valve block, a motor pump, an oil outlet valve block and a hydraulic cylinder, the arm support is arranged on the base plate, the oil inlet valve block and the oil outlet valve block are respectively connected to the opposite ends of the motor pump, and the motor pump is arranged on the base plate; the hydraulic cylinder is arranged on the arm support; the base plate, the arm support, the oil inlet valve block, the oil outlet valve block and the hydraulic cylinder are all components of the closed oil circuit system.

2. The humanoid robot torso structure according to claim 1, characterized in that: The trunk structure further includes a back plate, a filter and an oil tank. The back plate is vertically connected to one side of the bottom plate, and the filter and the oil tank are respectively arranged on the back plate.

3. The humanoid robot torso structure according to claim 2, characterized in that: The area adjacent to the upper surface of the bottom plate is provided with a third bottom plate longitudinal pipe and a second bottom plate longitudinal pipe, and the third bottom plate longitudinal pipe is parallel to the second bottom plate longitudinal pipe and is perpendicular to the length direction of the bottom plate; the bottom plate is also provided with a bottom plate oil inlet valve block connection port, a relief valve oil inlet port, a first arm support connection port, a second arm support connection port, a bottom plate relief valve valve block connection port, a third bottom plate connection port, a first bottom plate back plate connection port, a second bottom plate back plate connection port, a fourth arm support connection port and a third arm support connection port that pass through the upper surface of the bottom plate, and the bottom plate is also provided with a first bottom plate axial oil port; the bottom plate is also provided with a first bottom plate longitudinal pipe, a first bottom plate transverse pipe, a fourth bottom plate transverse pipe, a second bottom plate transverse pipe, a fourth bottom plate longitudinal pipe and a third bottom plate transverse pipe; the bottom plate oil inlet The valve block connection port and the second base plate back plate connection port are respectively connected to the two ends of the third base plate longitudinal pipeline; the first base plate axial oil port is connected to the second base plate longitudinal pipeline and the fourth base plate transverse pipeline; the first base plate back plate connection port is connected to the second base plate longitudinal pipeline; the overflow valve oil inlet is connected to the first base plate transverse pipeline; the fourth base plate transverse pipeline is connected to the third base plate transverse pipeline; the second base plate transverse pipeline is connected to the second arm support connection port and the first arm support connection port; the third arm support connection port and the fourth arm support connection port are respectively connected to the fourth base plate transverse pipeline and the third base plate transverse pipeline; the base plate overflow valve valve block connection port and the third base plate back plate connection port are both connected to the fourth base plate longitudinal pipeline.

4. The humanoid robot torso structure according to claim 3, characterized in that: A third backplane longitudinal pipe, a third backplane longitudinal pipe and a first backplane longitudinal pipe are provided on one side of the backplane adjacent to the bottom plate, and the third backplane longitudinal pipe runs through the two opposite sides of the backplane; the backplane is also provided with a second backplane longitudinal pipe, and the first backplane longitudinal pipe, the second backplane longitudinal pipe and the third backplane longitudinal pipe are parallel to each other; the backplane is also provided with a first backplane transverse pipe, and the first backplane transverse pipe runs through one side of the backplane; the backplane is also provided with a second bottom plate oil inlet and a first bottom plate oil inlet, and the first bottom plate oil inlet and the second bottom plate oil inlet are both parallel to the first back plate transverse pipe. The first backplane longitudinal pipe is connected with the first backplane transverse pipe; the backplane is also provided with a first backplane filter interface, a first backplane oil tank interface, a second backplane oil tank interface and a second backplane filter interface which penetrate through the surface of the backplane toward the arm support, the first backplane oil tank interface and the second backplane filter interface are respectively connected with the second backplane longitudinal pipe; the first backplane filter interface and the second backplane oil tank interface are respectively connected with the first backplane longitudinal pipe and the third backplane longitudinal pipe; the third backplane longitudinal pipe is connected with the second bottom plate backplane connecting port.

5. The humanoid robot torso structure according to claim 4, characterized in that: A first backplane interface and a second backplane interface are respectively opened on one side of the filter, and a filter cavity is opened in the middle. The first backplane interface and the second backplane interface are arranged at intervals, and both are connected to the filter cavity; the second backplane interface is connected to the second backplane filter interface.

6. The humanoid robot torso structure according to claim 4, characterized in that: The trunk structure also includes a one-way valve, a relief valve block, a relief valve, an oil outlet transfer tube and a one-way valve transfer tube. The relief valve block is arranged on the bottom plate, and the relief valve is arranged on the relief valve block; the oil outlet transfer tube connects the oil outlet valve block and the one-way valve, and the one-way valve transfer tube connects the one-way valve and the relief valve block.

7. The humanoid robot torso structure according to claim 6, characterized in that: The trunk structure also includes a servo valve arranged on the arm support, and the servo valve is provided with a servo valve P port, a first servo valve oil outlet port, a servo valve T port and a second servo valve oil outlet port that penetrates one surface of the servo valve, and the servo valve P port is connected with the servo valve T port; the first servo valve oil outlet port is connected with the second servo valve oil outlet port.

8. The humanoid robot torso structure according to claim 7, characterized in that: An arm support oil outlet, a second arm support vertical pipe and a first arm support oil inlet are provided at one end of the arm support, and a first arm support vertical pipe is provided at the other end; a second arm support transverse pipe and a first arm support transverse pipe are respectively provided on opposite sides of the arm support, and the second arm support transverse pipe and the first arm support transverse pipe are respectively connected with the arm support oil outlet and the first arm support oil inlet; a first oil outlet, a first servo valve oil port, a second arm support oil inlet and a second servo valve oil port are provided on the side of the arm support facing the servo valve, and the first oil outlet is connected with the first arm support transverse pipe; the first servo valve oil port is connected with the first arm support The first arm support is connected with the vertical pipe of the first arm support; the oil inlet of the second arm support is connected with the horizontal pipe of the second arm support; the oil port of the second servo valve is connected with the vertical pipe of the second arm support; the other side of the arm support is also provided with a first hydraulic cylinder oil port and a second hydraulic cylinder oil port, the first hydraulic cylinder oil port is connected with the vertical pipe of the first arm support, and the second hydraulic cylinder oil port is connected with the vertical pipe of the second arm support; the arm support is connected with the hydraulic cylinder through the first hydraulic cylinder oil port and the second hydraulic cylinder oil port; the first oil outlet is connected with the T port of the servo valve; the first servo valve oil port and the second servo valve oil port are connected with the first servo valve oil outlet and the second servo valve oil outlet respectively.

9. The humanoid robot torso structure according to claim 6, characterized in that: A first vertical pipe and a second vertical pipe are provided at one end of the relief valve block, and a stepped relief valve slot is provided at the other end; a total oil inlet pipe and a second relief valve block horizontal pipe are also provided on the periphery of the relief valve block, and the second vertical pipe and the first vertical pipe are respectively connected with the second relief valve block horizontal pipe and the total oil inlet pipe; the relief valve block is also provided with a first relief valve block horizontal pipe, and the first relief valve block horizontal pipe is connected with the relief valve slot; the second relief valve block horizontal pipe is connected with the relief valve slot; the second vertical pipe is connected with the bottom plate relief valve block connecting port.

10. A hydraulic humanoid robot, characterized in that: The hydraulic humanoid robot comprises an upper body structure, a lower body structure and a humanoid robot trunk structure according to any one of claims 1 to 9, wherein the humanoid robot trunk structure connects the upper body structure and the lower body structure.

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