An integrated humanoid parallel hip pelvis structure

Abstract

An integrated humanoid parallel hip pelvis structure relates to the field of humanoid robot technology. The present invention solves the problems of insufficient degrees of freedom, small movement driving force, and unstable movement existing in the pelvis of existing humanoid robots. At the same time, there are also problems of low stiffness, complex structure, and heaviness brought by the complex structure of multi-degree-of-freedom humanoid joints. The front ends of the first piston rod and the second piston rod of the present invention are sequentially connected to two hip joints through a two-force rod connection hinge, a two-force rod, and a pelvis cross-axis hinge. The first hydraulic cylinder and the second hydraulic cylinder respectively drive the first piston rod and the second piston rod to push the sliders on the guide rail to move. When the two groups of hydraulic cylinders push the piston rods to move synchronously, the thigh realizes yaw direction rotation; when the two groups of hydraulic cylinders push the piston rods to move asynchronously, the thigh realizes side swing and roll direction rotation. The present invention is used to achieve functions such as multi-degree-of-freedom flexibility, compact structure, high stiffness, and large driving force for simulating the human hip joint.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and particularly relates to an integrated humanoid parallel hip pelvis structure. Background Art

[0002] A humanoid robot is a bionic electromechanical automation system that imitates the structure and behavior of humans. For the multi-joint and multi-degree-of-freedom characteristics of parts such as the human pelvis, a bionic design mechanism needs to be adopted. The pelvis is an important part of the lower limb motion system of a biped robot, including two hip joints and a waist joint, which plays a role in connecting the torso and the legs.

[0003] Existing humanoid robots mostly use electric motors for driving, adopting a rotation scheme of connecting the motor to a reducer, or using an electric cylinder to drive a linkage mechanism to achieve joint rotation motion. A transmission mechanism composed of a ball screw and a synchronous belt has a simple structure and high efficiency, with high precision, low cost, small occupied space, convenient control, fast control response, and can achieve remote control. However, it has high requirements for usage conditions, small torque, is prone to jamming, and has low load capacity. For humanoid robots with multiple degrees of freedom and large loads, using electric motors for driving faces the risks of insufficient driving torque and slow reaction speed. Hydraulic drive generally uses oil as the transmission medium. Therefore, hydraulic components have good lubrication conditions, and the working fluid can be transported to any position through pipelines, allowing the hydraulic actuator and the hydraulic pump to maintain a certain distance. Hydraulic transmission can conveniently convert the rotational motion of the prime mover into a linear motion. It can achieve stepless speed regulation over a large range during operation. It is easy to achieve load control, speed control, and direction control, and can perform centralized control, remote control, and achieve automatic control. It has small motion inertia and fast response speed. Hydraulic drive has a high torque / volume ratio and strong anti-jamming ability, and can withstand large loads. However, most hydraulic structures are complex, with many external oil pipes, large weight, no closed-loop servo feedback function, and relatively high manufacturing precision, surface roughness, and material quality and heat treatment requirements for hydraulic components.

[0004] Most biped robots' hip joints adopt the motor-driven multi-degree-of-freedom series technology, which has a large working space and high dexterity, but also has several disadvantages, including low precision, poor force control ability, low payload-to-weight ratio, and large inertia caused by a large number of moving parts. The low precision of series robots stems from the cumulative joint errors and deflections in the links. The low payload-to-weight ratio is because each actuator needs to support the weight of the subsequent link. The high inertia is due to a large number of moving parts connected in series, forming a long beam with high inertia. In addition, when series robots perform inverse kinematics, multiple solutions often occur, thus increasing the complexity of control. The advantages of parallel mechanisms include high rigidity, high payload-to-weight ratio, high precision, low inertia of moving parts, high agility, and a simple solution to the inverse kinematics problem. The fact that the load is shared by multiple kinematic chains results in a high payload-to-weight ratio and stiffness. The high precision stems from shared rather than cumulative joint errors. Such mechanisms are suitable for requirements including limited working space, large load, high precision, high agility, and lightweight and compact robots.

[0005] In summary, the existing pelvic bones of humanoid robots have problems such as insufficient degrees of freedom, small movement driving force, and unstable movement. At the same time, there are also problems of low stiffness, complex structure, and heaviness brought about by the complex structure of multi-degree-of-freedom humanoid joints. Summary of the Invention

[0006] The purpose of the present invention is to solve the problems of insufficient degrees of freedom, small movement driving force, and unstable movement existing in the existing pelvic bones of humanoid robots. At the same time, there are also problems of low stiffness, complex structure, and heaviness brought about by the complex structure of multi-degree-of-freedom humanoid joints, and further provide an integrated humanoid parallel hip joint pelvic bone structure.

[0007] The technical solution of the present invention is:

[0008] An integrated humanoid parallel hip-pelvis structure, which includes a pelvis skeleton 4, two hip joints 1, two hip joint pitch connecting parts 2, two first piston rods 6, two second piston rods 15, two hip joint cross-axis hinges, four two-force bars 18, four two-force bar connecting hinges and four pelvis cross-axis hinges. Two hip joints 1 are symmetrically distributed at the left and right sides of the pelvis skeleton 4 respectively. A hip joint pitch connecting part 2 for connecting the thigh is installed on each hip joint 1. Each hip joint 1 includes a hip joint main body 33, a hip joint shaft seat 34 and two two-force bar shaft seats 35. The hip joint main body 33 is a hollow cylindrical structure. At one end of the hip joint main body 33 close to the pelvis skeleton 4, a hip joint shaft seat 34 arranged coaxially with the hip joint main body 33 and two two-force bar shaft seats 35 arranged symmetrically up and down in front of the hip joint shaft seat 34 are respectively provided. The left and right ends of the pelvis skeleton 4 are respectively hinged to the hip joint shaft seats 34 inside the two hip joints 1 through two hip joint cross-axis hinges. The first and last ends of the two-force bar 18 are processed into fork-shaped structures. Inside the pelvis skeleton 4, two groups of first hydraulic cylinders 31 for driving the left hip joint 1 and two groups of second hydraulic cylinders 32 for driving the right hip joint 1 are provided. The first piston rods 6 and the second piston rods 15 are installed on both the two groups of first hydraulic cylinders 31 and the two groups of second hydraulic cylinders 32. The end parts of the first piston rods 6 and the second piston rods 15 installed on the two groups of first hydraulic cylinders 31 are respectively hinged to the fork-shaped structures at the first ends of the two two-force bars 18 through two two-force bar connecting hinges. The fork-shaped structures at the second ends of the two two-force bars 18 are respectively hinged to the two two-force bar shaft seats 35 of the left hip joint 1 through two pelvis cross-axis hinges. The end parts of the first piston rods 6 and the second piston rods 15 installed on the two groups of second hydraulic cylinders 32 are respectively hinged to the fork-shaped structures at the first ends of the two two-force bars 18 through two two-force bar connecting hinges. The fork-shaped structures at the second ends of the two two-force bars 18 are respectively hinged to the two two-force bar shaft seats 35 of the right hip joint 1 through two pelvis cross-axis hinges. When the two groups of first hydraulic cylinders 31 and / or the two groups of second hydraulic cylinders 32 push the first piston rods 6 and the second piston rods 15 to move synchronously, the thigh realizes yaw-direction rotation; when the two groups of first hydraulic cylinders 31 and / or the two groups of second hydraulic cylinders 32 push the first piston rods 6 and the second piston rods 15 to move asynchronously, the thigh realizes side-swing and roll-direction rotation.

[0009] Furthermore, the two groups of first hydraulic cylinders 31 are arranged in parallel along the length direction of the pelvis skeleton 4, the two groups of first hydraulic cylinders 31 are arranged horizontally up and down inside the pelvis skeleton 4, the two groups of second hydraulic cylinders 32 are arranged in parallel along the length direction of the pelvis skeleton 4, the two groups of second hydraulic cylinders 32 are arranged horizontally up and down inside the pelvis skeleton 4, and the first hydraulic cylinders 31, the second hydraulic cylinders 32 and their oil circuits are integrally formed with the pelvis skeleton 4.

[0010] Further, it further includes four guide rail slider assemblies. Four guide rail slider assemblies are respectively provided on the front sides of two sets of hydraulic cylinders 1-31 and two sets of hydraulic cylinders 2-32. Each guide rail slider assembly includes a slider connecting member 16, a guide rail 19, and a slider 20. The guide rail 19 is horizontally installed on the pelvic skeleton 4 along the length direction of the first piston rod 6 and / or the second piston rod 15. The slider 20 is slidably installed on the guide rail 19. The slider 20 is connected to the end of the first piston rod 6 and / or the second piston rod 15 through the slider connecting member 16.

[0011] Further, the two-force bar connecting hinge includes a two-force bar bushing 17, a radial spherical bearing 21, and a two-force bar shaft 22. The two-force bar bushing 17 is fixed to the end of the first piston rod 6 and / or the second piston rod 15. The radial spherical bearing 21 is installed in the inner hole of the two-force bar bushing 17. The middle part of the two-force bar shaft 22 is inserted inside the radial spherical bearing 21. A shaft hole is machined on the fork-shaped structure at the head end of the two-force bar 18. The two ends of the two-force bar shaft 22 are respectively rotatably connected to the fork-shaped structure at the head end of the two-force bar 18.

[0012] Further, the pelvic cross-axis hinge includes a pelvic cross-axis fixed shaft 23, a pelvic cross-axis fixed shaft fixing screw 24, a pelvic cross-axis 25, and a pelvic cross-axis rubber gasket 26. The pelvic cross-axis 25 is rotatably connected to the fork-shaped structure at the end of the two-force bar 18 through the shaft rods at both ends. The middle part of the pelvic cross-axis fixed shaft 23 is inserted into the middle shaft sleeve of the pelvic cross-axis 25. The two ends of the pelvic cross-axis fixed shaft 23 are rotatably connected to the corresponding two-force bar seat 35. A sheet-like protrusion is machined on the end of the pelvic cross-axis fixed shaft 23 in the radial direction. The sheet-like protrusion is connected to the two-force bar seat 35 through the pelvic cross-axis fixed shaft fixing screw 24. The pelvic cross-axis rubber gasket 26 is located between the middle shaft sleeve of the pelvic cross-axis 25 and the two-force bar seat 35. The pelvic cross-axis rubber gasket 26 is sleeved on the pelvic cross-axis fixed shaft 23.

[0013] Further, the hip cross-axis hinge includes a hip cross-axis 27, two hip-axis angle sensors 30, four hip bearings 28, and four hip-axis end caps 29. Two coaxially arranged first hip cross-axis connection shaft holes are machined on the hip-axis seat 34, and two coaxially arranged second hip cross-axis connection shaft holes are respectively machined at the left and right ends of the pelvic skeleton 4. The axes of the two second hip cross-axis connection shaft holes are vertically arranged with respect to the axes of the two first hip cross-axis connection shaft holes. The two transverse shaft rods of the hip cross-axis 27 are respectively rotatably connected to the two second hip cross-axis connection shaft holes at the end of the pelvic skeleton 4 through two hip bearings 28. Two hip-axis end caps 29 are respectively provided at the ends of the two transverse shaft rods. The two hip-axis end caps 29 are fixedly connected to the pelvic skeleton 4 through connecting elements. A hip-axis angle sensor 30 is installed between the end of one transverse shaft rod and the corresponding hip-axis end cap 29. The two longitudinal shaft rods of the hip cross-axis 27 are respectively rotatably connected to the two first hip cross-axis connection shaft holes on the hip-axis seat 34 through two hip bearings 28. Two hip-axis end caps 29 are respectively provided at the ends of the two longitudinal shaft rods. The two hip-axis end caps 29 are fixedly connected to the hip-axis seat 34 through connecting elements. A hip-axis angle sensor 30 is installed between the end of one longitudinal shaft rod and the corresponding hip-axis end cap 29.

[0014] Further, it further includes a first oil pressure sensor 5, a second oil pressure sensor 9, a third oil pressure sensor 10, a fourth oil pressure sensor 13, a first servo valve 7, and a second servo valve 12. The first servo valve 7 is installed on the upper hydraulic cylinder 31 in the two groups of hydraulic cylinders 31. The first servo valve 7 is respectively communicated with the rod chamber and the rodless chamber of the upper hydraulic cylinder 31 through a hydraulic oil path integrally formed with the upper hydraulic cylinder 31. The first oil pressure sensor 5 is installed on the hydraulic oil path connecting the rod chamber of the upper hydraulic cylinder 31 and the first servo valve 7, and the second oil pressure sensor 9 is installed on the hydraulic oil path connecting the rodless chamber of the upper hydraulic cylinder 31 and the first servo valve 7. The second servo valve 12 is installed on the lower hydraulic cylinder 31 in the two groups of hydraulic cylinders 31. The second servo valve 12 is respectively communicated with the rod chamber and the rodless chamber of the lower hydraulic cylinder 31 through a hydraulic oil path integrally formed with the lower hydraulic cylinder 31. The fourth oil pressure sensor 13 is installed on the hydraulic oil path connecting the rod chamber of the lower hydraulic cylinder 31 and the second servo valve 12, and the third oil pressure sensor 10 is installed on the hydraulic oil path connecting the rodless chamber of the lower hydraulic cylinder 31 and the second servo valve 12.

[0015] Further, it further includes a hydraulic controller 3. The hydraulic controller 3 is installed on the pelvic skeleton 4, and the hydraulic controller 3 is connected to the first servo valve 7 and the second servo valve 12.

[0016] Furthermore, it also includes a first flushing joint 11 and a second flushing joint 14, which are installed on the pelvic skeleton 4, and the first flushing joint 11 and the second flushing joint 14 are respectively connected to the hydraulic oil circuits of the first hydraulic cylinder 31 and the second hydraulic cylinder 32.

[0017] Furthermore, an IMU sensor 8, and the IMU sensor 8 is installed in the middle of the upper end of the pelvic skeleton 4.

[0018] The present invention has the following effects compared with the prior art:

[0019] Compared with various existing robot hip joints, the integrated humanoid parallel hip joint pelvic structure of the present invention has the following beneficial effects:

[0020] 1. The present invention adopts an integrated hydraulic drive system, which has a very high torque-to-volume ratio and a strong anti-stall ability, and can withstand a large load. The integrated topology optimization design of the hydraulic cylinder, hydraulic oil circuit and pelvic skeleton integrates the hydraulic cylinder, oil circuit and skeleton through topology optimization, effectively overcoming the disadvantages of the traditional hydraulic system such as complex structure, many external oil pipes and large weight, and greatly improving the integrity and structural tightness of the system.

[0021] 2. The present invention adopts a servo valve, an oil pressure sensor and an angle sensor for servo closed-loop control, which can sense the state of the hip joint in real time and control and adjust the oil pressure and flow rate, realizing precise control, convenient control and ensuring position accuracy.

[0022] 3. The present invention adopts the skeleton titanium alloy 3D printing processing technology, the overall structure is simple to process, and it is convenient to install and disassemble, making the whole machine structure compact.

[0023] 4. The present invention adopts a double parallel mechanism, a 2PSU&U configuration, realizes two-degree-of-freedom movement for each of the left and right hip joints, and the third-degree-of-freedom driver is arranged on the thigh, simplifying the hip joint, making the thigh move flexibly, the structure stable, simple and reliable, the appearance neat, the control simple, and the parallel-driven hip joint can also provide driving torque several times under the same oil supply pressure, having the advantages of high stiffness and large load. Description of the Drawings

[0024] Figure 1 is a side view of the integrated humanoid parallel hip joint pelvic structure of the present invention;

[0025] Figure 2 is a front view of the integrated humanoid parallel hip joint pelvic structure of the present invention;

[0026] Figure 3 is a top view of the integrated humanoid parallel hip joint pelvic structure of the present invention;

[0027] Figure 4It is an axonometric view of the integrated humanoid parallel hip joint pelvic structure of the present invention;

[0028] Figure 5 It is an exploded view of the integrated humanoid parallel hip joint pelvic structure of the present invention;

[0029] Figure 6 It is a side view of the pelvic skeleton of the integrated humanoid parallel hip joint pelvic structure of the present invention;

[0030] Figure 7 It is a front view of the pelvic skeleton of the integrated humanoid parallel hip joint pelvic structure of the present invention;

[0031] Figure 8 It is a top view of the pelvic skeleton of the integrated humanoid parallel hip joint pelvic structure of the present invention;

[0032] Figure 9 It is an axonometric view of the pelvic skeleton of the integrated humanoid parallel hip joint pelvic structure of the present invention.

[0033] In the figure: 1 - hip joint; 2 - hip joint pitch connecting piece; 3 - hydraulic controller; 4 - pelvic skeleton; 5 - oil pressure sensor one; 6 - piston rod one; 7 - servo valve one; 8 - IMU sensor; 9 - oil pressure sensor two; 10 - oil pressure sensor three; 11 - flushing joint one; 12 - servo valve two; 13 - oil pressure sensor four; 14 - flushing joint two; 15 - piston rod two; 16 - slider connecting piece; 17 - two-force rod bushing; 18 - two-force rod; 19 - guide rail; 20 - slider; 21 - radial spherical bearing; 22 - two-force rod shaft; 23 - pelvic cross-axis fixed shaft; 24 - pelvic cross-axis fixed shaft fixing screw; 25 - pelvic cross-axis; 26 - pelvic cross-axis rubber gasket; 27 - hip joint cross-axis; 28 - hip joint bearing; 29 - hip joint shaft end cover; 30 - hip joint shaft angle sensor; 31 - hydraulic cylinder one; 32 - hydraulic cylinder two; 33 - hip joint main body; 34 - hip joint shaft seat; 35 - two-force rod shaft seat. Detailed implementation manner

[0034] Detailed implementation manner one: Combine Figures 1 to 9To describe this embodiment, an integrated humanoid parallel hip pelvic structure of this embodiment includes a pelvic skeleton 4, two hip joints 1, two hip joint pitch connecting members 2, two first piston rods 6, two second piston rods 15, two hip joint cross-axis hinges, four two-force bars 18, four two-force bar connecting hinges, and four pelvic cross-axis hinges. Two hip joints 1 are symmetrically distributed at the left and right sides of the pelvic skeleton 4 in a central symmetry manner. A hip joint pitch connecting member 2 for connecting the thigh is installed on each hip joint 1. Each hip joint 1 includes a hip joint main body 33, a hip joint shaft seat 34, and two two-force bar shaft seats 35. The hip joint main body 33 is a hollow cylindrical structure. At one end of the hip joint main body 33 close to the pelvic skeleton 4, a hip joint shaft seat 34 arranged coaxially with the hip joint main body 33 and two two-force bar shaft seats 35 arranged symmetrically up and down and located in front of the hip joint shaft seat 34 are respectively provided. The left and right ends of the pelvic skeleton 4 are respectively hinged to the hip joint shaft seats 34 inside the two hip joints 1 through two hip joint cross-axis hinges. The head and tail ends of the two-force bar 18 are processed into fork-shaped structures. Inside the pelvic skeleton 4, two sets of hydraulic cylinders 31 for driving the left hip joint 1 and two sets of hydraulic cylinders 32 for driving the right hip joint 1 are provided. The first piston rods 6 and the second piston rods 15 are installed on the two sets of hydraulic cylinders 31 and the two sets of hydraulic cylinders 32. The end parts of the first piston rods 6 and the second piston rods 15 installed on the two sets of hydraulic cylinders 31 are respectively hinged to the fork-shaped structures at the head ends of the two two-force bars 18 through two two-force bar connecting hinges. The fork-shaped structures at the tail ends of the two two-force bars 18 are respectively hinged to the two two-force bar shaft seats 35 of the left hip joint 1 through two pelvic cross-axis hinges. The end parts of the first piston rods 6 and the second piston rods 15 installed on the two sets of hydraulic cylinders 32 are respectively hinged to the fork-shaped structures at the head ends of the two two-force bars 18 through two two-force bar connecting hinges. The fork-shaped structures at the tail ends of the two two-force bars 18 are respectively hinged to the two two-force bar shaft seats 35 of the right hip joint 1 through two pelvic cross-axis hinges. When the two sets of hydraulic cylinders 31 and / or the two sets of hydraulic cylinders 32 push the first piston rods 6 and the second piston rods 15 to move synchronously, the thigh realizes yaw-direction rotation; when the two sets of hydraulic cylinders 31 and / or the two sets of hydraulic cylinders 32 push the first piston rods 6 and the second piston rods 15 to move asynchronously, the thigh realizes side-swing and roll-direction rotation.

[0035] In this embodiment, the hip joint is a two-degree-of-freedom parallel drive hip joint, which can realize roll and yaw rotation. The hip joint pitch (i.e., the front and back swing degree of freedom of the thigh) is driven by the hydraulic cylinder on the thigh. Its linkage mechanism base is located on the hip joint, simplifying the pelvic structure and volume. The two hip joints 1 symmetrically distributed at the left and right centers connect the left and right thighs, with a total of four degrees of freedom. A waist joint base is installed on the upper part of the pelvic skeleton 4, which can realize pelvic attitude adjustment.

[0036] In this embodiment, the hip joint main body 33 is a hollow cylindrical structure. The middle space can be used for arranging oil circuits and electrical systems, which can protect the oil pipelines and cables, improve the integrity and reliability of the system.

[0037] In this embodiment, the two hip joints 1 on both sides of the pelvic skeleton 4 are centrally symmetrically distributed in the vertical direction, which simplifies the design, reduces the overall volume, rationally utilizes the limited space, and reduces the cost.

[0038] The present invention adopts a double parallel mechanism, the 2PSU&U configuration. 2PSU&U represents a two-degree-of-freedom parallel mechanism. PSU represents the kinematic pair on the driving branch chain of the parallel mechanism, where P represents a prismatic pair, S represents a spherical pair, U represents a universal joint pair, and &U represents that the kinematic pair on the main chain is a universal joint pair.

[0039] For the hip joints of the present invention, a parallel driving scheme with two hydraulic cylinders is adopted. The hydraulic cylinders, their oil circuits and the pelvic skeleton are integrally designed, highly integrating sensing and control elements such as angle sensors, oil pressure sensors, servo valves, etc., simplifying the design of the hydraulic system, avoiding the messy structure of complex oil circuits, improving the stiffness of the hip joint and pelvic structure, reducing the mass, and making the movement more flexible.

[0040] For the pelvic skeleton of the present invention, topology optimization is used for weight reduction and surface modeling is used to reconstruct the model. Theory and practice show that after topology optimization, compared with the original structure, the skeleton effectively reduces the mass, reduces the inertia of the hip joint and the pelvis, makes the upper and lower limbs easier to control, and makes the biped robot walk, run and jump more flexibly, accurately and quickly.

[0041] For the pelvic skeleton of the present invention, finite element analysis is carried out, which effectively improves the stiffness and stability of the skeleton. It can play a role of constraint feedback in the entire skeleton optimization design process. After continuous iteration under the constraint conditions of force and design space, the structure of the skeleton surface model is determined.

[0042] For the hip joints, pelvic skeleton and their hydraulic cylinder oil circuits of the present invention, 3D printing technology is used. High-performance titanium alloy metal is selected. After printing, shot peening process is adopted on the skeleton body to improve the surface performance, and then finish machining is carried out to complete the machining of various planes and holes, eliminating the process oil circuit, and minimizing the occupied space and weight.

[0043] Specific Embodiment 2: Combine Figures 6 to 9To describe this embodiment, two sets of first hydraulic cylinders 31 of this embodiment are arranged in parallel along the length direction of the pelvic skeleton 4. The two sets of first hydraulic cylinders 31 are horizontally arranged up and down inside the pelvic skeleton 4. Two sets of second hydraulic cylinders 32 are arranged in parallel along the length direction of the pelvic skeleton 4. The two sets of second hydraulic cylinders 32 are horizontally arranged up and down inside the pelvic skeleton 4. The first hydraulic cylinders 31, the second hydraulic cylinders 32 and their oil circuits are integrally formed with the pelvic skeleton 4. With such an arrangement, the two sets of first hydraulic cylinders 31 and the two sets of second hydraulic cylinders 32 are both horizontally arranged up and down, which can realize the attitude adjustment of yaw and roll, and the movement angle space is relatively large. Thus, the adjustment of the lower limb attitude of the robot during walking, running and jumping is realized. Other compositions and connection relationships are the same as those in the first specific embodiment.

[0044] Specific Embodiment Three: Combining Figure 2 and Figure 3 To describe this embodiment, this embodiment further includes four guide rail slider assemblies. Four guide rail slider assemblies are respectively arranged on the front sides of the two sets of first hydraulic cylinders 31 and the two sets of second hydraulic cylinders 32. Each guide rail slider assembly includes a slider connecting piece 16, a guide rail 19 and a slider 20. The guide rail 19 is horizontally installed on the pelvic skeleton 4 along the length direction of the first piston rod 6 and / or the second piston rod 15. The slider 20 is slidably installed on the guide rail 19. The slider 20 is connected to the end of the first piston rod 6 and / or the second piston rod 15 through the slider connecting piece 16. Other compositions and connection relationships are the same as those in the first or second specific embodiment.

[0045] Specific Embodiment Four: Combining Figure 2 and Figure 3 To describe this embodiment, the two-force rod connection hinge of this embodiment includes a two-force rod bushing 17, a radial spherical bearing 21 and a two-force rod shaft 22. The two-force rod bushing 17 is fixed to the end of the first piston rod 6 and / or the second piston rod 15. The radial spherical bearing 21 is installed in the inner hole of the two-force rod bushing 17. The middle part of the two-force rod shaft 22 is inserted into the inside of the radial spherical bearing 21. A shaft hole is machined on the fork-shaped structure at the head end of the two-force rod 18. The two ends of the two-force rod shaft 22 are respectively rotatably connected to the fork-shaped structure at the head end of the two-force rod 18. Other compositions and connection relationships are the same as those in the first, second or third specific embodiment.

[0046] Specific Embodiment Five: Combining Figure 3Description of this embodiment: The pelvic cross-axis hinge of this embodiment includes a pelvic cross-axis fixed shaft 23, a pelvic cross-axis fixed shaft fixing screw 24, a pelvic cross-axis 25, and a pelvic cross-axis rubber gasket 26. The pelvic cross-axis 25 is rotatably connected to the fork-shaped structure at the end of the two-force rod 18 through the shaft rods at both ends. The middle part of the pelvic cross-axis fixed shaft 23 is inserted into the middle shaft sleeve of the pelvic cross-axis 25. Both ends of the pelvic cross-axis fixed shaft 23 are rotatably connected to the corresponding two-force rod shaft seats 35. A sheet-like protrusion is machined on the end of the pelvic cross-axis fixed shaft 23 in the radial direction. The sheet-like protrusion is connected to the two-force rod shaft seat 35 through the pelvic cross-axis fixed shaft fixing screw 24. The pelvic cross-axis rubber gasket 26 is located between the middle shaft sleeve of the pelvic cross-axis 25 and the two-force rod shaft seat 35, and the pelvic cross-axis rubber gasket 26 is sleeved on the pelvic cross-axis fixed shaft 23. Other compositions and connection relationships are the same as those in the first, second, third, or fourth specific embodiments.

[0047] Specific embodiment six: In combination with Figure 4 Description of this embodiment: The hip joint cross-axis hinge of this embodiment includes a hip joint cross-axis 27, two hip joint axis angle sensors 30, four hip joint bearings 28, and four hip joint shaft end caps 29. Two coaxially arranged hip joint cross-axis connection shaft holes one are machined on the hip joint shaft seat 34. Two coaxially arranged hip joint cross-axis connection shaft holes two are respectively machined at the left and right ends of the pelvic bone frame 4. The axes of the two hip joint cross-axis connection shaft holes two are perpendicularly arranged with the axes of the two hip joint cross-axis connection shaft holes one. The two transverse shaft rods of the hip joint cross-axis 27 are respectively rotatably connected to the two hip joint cross-axis connection shaft holes two at the end of the pelvic bone frame 4 through two hip joint bearings 28. Two hip joint shaft end caps 29 are respectively arranged at the ends of the two transverse shaft rods. The two hip joint shaft end caps 29 are fixedly connected to the pelvic bone frame 4 through connecting elements. A hip joint axis angle sensor 30 is installed between the end of one transverse shaft rod and the corresponding hip joint shaft end cap 29. The two longitudinal shaft rods of the hip joint cross-axis 27 are respectively rotatably connected to the two hip joint cross-axis connection shaft holes one on the hip joint shaft seat 34 through two hip joint bearings 28. Two hip joint shaft end caps 29 are respectively arranged at the ends of the two longitudinal shaft rods. The two hip joint shaft end caps 29 are fixedly connected to the hip joint shaft seat 34 through connecting elements. A hip joint axis angle sensor 30 is installed between the end of one longitudinal shaft rod and the corresponding hip joint shaft end cap 29. With such a setting, the displacement information of the hydraulic cylinder can be sensed through the hip joint axis angle sensor 30, control feedback can be realized, and the control accuracy can be increased. Other compositions and connection relationships are the same as those in the first, second, third, fourth, or fifth specific embodiments.

[0048] Specific embodiment seven: In combination with Figure 2To describe this embodiment, this embodiment further includes an oil pressure sensor 1, an oil pressure sensor 2, an oil pressure sensor 3, an oil pressure sensor 4, a servo valve 1, and a servo valve 2. A servo valve 1 is installed on the upper hydraulic cylinder 1 in the two groups of hydraulic cylinders 1. The servo valve 1 is respectively communicated with the rod chamber and the rodless chamber of the upper hydraulic cylinder 1 through a hydraulic oil circuit integrally formed with the upper hydraulic cylinder 1. An oil pressure sensor 1 is installed on the hydraulic oil circuit connecting the rod chamber of the upper hydraulic cylinder 1 and the servo valve 1, and an oil pressure sensor 2 is installed on the hydraulic oil circuit connecting the rodless chamber of the upper hydraulic cylinder 1 and the servo valve 1. A servo valve 2 is installed on the lower hydraulic cylinder 1 in the two groups of hydraulic cylinders 1. The servo valve 2 is respectively communicated with the rod chamber and the rodless chamber of the lower hydraulic cylinder 1 through a hydraulic oil circuit integrally formed with the lower hydraulic cylinder 1. An oil pressure sensor 4 is installed on the hydraulic oil circuit connecting the rod chamber of the lower hydraulic cylinder 1 and the servo valve 2, and an oil pressure sensor 3 is installed on the hydraulic oil circuit connecting the rodless chamber of the lower hydraulic cylinder 1 and the servo valve 2. With such a setting, the oil pressure sensors 1 and 2 on the upper hydraulic cylinder 1 and the oil pressure sensors 3 and 4 on the lower hydraulic cylinder 1 are used to sense the pressure information of the hydraulic cylinders, enabling control feedback and increasing control accuracy. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth, or sixth specific embodiments.

[0049] In this embodiment, the oil pressure sensor 1, the oil pressure sensor 2, the oil pressure sensor 3, the oil pressure sensor 4, the servo valve 1, and the servo valve 2 are all integrated outside the pelvic skeleton 4 and communicate through the CAN bus, featuring a simple power supply and communication interface and convenient use.

[0050] The connection relationship between the "oil pressure sensor 1, the oil pressure sensor 2, the oil pressure sensor 3, the oil pressure sensor 4, the servo valve 1, and the servo valve 2" and the "two groups of hydraulic cylinders 2" is the same as the connection relationship between the "oil pressure sensor 1, the oil pressure sensor 2, the oil pressure sensor 3, the oil pressure sensor 4, the servo valve 1, and the servo valve 2" and the "two groups of hydraulic cylinders 1", and will not be elaborated here.

[0051] Specific embodiment eight: In combination with Figure 1 and Figure 2 To describe this embodiment, this embodiment further includes a hydraulic controller 3. The hydraulic controller 3 is installed on the pelvic skeleton 4, and the hydraulic controller 3 is connected to the servo valve 1 and the servo valve 2. With such a setting, the servo valve 1 and the servo valve 2 are driven by the hydraulic controller 3 to control the flow rate, speed, and direction of the hydraulic oil flowing into the hydraulic cylinders. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, or seventh specific embodiments.

[0052] In this embodiment, the hydraulic controller 3 is integrated outside the pelvic skeleton 4 and communicates via the CAN bus, featuring a simple power supply and communication interface and convenient use.

[0053] Specific Embodiment Nine: Figure 2 This embodiment will be described. This embodiment further includes a first flushing joint 11 and a second flushing joint 14, which are installed on the pelvic skeleton 4. The first flushing joint 11 and the second flushing joint 14 are respectively connected to the hydraulic oil circuits of the first hydraulic cylinder 31 and the second hydraulic cylinder 32. Other components and connection relationships are the same as those in Specific Embodiments One, Two, Three, Four, Five, Six, Seven, or Eight.

[0054] Specific Embodiment Ten: Figure 2 This embodiment will be described. The IMU sensor 8 of this embodiment is installed in the middle of the upper end of the pelvic skeleton 4. With such an arrangement, an oil pressure sensor is installed on the oil circuit, an angle sensor is installed on the cross shaft, and an IMU sensor is installed on the pelvis. The integration of multiple sensors realizes the perception and feedback of the system. Other components and connection relationships are the same as those in Specific Embodiments One, Two, Three, Four, Five, Six, Seven, Eight, or Nine.

[0055] Working Principle

[0056] In combination with Figure 1 and Figure 9 This describes the working principle of the integrated humanoid parallel hip pelvic structure of the present invention: The integrated humanoid parallel hip pelvic structure of the present invention has two hip joints 1 symmetrically distributed around the left and right centers and the upper waist joint base of the pelvic skeleton 4. Each hip joint 1 is driven by a first hydraulic cylinder 31 and a second hydraulic cylinder 32. The two ends of the pelvic skeleton 4 are respectively connected to the two hip joints 1 through hip cross shaft hinges. During operation, hydraulic oil enters the first hydraulic cylinder 31 and the second hydraulic cylinder 32 under the control of the first servo valve 7 and the second servo valve 12, thereby driving the piston rod one 6 and the piston rod two 15 to move. The front ends of the piston rod one 6 and the piston rod two 15 are sequentially connected to the two hip joints 1 through a two-force rod connection hinge, a two-force rod 18, and a pelvic cross shaft hinge. The first hydraulic cylinder 31 and the second hydraulic cylinder 32 respectively drive the piston rod one 6 and the piston rod two 15 to push the slider 20 on the guide rail 19 to move. When the two groups of hydraulic cylinders drive the piston rods to move synchronously, the thigh rotates in the yaw direction; when the two groups of hydraulic cylinders drive the piston rods to move asynchronously, the thigh rotates in the side swing and roll directions.

[0057] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An integrated humanoid parallel hip pelvic structure, characterized in that: It includes a pelvic skeleton (4), two hip joints (1), two hip joint pitch connectors (2), two first piston rods (6), two second piston rods (15), two hip joint cross-axis hinges, four two-force bars (18), four two-force bar connection hinges and four pelvic cross-axis hinges. Two hip joints (1) are symmetrically distributed at the left and right sides of the pelvic skeleton (4) respectively. A hip joint pitch connector (2) for connecting the thigh is installed on each hip joint (1). Each hip joint (1) includes a hip joint main body (33), a hip joint axis seat (34) and two two-force bar axis seats (35). The hip joint main body (33) is a hollow cylindrical structure. At one end of the hip joint main body (33) close to the pelvic skeleton (4), a hip joint axis seat (34) arranged coaxially with the hip joint main body (33) and two two-force bar axis seats (35) arranged symmetrically up and down in front of the hip joint axis seat (34) are provided respectively. The left and right ends of the pelvic skeleton (4) are respectively hinged to the hip joint axis seats (34) inside the two hip joints (1) through two hip joint cross-axis hinges. The head and tail ends of the two-force bar (18) are processed into a fork-shaped structure. Two sets of first hydraulic cylinders (31) for driving the left hip joint (1) and two sets of second hydraulic cylinders (32) for driving the right hip joint (1) are arranged inside the pelvic skeleton (4). A first piston rod (6) and a second piston rod (15) are installed on both the two sets of first hydraulic cylinders (31) and the two sets of second hydraulic cylinders (32). The end parts of the first piston rod (6) and the second piston rod (15) installed on the two sets of first hydraulic cylinders (31) are respectively hinged to the fork-shaped structures at the head ends of the two two-force bars (18) through two two-force bar connection hinges. The fork-shaped structures at the tail ends of the two two-force bars (18) are respectively hinged to the two two-force bar axis seats (35) of the left hip joint (1) through two pelvic cross-axis hinges. The end parts of the first piston rod (6) and the second piston rod (15) installed on the two sets of second hydraulic cylinders (32) are respectively hinged to the fork-shaped structures at the head ends of the two two-force bars (18) through two two-force bar connection hinges. The fork-shaped structures at the tail ends of the two two-force bars (18) are respectively hinged to the two two-force bar axis seats (35) of the right hip joint (1) through two pelvic cross-axis hinges. When the two sets of first hydraulic cylinders (31) and / or the two sets of second hydraulic cylinders (32) push the first piston rod (6) and the second piston rod (15) to move synchronously, the thigh rotates in the yaw direction; when the two sets of first hydraulic cylinders (31) and / or the two sets of second hydraulic cylinders (32) push the first piston rod (6) and the second piston rod (15) to move asynchronously, the thigh rotates in the side swing and roll direction.

2. The integrated humanoid parallel hip pelvic structure according to claim 1, characterized in that: The two sets of first hydraulic cylinders (31) are arranged in parallel along the length direction of the pelvic skeleton (4). The two sets of first hydraulic cylinders (31) are arranged horizontally up and down inside the pelvic skeleton (4). The two sets of second hydraulic cylinders (32) are arranged in parallel along the length direction of the pelvic skeleton (4). The two sets of second hydraulic cylinders (32) are arranged horizontally up and down inside the pelvic skeleton (4). The first hydraulic cylinders (31) and the second hydraulic cylinders (32) and their oil circuits are integrally formed with the pelvic skeleton (4).

3. The integrated humanoid parallel hip pelvic structure according to claim 1 or 2, characterized in that: It further includes four guide rail slider assemblies. Four guide rail slider assemblies are respectively provided on the front sides of two groups of hydraulic cylinders I (31) and two groups of hydraulic cylinders II (32). Each guide rail slider assembly includes a slider connecting member (16), a guide rail (19) and a slider (20). The guide rail (19) is horizontally installed on the pelvic bone skeleton (4) along the length direction of the first piston rod (6) and / or the second piston rod (15). The slider (20) is slidably installed on the guide rail (19). The slider (20) is connected to the end of the first piston rod (6) and / or the second piston rod (15) through the slider connecting member (16).

4. The integrated humanoid parallel hip pelvic structure according to claim 3, characterized in that: The two-force bar connecting hinge includes a two-force bar bushing (17), a radial spherical plain bearing (21) and a two-force bar shaft (22). The two-force bar bushing (17) is fixed to the end of the first piston rod (6) and / or the second piston rod (15). The radial spherical plain bearing (21) is installed in the inner hole of the two-force bar bushing (17). The middle part of the two-force bar shaft (22) is inserted into the radial spherical plain bearing (21). A shaft hole is machined on the fork-shaped structure at the head end of the two-force bar (18). The two ends of the two-force bar shaft (22) are respectively rotatably connected to the fork-shaped structure at the head end of the two-force bar (18).

5. The integrated humanoid parallel hip pelvic structure according to claim 1 or 4, characterized in that: The pelvic cross-axis hinge includes a pelvic cross-axis fixed shaft (23), a pelvic cross-axis fixed shaft fixing screw (24), a pelvic cross-axis (25) and a pelvic cross-axis rubber gasket (26). The pelvic cross-axis (25) is rotatably connected to the fork-shaped structure at the end of the two-force bar (18) through the shaft rods at both ends. The middle part of the pelvic cross-axis fixed shaft (23) is inserted into the middle shaft sleeve of the pelvic cross-axis (25). The two ends of the pelvic cross-axis fixed shaft (23) are rotatably connected to the corresponding two-force bar shaft seats (35). A sheet-like protrusion is machined on the end of the pelvic cross-axis fixed shaft (23) in the radial direction. The sheet-like protrusion is connected to the two-force bar shaft seat (35) through the pelvic cross-axis fixed shaft fixing screw (24). The pelvic cross-axis rubber gasket (26) is located between the middle shaft sleeve of the pelvic cross-axis (25) and the two-force bar shaft seat (35). The pelvic cross-axis rubber gasket (26) is sleeved on the pelvic cross-axis fixed shaft (23).

6. The integrated humanoid parallel hip pelvic structure according to claim 5, characterized in that: The hip joint cross-axis hinge includes a hip joint cross-axis (27), two hip joint axis angle sensors (30), four hip joint bearings (28), and four hip joint axis end caps (29). Two coaxially arranged hip joint cross-axis connecting shaft holes I are machined on the hip joint axis seat (34). Two coaxially arranged hip joint cross-axis connecting shaft holes II are respectively machined at the left and right ends of the pelvic skeleton (4). The axes of the two hip joint cross-axis connecting shaft holes II are vertically arranged with respect to the axes of the two hip joint cross-axis connecting shaft holes I. The two transverse shaft rods of the hip joint cross-axis (27) are respectively rotatably connected to the two hip joint cross-axis connecting shaft holes II at the end of the pelvic skeleton (4) through two hip joint bearings (28). Two hip joint axis end caps (29) are respectively provided at the ends of the two transverse shaft rods. The two hip joint axis end caps (29) are fixedly connected to the pelvic skeleton (4) through connecting elements. A hip joint axis angle sensor (30) is installed between the end of one transverse shaft rod and the corresponding hip joint axis end cap (29). The two longitudinal shaft rods of the hip joint cross-axis (27) are respectively rotatably connected to the two hip joint cross-axis connecting shaft holes I on the hip joint axis seat (34) through two hip joint bearings (28). Two hip joint axis end caps (29) are respectively provided at the ends of the two longitudinal shaft rods. The two hip joint axis end caps (29) are fixedly connected to the hip joint axis seat (34) through connecting elements. A hip joint axis angle sensor (30) is installed between the end of one longitudinal shaft rod and the corresponding hip joint axis end cap (29).

7. The integrated humanoid parallel hip pelvic structure according to claim 1 or 6, characterized in that: It further includes an oil pressure sensor I (5), an oil pressure sensor II (9), an oil pressure sensor III (10), an oil pressure sensor IV (13), a servo valve I (7), and a servo valve II (12). The servo valve I (7) is installed on the upper hydraulic cylinder I (31) among the two groups of hydraulic cylinders I (31). The servo valve I (7) is respectively communicated with the rod chamber and the rodless chamber of the upper hydraulic cylinder I (31) through a hydraulic oil path integrally formed with the upper hydraulic cylinder I (31). An oil pressure sensor I (5) is installed on the hydraulic oil path connecting the rod chamber of the upper hydraulic cylinder I (31) and the servo valve I (7). An oil pressure sensor II (9) is installed on the hydraulic oil path connecting the rodless chamber of the upper hydraulic cylinder I (31) and the servo valve I (7). The servo valve II (12) is installed on the lower hydraulic cylinder I (31) among the two groups of hydraulic cylinders I (31). The servo valve II (12) is respectively communicated with the rod chamber and the rodless chamber of the lower hydraulic cylinder I (31) through a hydraulic oil path integrally formed with the lower hydraulic cylinder I (31). An oil pressure sensor IV (13) is installed on the hydraulic oil path connecting the rod chamber of the lower hydraulic cylinder I (31) and the servo valve II (12). An oil pressure sensor III (10) is installed on the hydraulic oil path connecting the rodless chamber of the lower hydraulic cylinder I (31) and the servo valve II (12).

8. The integrated humanoid parallel hip pelvic structure according to claim 7, characterized in that: It further includes a hydraulic controller (3). The hydraulic controller (3) is installed on the pelvic skeleton (4). The hydraulic controller (3) is connected to the servo valve I (7) and the servo valve II (12).

9. The integrated humanoid parallel hip pelvic structure according to claim 8, characterized in that: It also includes a first flushing joint (11) and a second flushing joint (14). The first flushing joint (11) and the second flushing joint (14) are installed on the pelvic skeleton (4), and the first flushing joint (11) and the second flushing joint (14) are respectively connected to the hydraulic oil circuits of the first hydraulic cylinder (31) and the second hydraulic cylinder (32).

10. The integrated humanoid parallel hip pelvic structure according to claim 1, 8 or 9, characterized in that: An IMU sensor (8), and the IMU sensor (8) is installed in the middle of the upper end of the pelvic skeleton (4).

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