Tubeless pelvic structure and biped hydraulic drive robot

Abstract

The application belongs to the technical field of hydraulic robot body structure, and discloses a pipe-free pelvis structure and a two-foot hydraulic driving robot. The pipe-free pelvis structure comprises a plurality of hydraulic joints, an oil inlet and return valve block, a support structure and a motion structure. The oil inlet and return valve block is connected to one side of the support structure, and the plurality of hydraulic joints are respectively connected to the oil inlet and return valve block. The motion structure is arranged on the support structure. A hydraulic oil flow channel is formed in the support structure. The hydraulic oil sequentially passes through the hydraulic joints and the oil inlet and return valve block to enter the flow channel, and then enters the motion structure through the flow channel to drive the structure to move. The pipe-free pelvis structure uses the pelvis plate as a structural member and a valve block, and realizes high integration of the structure of the pelvis.

Description

Technical Field

[0001] This invention belongs to the technical field of hydraulic robot body structure, and more specifically, relates to a tubeless pelvic structure and a bipedal hydraulically driven robot. Background Technology

[0002] A hydraulic bipedal robot is a robot that mimics human bipedal walking by using a hydraulic system for motion control. While significant progress has been made in the field of hydraulic bipedal robots in recent years, several challenges remain, one of which is the use of flexible hoses.

[0003] Currently, hoses are widely used in hydraulic bipedal robots to transmit hydraulic media, such as hydraulic oil or compressed air. These hoses present several problems during transmission. First, energy loss occurs when the hoses bend and twist, leading to a decrease in the robot's motion efficiency. Second, hoses are susceptible to external environmental interference, such as friction, wear, and breakage, which can affect the robot's reliability and lifespan. Furthermore, the use of hoses increases the robot's weight and complexity. Summary of the Invention

[0004] To address the above-mentioned deficiencies or improvement needs of existing technologies, this invention provides a tubular pelvic structure and a bipedal hydraulically driven robot. The tubular pelvic structure uses the pelvic plate as both a structural component and a valve block, achieving a high degree of integration of the pelvic structure.

[0005] To achieve the above objectives, according to one aspect of the present invention, a tubular pelvic structure is provided. The tubular pelvic structure includes multiple hydraulic connectors, inlet and return valve blocks, a support structure, and a moving structure. The inlet and return valve blocks are connected to one side of the support structure, and the multiple hydraulic connectors are respectively connected to the inlet and return valve blocks. The moving structure is disposed on the support structure. A hydraulic oil flow channel is provided inside the support structure. Hydraulic oil enters the flow channel through the hydraulic connectors and the inlet and return valve blocks in sequence, and then enters the moving structure through the flow channel to drive the structure to move.

[0006] Furthermore, the support structure includes a pelvic plate, on one side of which a pelvic plate return oil pipe is provided connected to the inlet and outlet oil valve block. The pelvic plate also has a third pelvic plate vertical pipe, which is connected to one end of the pelvic plate return oil pipe and is arranged along the thickness direction of the pelvic plate. The pelvic plate return oil pipe is arranged perpendicular to the thickness direction of the pelvic plate and is located in the middle of the pelvic plate.

[0007] Furthermore, the pelvic plate is provided with two flow channel groups, which share the pelvic plate oil return pipe and the third pelvic plate vertical pipe. The two flow channel groups are located at opposite ends of the pelvic plate and are respectively coordinated with a motion structure to drive the left and right hip joint movements.

[0008] Furthermore, the support structure includes a valve block at the servo valve location in the middle of the pelvic plate and two servo valves symmetrically arranged on the servo valve block; each flow channel group includes a first through hole, a second through hole, a third through hole, a rodless chamber oil passage of the hydraulic cylinder, a first vertical pipe of the pelvic plate, a second vertical pipe of the pelvic plate, and a rod-side return oil passage of the hydraulic cylinder; the first through hole, the second through hole, and the third through hole all penetrate the pelvic plate; the rodless chamber oil passage of the hydraulic cylinder is embedded in the pelvic plate, and one end of it is connected to the first vertical pipe of the pelvic plate, which penetrates the pelvic plate. The pelvic plate is provided with the surface of the valve block where the servo valve is located; the second through hole and the third through hole are both spaced apart along a direction parallel to the length direction of the pelvic plate; the second through hole is connected to the rodless chamber oil circuit pipe of the hydraulic cylinder through a pipe embedded in the pelvic plate; the rod chamber oil circuit pipe of the hydraulic cylinder is embedded in the pelvic plate and is arranged parallel to the rodless chamber oil circuit pipe of the hydraulic cylinder; the third through hole penetrates the rod chamber oil circuit pipe of the hydraulic cylinder; the first vertical pipe of the pelvic plate is connected to one end of the rod chamber oil circuit pipe of the hydraulic cylinder and penetrates the surface of the valve block where the servo valve is located on the pelvic plate.

[0009] Furthermore, the inlet and return valve block has a main inlet pipe and a main return pipe spaced apart along its length. One side of the inlet and return valve block has a pelvic structure inlet pipe and a pelvic structure return pipe that are respectively connected to the main inlet pipe and the main return pipe. The other side of the inlet and return valve block has multiple main inlets that are connected to the main inlet pipe. The hydraulic connector is connected to the main inlet. The pelvic structure return pipe is connected to the pelvic plate return pipe.

[0010] Furthermore, the valve block at the servo valve is T-shaped, and has a servo valve return oil pipe, a servo valve inlet oil pipe and a servo valve block inlet oil pipe respectively. The servo valve return oil pipe and the servo valve inlet oil pipe are parallel to each other, and the servo valve block inlet oil pipe is perpendicular to the servo valve inlet oil pipe and the two are connected.

[0011] Furthermore, a first vertical pipe is formed on one surface of the servo valve block, which is connected to the servo valve return oil pipe and the pelvic plate return oil pipe; two vertical pipe groups are formed on the other surface of the servo valve block, each vertical pipe group including a second, fourth, third, and fifth vertical pipe, and the center points of the four pipes in each vertical pipe group are located at the four vertices of the same square; the second and fifth vertical pipes of the servo valve block intersect perpendicularly with the servo valve return oil pipe and the servo valve inlet oil pipe, respectively, and are interconnected; the fourth and third vertical pipes of the servo valve block both penetrate the servo valve block.

[0012] Furthermore, one end of the vertical pipe of the valve block at the fourth servo valve and the numerical pipe of the valve block at the third servo valve in a vertical pipe group are respectively connected to the vertical pipe of the second pelvic plate and the vertical pipe of the first pelvic plate in a flow channel group, and their positions correspond to each other; the vertical pipe of the valve block at the fourth servo valve and the vertical pipe of the valve block at the third servo valve have the same structure and size; the servo valve is set at one end of the valve block at the servo valve, and it is set on a vertical pipe group; the servo valve has a servo valve inlet with its geometric center located at the four vertices of the same square, and a first... The system includes a servo valve working port, a servo valve return port, and a second servo valve working port. The servo valve inlet is connected to the vertical pipe of the valve block at the fifth servo valve. The servo valve return port is opposite to and connected to the vertical pipe of the valve block at the second servo valve. The first servo valve working port is connected to the vertical pipe of the valve block at the third servo valve. The second servo valve working port is connected to the vertical pipe of the valve block at the fourth servo valve. By controlling the current of the servo valve, one of the first servo valve working ports and the second servo valve working port is controlled to open and be in working condition, while the other is closed.

[0013] Furthermore, there are two motion structures, each respectively mounted on the pelvic plate, used to drive the movement of the left and right hip joints. Each motion structure includes a hydraulic cylinder, a joint bearing, a rack shaft, a slider upper plate, a linear guide slider, a rack, a linear guide slide rail, a gear, a gear cover plate, a connecting plate at the hydraulic cylinder, a hydraulic cylinder shaft, a pelvic motion connecting plate, a crossed roller bearing, and a motion washer ring. The hydraulic cylinder is mounted on the pelvic plate. The hydraulic cylinder is connected to the joint bearing, which is connected to the slider upper plate via the rack shaft. The slider upper plate is connected to the linear guide slider, which is mounted on the linear guide slide rail. The rack is mounted on the linear guide slide rail. On the guide rail slider, the gear meshes with the rack; two hydraulic cylinder shafts are respectively disposed in the second through hole and the third through hole, the hydraulic cylinder shaft disposed in the second through hole connects the oil passage of the rodless chamber of the hydraulic cylinder to the rodless chamber of the hydraulic cylinder; the hydraulic cylinder shaft disposed in the third through hole connects the oil passage of the rod chamber of the hydraulic cylinder to the rod chamber of the hydraulic cylinder; the end of the hydraulic cylinder shaft away from the hydraulic cylinder is connected to the connecting plate of the hydraulic cylinder; the crossed roller bearing is disposed in the first through hole, one end of which is connected to the pelvic movement connecting plate, and the other end is connected to the gear cover plate; the movement washer is sleeved on the crossed roller bearing, and the gear is connected to the crossed roller bearing.

[0014] The present invention also provides a bipedal hydraulically driven robot, the bipedal hydraulically driven robot including the tubeless pelvic structure, upper body structure and lower body structure as described above, the tubeless pelvic structure connecting the upper body structure and the lower body structure.

[0015] In summary, compared with the prior art, the tubular pelvic structure and bipedal hydraulically driven robot provided by the present invention have the following advantages:

[0016] 1. This invention achieves hydraulic oil transmission through the inlet and outlet valve block, servo valve, and pelvic plate, avoiding the use of hoses. The rotational movement of the hip joint in the yaw direction is achieved through the oil passage in the pelvic plate meshing with the rack and pinion, ensuring motion accuracy while making the overall structure of the pelvis more compact, with higher space utilization, and making the robot's movement more reliable and flexible.

[0017] 2. This invention achieves a tubeless design for the hip joint in the pelvis during yaw movement, reducing the impact of flexible tubes on the reliability of robot movement and improving the robot's movement efficiency.

[0018] 3. The tubeless structure of this invention can reduce energy loss and improve the efficiency of the hydraulic system, thereby making the robot's gait smoother and more stable;

[0019] 4. The pelvis is the core component of a bipedal robot, responsible for supporting and balancing its upper and lower body. Applying a tubular structure design to the pelvis of a hydraulic robot allows the pelvic plate to function as both a structural component and a valve block, achieving a high degree of structural integration. This reduces the pelvis's weight and improves the robot's overall mobility and speed. Simultaneously, through embedded transmission pipes and internal sealing structures, hydraulic fluid can flow within the robot's structure, making this core component less susceptible to external environmental interference and damage, thus increasing the robot's operational stability and durability. Attached Figure Description

[0020] Figure 1 This is a three-dimensional schematic diagram of a tubular pelvic structure provided by the present invention;

[0021] Figure 2 yes Figure 1 A schematic diagram of the tubular pelvic structure along the first angle;

[0022] Figure 3 yes Figure 1 A schematic diagram of the tubular pelvic structure along the second angle;

[0023] Figure 4 (b) and (a) in the text are respectively Figure 1 A schematic diagram of the pelvic plate of the tubular pelvic structure and a cross-sectional view of the pelvic plate along the AA direction in (b).

[0024] Figure 5 (a), (b), (c), (d), (e), and (f) are respectively a three-dimensional schematic diagram of the valve block at the inlet and return oil outlet, a schematic diagram of the valve block at the inlet and return oil outlet along the first angle, a schematic diagram of the valve block at the inlet and return oil outlet along the second angle, a schematic diagram of the valve block at the inlet and return oil outlet along the third angle, a cross-sectional view of the valve block at the inlet and return oil outlet along the AA direction in (b), and a cross-sectional view of the valve block at the inlet and return oil outlet along the BB direction in (c).

[0025] Figure 6 (a), (b), (c), (d), (e), and (f) are respectively Figure 1 The diagram shows the valve block at the servo valve of the tubeless pelvic structure along the first angle, the second angle, the third angle, the BB direction in (b), the AA direction in (a), and the CC direction in (c).

[0026] Figure 7 yes Figure 1 A schematic diagram of a servo valve with a tubular pelvic structure.

[0027] Figure 8 (a), (b), and (c) in the text are respectively Figure 1 A three-dimensional schematic diagram, a two-dimensional schematic diagram, and a cross-sectional view of the hydraulic cylinder shaft along the BB direction in (b) of the tubular pelvic structure.

[0028] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1-pelvic plate, 1-1-pelvic plate return oil pipe, 1-2-hydraulic cylinder rodless chamber oil passage pipe, 1-3-first pelvic plate vertical pipe, 1-4-second pelvic plate vertical pipe, 1-5-third pelvic plate vertical pipe, 1-6-hydraulic cylinder rod chamber oil passage pipe, 2-first pelvic support, 3-hydraulic cylinder rear end fixing seat, 4-hydraulic cylinder, 5-spherical bearing, 6-second pelvic support, 7-rack shaft, 8-slider upper plate, 9-linear guide slider, 10-rack, 11-linear guide slide rail, 12-gear, 13-third pelvic support, 14-gear cover plate, 15-fourth pelvic support, 16-inlet / return oil valve block, 16-1-main oil inlet, 16-2-main return oil pipe, 16-3-main oil inlet pipe, 16-4-pelvic structure oil inlet pipe, 16- 5-Pelvic structure return oil pipe, 17-Hydraulic connector, 18-Valve block at servo valve, 18-1-Vertical pipe of valve block at second servo valve, 18-2-Vertical pipe of valve block at fourth servo valve, 18-3-Vertical pipe of valve block at third servo valve, 18-4-Vertical pipe of valve block at fifth servo valve, 18-5-Servo valve return oil pipe, 18-6-Servo valve inlet oil pipe, 18-7-Vertical pipe of valve block at first servo valve, 18 -8- Servo valve block oil inlet pipe, 19- Servo valve, 19-1- Servo valve oil inlet, 19-2- First servo valve working oil port, 19-3- Servo valve return oil port, 19-4- Second servo valve working oil port, 20- Hydraulic cylinder connecting plate, 21- Hydraulic cylinder shaft, 21-1- First connecting pipe, 21-2- Second connecting pipe, 22- Pelvic motion connecting plate, 23- Crossed roller bearing, 24- Motion washer ring. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0030] Please see Figure 1 , Figure 2 and Figure 3This invention provides a tubular pelvic structure, comprising multiple hydraulic connectors 17, inlet and return valve blocks 16, a support structure, and a moving structure. The inlet and return valve blocks 16 are connected to one side of the support structure, and the multiple hydraulic connectors 17 are respectively connected to the inlet and return valve blocks 16. The moving structure is disposed on the support structure. A hydraulic oil flow channel is provided inside the support structure. Hydraulic oil sequentially enters the flow channel through the hydraulic connectors 17 and the inlet and return valve blocks 16, and then enters the moving structure through the flow channel to drive the structure to move.

[0031] The support structure includes a pelvic plate 1, a first pelvic support 2, a second pelvic support 6, a third pelvic support 13, a fourth pelvic support 15, a servo valve block 18 disposed in the middle of the pelvic plate 1, and two servo valves 19 symmetrically disposed on the servo valve block 18. The first pelvic support 2, the second pelvic support 6, the third pelvic support 13, and the fourth pelvic support 15 are connected to form a barrel-shaped frame, one end of which is connected to the edge of the pelvic plate 1 to form a rectangular groove structure. The first pelvic support 2 and the fourth pelvic support 15 have the same structure and are arranged opposite each other; the second pelvic support 6 and the third pelvic support 13 have the same structure and are arranged opposite each other. The inlet / outlet valve block 16 is connected to the fourth pelvic support 15.

[0032] Please see Figure 4 The pelvic plate 1 is basically rectangular. A pelvic plate oil return pipe 1-1 is provided on one side of the plate connected to the fourth pelvic support 15. The pelvic plate is also provided with a third pelvic plate vertical pipe 1-5. The third pelvic plate vertical pipe 1-5 is connected to one end of the pelvic plate oil return pipe 1-1 and is arranged along the thickness direction of the pelvic plate. The pelvic plate oil return pipe 1-1 is arranged perpendicular to the thickness direction of the pelvic plate and is located in the middle of the pelvic plate.

[0033] The pelvic plate 1 also has two flow channel groups, which share the pelvic plate return oil pipe 1-1 and the third pelvic plate vertical pipe 1-5. These two flow channel groups are located at opposite ends of the pelvic plate 1 and each cooperates with a motion structure to drive the left and right hip joint movements. Each flow channel group includes a first through hole, a second through hole, a third through hole, a rodless chamber oil passage pipe 1-2 for the hydraulic cylinder, a first pelvic plate vertical pipe 1-3, a second pelvic plate vertical pipe 1-4, and a rod chamber return oil pipe for the hydraulic cylinder. The first through hole, the second through hole, and the third through hole all penetrate the pelvic plate 1, with the diameter of the first through hole being larger than the diameters of the second and third through holes. The rodless chamber oil passage pipe 1-2 is embedded in the pelvic plate 1, and one end of it is connected to the first pelvic vertical pipe, which penetrates the surface of the valve block 18 where the servo valve is located on the pelvic plate 1. The second and third through holes are spaced apart along a direction parallel to the length of the pelvic plate 1. The second through hole is connected to the rodless chamber oil circuit pipe 1-2 of the hydraulic cylinder via a pipe embedded in the pelvic plate 1. The rod chamber oil circuit pipe 1-6 of the hydraulic cylinder is embedded in the pelvic plate 1 and is arranged parallel to the rodless chamber oil circuit pipe 1-2. The third through hole penetrates the rod chamber oil circuit pipe 1-6 of the hydraulic cylinder. The first vertical pipe 1-3 of the pelvic plate is connected to one end of the rod chamber oil circuit pipe 1-6 of the hydraulic cylinder and penetrates the surface of the valve block 18 where the servo valve is located on the pelvic plate. The first vertical pipe 1-3 of the pelvic plate and the second vertical pipe 1-4 of the pelvic plate are arranged adjacent to each other and are parallel to each other.

[0034] Please see Figure 5 The inlet and return valve block 16 is basically rectangular, with a main inlet pipe 16-3 and a main return pipe 16-2 spaced apart along its length. One side of the valve block 16 has a pelvic structure inlet pipe 16-4 and a pelvic structure return pipe 16-5, respectively connected to the main inlet pipe 16-3 and the main return pipe 16-2. The other side of the valve block 16 has multiple main inlets 16-1 connected to the main inlet pipe 16-3, and the hydraulic connector 17 is connected to the main inlets 16-1. The pelvic structure return pipe 16-5 is connected to the pelvic plate return pipe 1-1.

[0035] Please see Figure 6 The servo valve block 18 is T-shaped, and has a servo valve return oil pipe 18-5, a servo valve inlet oil pipe 18-6, and a servo valve block inlet oil pipe 18-8 respectively. The servo valve return oil pipe 18-5 and the servo valve inlet oil pipe 18-6 are parallel to each other, and the servo valve block inlet oil pipe 18-8 is perpendicular to the servo valve inlet oil pipe 18-6 and the two are connected.

[0036] One surface of the valve block at the servo valve is provided with a first vertical pipe 18-7, which is connected to the servo valve return oil pipe 18-5 and the pelvic plate return oil pipe 1-1. The other surface of the valve block at the servo valve is provided with two vertical pipe groups. Each vertical pipe group includes a second vertical pipe 18-1, a fourth vertical pipe 18-2, a third vertical pipe 18-3, and a fifth vertical pipe 18-4. The center points of the four pipes in each vertical pipe group are located at the four vertices of the same square.

[0037] The vertical pipes 18-1 and 18-4 of the valve block at the second servo valve and the fifth servo valve, respectively, intersect perpendicularly with the servo valve return oil pipe 18-5 and the servo valve inlet oil pipe 18-6, and are interconnected. The vertical pipes 18-2 and 18-3 of the valve block at the fourth servo valve and the third servo valve both penetrate the valve block at the servo valve.

[0038] One end of the vertical pipe 18-2 at the fourth servo valve and the numerical pipe at the third servo valve in a vertical pipe group are respectively connected to the second pelvic plate vertical pipe 1-4 and the first pelvic plate vertical pipe 1-3 of the flow channel group, and their positions correspond to each other. The vertical pipe 18-2 at the fourth servo valve and the vertical pipe 18-3 at the third servo valve have the same structure and dimensions.

[0039] Please see Figure 7The servo valve 19 is located at one end of the valve block at the servo valve location and is mounted on a vertical pipe assembly. The servo valve has a servo valve inlet 19-1, a first servo valve working port 19-2, a servo valve return port 19-3, and a second servo valve working port 19-4, each with its geometric center located at one of the four vertices of the same square. The servo valve inlet 19-1 is connected to the vertical pipe 18-4 of the valve block at the fifth servo valve location, and their central axes coincide. The servo valve return port 19-3 is opposite to and connected to the vertical pipe 18-1 of the valve block at the second servo valve location. The first servo valve working port 19-2 is connected to the vertical pipe of the valve block at the third servo valve location. The second servo valve working port 19-4 is connected to the vertical pipe 18-2 of the valve block at the fourth servo valve location. By controlling the current of the servo valve, one of the first servo valve working ports 19-2 and the second servo valve working port 19-4 is opened and in a working state, while the other is closed. Hydraulic oil enters the servo valve through the servo valve inlet 19-1 and flows out of the servo valve through the second servo valve working port 19-4 or the first servo valve working port 19-2.

[0040] Please see Figure 8 The system comprises two motion structures, each mounted on the pelvic plate, used to drive the movement of the left and right hip joints, respectively. Each motion structure includes a hydraulic cylinder rear end fixing seat 3, a hydraulic cylinder 4, a joint bearing 5, a rack shaft 7, a slider upper plate 8, a linear guide slider 9, a rack 10, a linear guide slide rail 11, a gear 12, a gear cover plate 14, a hydraulic cylinder connecting plate 20, a hydraulic cylinder shaft 21, a pelvic motion connecting plate 22, a crossed roller bearing 23, and a motion washer 24. The hydraulic cylinder rear end fixing seat 3 is mounted on the pelvic plate, and the hydraulic cylinder is mounted on the hydraulic cylinder rear end fixing seat 3. The hydraulic cylinder is connected to the joint bearing 5, which is connected to the slider upper plate 8 via the rack shaft 7. The slider upper plate 8 is connected to the linear guide slider 9, which is mounted on the linear guide slide rail 11. The rack 10 is mounted on the linear guide slider 9, and the gear 12 meshes with the rack 10.

[0041] Two hydraulic cylinder shafts 21 are respectively disposed in the second through hole and the third through hole. The hydraulic cylinder shaft 21 disposed in the second through hole connects the rodless chamber oil passage 1-2 of the hydraulic cylinder to the rodless chamber of the hydraulic cylinder. The hydraulic cylinder shaft 21 disposed in the third through hole connects the rod chamber of the hydraulic cylinder to the rod chamber oil passage 1-6 of the hydraulic cylinder. The end of the hydraulic cylinder shaft 21 away from the hydraulic cylinder is connected to the hydraulic cylinder connecting plate 20. The crossed roller bearing 23 is disposed in the first through hole, one end of which is connected to the pelvic movement connecting plate 22, and the other end is connected to the gear cover plate 14. The movement washer 24 is sleeved on the crossed roller bearing 23, the gear is connected to the crossed roller bearing 23, and the movement washer 24 is located between the crossed roller bearing 23 and the gear.

[0042] The hydraulic cylinder shaft 21 is stepped, and has a first connecting pipe 21-1 and a second connecting pipe 21-2. The first connecting pipe 21-1 is arranged along the axial direction of the hydraulic cylinder shaft 21 and intersects the second connecting pipe 21-2 perpendicularly. The second connecting pipe 21-2 passes radially through the hydraulic cylinder shaft 21. The hydraulic cylinder shaft 21 is connected to the rodless chamber oil passage pipe 1-2 or the rod chamber oil passage pipe 1-6 of the hydraulic cylinder through the second connecting pipe 21-2, and is connected to the rodless chamber or the rod chamber of the hydraulic cylinder through the first connecting pipe 21-1.

[0043] When the right hip joint moves in the yaw direction, connected to the tubular pelvic structure, the hydraulic connector 17 is connected to the main oil inlet 16-1, the pelvic structure oil inlet pipe 16-4 is connected to the valve block oil inlet pipe 18-8 at the servo valve, and the pelvic structure return oil pipe 16-5 is connected to the pelvic plate return oil pipe 1-1. The rod-side oil passage pipe 1-6 of the hydraulic cylinder intersects with the vertical pipe 1-3 of the first pelvic plate, the rodless-side oil passage pipe 1-2 of the hydraulic cylinder intersects with the vertical pipe 1-4 of the second pelvic plate, and the pelvic plate return oil pipe 1-1 intersects with the vertical pipe 1-5 of the third pelvic plate. The vertical pipe 18-7 of the valve block at the first servo valve is connected to the vertical pipe 1-5 of the third pelvic plate; the servo valve inlet pipe 18-6 and the servo valve return pipe 18-5 intersect with the vertical pipe 18-4 of the valve block at the fifth servo valve and the vertical pipe 18-1 of the valve block at the second servo valve, respectively; the vertical pipe 18-4 of the valve block at the fifth servo valve and the vertical pipe 18-1 of the valve block at the second servo valve are connected to the servo valve inlet port 19-1 and the servo valve return port 19-3, respectively. The working port 19-2 of the first servo valve and the working port 19-4 of the second servo valve are connected to the vertical pipe 1-3 of the first pelvic plate and the vertical pipe 18-1 of the valve block at the second servo valve through the vertical pipe 18-3 of the valve block at the third servo valve and the vertical pipe 18-2 of the valve block at the fourth servo valve. Oil from the rodless chamber oil passage 1-2 and the rod chamber oil passage 1-6 of the hydraulic cylinder flows into the hydraulic cylinder through the first connecting pipe 21-1 and the second connecting pipe 21-2 in the two hydraulic cylinder shafts 21, respectively. The oil passage connection for the left hip joint during yaw movement is the same as that on the right side, and will not be elaborated here.

[0044] The right hip joint rotates externally in the yaw direction, and the oil passages between connected parts are sealed with a sealing ring. For example... Figure 1As shown, hydraulic oil flows from the oil tank into the hydraulic connector 17 and then into the inlet / return valve block 16. It then flows into the pelvic structure through the main inlet pipe 16-3 and the pelvic structure inlet pipe 16-4. The inlet / return valve block 16 is connected to the servo valve block via a sealing ring. Hydraulic oil flows from the pelvic structure inlet pipe 16-4 into the servo valve inlet pipe 18-8, and then into the servo valve inlet port 19-1 via the servo valve inlet pipe 18-6. By controlling the current of the servo valve, the servo valve distributes hydraulic oil to flow out from the second servo valve working port 19-4, which then flows into the rodless chamber oil passage pipe 1-2 of the hydraulic cylinder through the servo valve block. The rodless chamber oil passage pipe 1-2 is connected to the rodless chamber of the hydraulic cylinder via the hydraulic cylinder shaft 21. Hydraulic oil entering the rodless chamber pushes the piston rod to move linearly to the right. Simultaneously, the hydraulic oil in the rod chamber returns to the working port 19-2 of the first servo valve through the rod chamber oil passage 1-6 of the hydraulic cylinder, then flows from the servo valve return port 19-3 into the servo valve return oil passage 18-5 to the pelvic plate return oil passage 1-1, and finally returns to the oil tank through the pelvic structure return oil passage 16-5 and the main return oil passage 16-2. During this process, the piston rod of the hydraulic cylinder pushes the joint bearing 5, the upper slider plate 8, and the linear guide slider 9 to move linearly to the right along the linear guide rail 11. The rack meshes with the gear, and the rack's linear movement to the right drives the gear to rotate clockwise. The gear is connected to the pelvic motion connecting plate 22 and supported by the crossed roller bearing 23, realizing the external rotation of the right hip joint in the yaw direction.

[0045] The right hip joint rotates internally in the yaw direction. The hydraulic oil flows from the tank into the servo valve inlet 19-1 of the servo valve, following the same principle as the external rotation movement. At this time, the current controlling the servo valve causes hydraulic oil to flow out from the first servo valve working port 19-2 and enter the rod chamber oil passage 1-6 of the hydraulic cylinder in the pelvic plate. The hydraulic oil enters the rod chamber of the hydraulic cylinder through the hydraulic cylinder shaft 21 and pushes the piston rod to the left. The hydraulic oil in the rodless chamber of the hydraulic cylinder returns to the second servo valve working port 19-4 of the servo valve through the rodless chamber oil passage 1-2. The servo valve distributes hydraulic oil, which flows out from the servo valve return port 19-3. The hydraulic oil returns to the tank from the servo valve return port 19-3, following the same principle as the external rotation movement. Simultaneously, the piston rod of the hydraulic cylinder transmits the leftward linear motion to the rack, achieving internal rotation of the right hip joint in the yaw direction through the meshing of the rack and gear. The internal and external rotation of the left hip joint in the yaw direction follows the same principle as the right side, and will not be elaborated here.

[0046] The present invention also provides a bipedal hydraulically driven robot, the bipedal hydraulically driven robot including the tubeless pelvic structure, upper body structure and lower body structure as described above, the tubeless pelvic structure connecting the upper body structure and the lower body structure.

[0047] Those skilled in the art will readily understand that the above description is merely 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 within the scope of protection of the present invention.

Claims

1. A tubeless pelvis structure, characterized in that: the tubeless pelvis structure comprises a plurality of hydraulic joints, an inlet and outlet valve block, a support structure and a motion structure, the inlet and outlet valve block is connected to one side of the support structure, and a plurality of the hydraulic joints are respectively connected to the inlet and outlet valve block; the motion structure is arranged on the support structure; the support structure is internally provided with a hydraulic oil flow channel, and the hydraulic oil sequentially passes through the hydraulic joint and the inlet and outlet valve block to enter the flow channel, and then passes through the flow channel to enter the motion structure to drive the motion structure to move; the support structure comprises a pelvis plate, one side of which is connected with the inlet and outlet valve block, and is provided with a pelvis plate oil return pipeline; the pelvis plate is further provided with a third pelvis plate vertical pipeline, which is in communication with one end of the pelvis plate oil return pipeline and is arranged along the thickness direction of the pelvis plate; the pelvis plate oil return pipeline is arranged along the thickness direction of the pelvis plate and is located in the middle of the pelvis plate; the pelvis plate is further provided with two flow channel groups, which share the pelvis plate oil return pipeline and the third pelvis plate vertical pipeline and are respectively located at two opposite ends of the pelvis plate to drive the left and right hip joints to move in cooperation with one motion structure; the support structure comprises a servo valve block arranged in the middle of the pelvis plate and two servo valves symmetrically arranged on the servo valve block; each flow channel group comprises a first through hole, a second through hole, a third through hole, a hydraulic cylinder rodless cavity oil path pipeline, a first pelvis plate vertical pipeline, a second pelvis plate vertical pipeline and a hydraulic cylinder rod cavity oil return pipeline; the first through hole, the second through hole and the third through hole all penetrate through the pelvis plate; the hydraulic cylinder rodless cavity oil path pipeline is embedded in the pelvis plate, and one end thereof is in communication with the first pelvis plate vertical pipeline which penetrates through the surface of the pelvis plate provided with the servo valve block; the second through hole and the third through hole are arranged in a direction parallel to the length direction of the pelvis plate; the second through hole is connected to the hydraulic cylinder rodless cavity oil path pipeline through a pipeline embedded in the pelvis plate; the hydraulic cylinder rod cavity oil path pipeline is embedded in the pelvis plate and is arranged in parallel with the hydraulic cylinder rodless cavity oil path pipeline; the third through hole penetrates through the hydraulic cylinder rod cavity oil path pipeline, and the first pelvis plate vertical pipeline is connected to one end of the hydraulic cylinder rod cavity oil path pipeline and penetrates through the surface of the pelvis plate provided with the servo valve block.

2. The tubeless pelvis structure of claim 1, wherein: the inlet and outlet valve block is provided with a total inlet pipeline and a total return pipeline arranged at intervals along the length direction of the inlet and outlet valve block; one side of the inlet and outlet valve block is provided with a pelvis structure inlet pipeline and a pelvis structure return pipeline in communication with the total inlet pipeline and the total return pipeline respectively; the other side of the inlet and outlet valve block is provided with a plurality of total inlet ports in communication with the total inlet pipeline, and the hydraulic joint is connected to the total inlet port; and the pelvis structure return pipeline is in communication with the pelvis plate return pipeline.

3. The tubeless pelvis structure of claim 2, wherein: The valve block at the servo valve is T-shaped, and servo valve oil return pipes, servo valve oil inlet pipes and servo valve block oil inlet pipes are respectively arranged in the valve block. The servo valve oil return pipes and the servo valve oil inlet pipes are parallel to each other, and the servo valve block oil inlet pipes are perpendicular to the servo valve oil inlet pipes and are in communication with the servo valve oil inlet pipes.

4. The tubeless pelvis structure of claim 3, wherein: One surface of the valve block at the servo valve is provided with a first servo valve block vertical pipe, which is in communication with the servo valve oil return pipes and the pelvic plate oil return pipes. Another surface of the valve block at the servo valve is provided with two vertical pipe groups. Each vertical pipe group comprises a second servo valve block vertical pipe, a fourth servo valve block vertical pipe, a third servo valve block vertical pipe and a fifth servo valve block vertical pipe. The centers of the four pipes in each vertical pipe group are located at the four vertices of a square. The second servo valve block vertical pipe and the fifth servo valve block vertical pipe are perpendicular to the servo valve oil return pipes and the servo valve oil inlet pipes and are in communication with each other. The fourth servo valve block vertical pipe and the third servo valve block vertical pipe penetrate the valve block at the servo valve.

5. The tubeless pelvis structure of claim 4, wherein: One end of the fourth servo valve block vertical pipe and the third servo valve block vertical pipe in one vertical pipe group is in communication with the second pelvic plate vertical pipe and the first pelvic plate vertical pipe of one flow channel group and corresponds in position. The fourth servo valve block vertical pipe and the third servo valve block vertical pipe are the same in structure and size. The servo valve is arranged at one end of the valve block at the servo valve and is arranged on one vertical pipe group. The servo valve is provided with a servo valve oil inlet port, a first servo valve working oil port, a servo valve oil return port and a second servo valve working oil port, whose geometric centers are located at the four vertices of a square. The servo valve oil inlet port is in communication with the fifth servo valve block vertical pipe. The servo valve oil return port is opposite to and in communication with the second servo valve block vertical pipe. The first servo valve working oil port is in communication with the third servo valve block vertical pipe. The second servo valve working oil port is in communication with the fourth servo valve block vertical pipe. By controlling the current of the servo valve, one of the first servo valve working oil port and the second servo valve working oil port is opened to be in a working state, and the other is closed.

6. The tubeless pelvis structure of claim 1, wherein: The number of the motion structures is two, two of the motion structures are arranged on the pelvis plate respectively and are used for driving the motion of the left hip joint and the right hip joint respectively; the motion structure comprises a hydraulic cylinder, a joint bearing, a rack shaft, an upper slider plate, a linear guide slider, a rack, a linear guide rail, a gear, a gear cover plate, a hydraulic cylinder connecting plate, a hydraulic cylinder shaft, a pelvis motion connecting plate, a cross roller bearing and a motion gasket ring; the hydraulic cylinder is arranged on the pelvis plate; the hydraulic cylinder is connected to the joint bearing, the joint bearing is connected to the upper slider plate through the rack shaft, the upper slider plate is connected to the linear guide slider, and the linear guide slider is arranged on the linear guide rail; the rack is arranged on the linear guide slider, the gear is engaged with the rack; two of the hydraulic cylinder shafts are arranged in the second through hole and the third through hole respectively, the hydraulic cylinder shaft arranged in the second through hole connects the rodless cavity oil way pipeline of the hydraulic cylinder with the rodless cavity of the hydraulic cylinder; the hydraulic cylinder shaft arranged in the third through hole connects the rod cavity of the hydraulic cylinder with the rod cavity oil way pipeline of the hydraulic cylinder; one end of the hydraulic cylinder shaft away from the hydraulic cylinder is connected with the hydraulic cylinder connecting plate; the cross roller bearing is arranged in the first through hole, one end of the cross roller bearing is connected to the pelvis motion connecting plate, and the other end of the cross roller bearing is connected with the gear cover plate; the motion gasket ring is sleeved on the cross roller bearing, and the gear is connected to the cross roller bearing.

7. A biped hydraulic drive robot, characterized by: The biped hydraulic driving robot comprises the pipe-free pelvis structure, the upper body structure and the lower body structure according to any one of claims 1-6, and the pipe-free pelvis structure connects the upper body structure and the lower body structure.

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