Humanoid basin bone and waist integrated mechanism

Abstract

The application relates to the field of humanoid robots and discloses a human-shaped pelvis-lumbar integrated mechanism, which solves the defects of the existing motor-driven humanoid robots, such as insufficient freedom of the pelvis, small driving force, unstable movement and the like, and solves the problems of low rigidity and heaviness of the multi-freedom humanoid joint caused by a complex structure. The application has two hip joints which are symmetrically distributed left and right and a lumbar joint which is located in the middle of the pelvis. Each side hip joint is driven by two hydraulic cylinders in series, the pelvis is connected with the hip joints, and the hip joints are connected with the thighs. The two degrees of freedom of the lumbar joint are driven by two hydraulic cylinders on the pelvis; the two hydraulic cylinders push the sliding blocks on the guide rails through the piston rods, then push the hip joints through the two-force rods to realize the horizontal roll and the yaw movement; the two hydraulic cylinders push the sliding blocks on the guide rails through the piston rods, then push the lumbar joint through the two-force rods to realize the rotation and the pitch movement. The application is used for improving the torque-to-volume ratio and the anti-blocking capacity of the human-shaped pelvis, and improving the load capacity of the humanoid robot.

Description

Technical Field

[0001] This invention relates to the field of humanoid robots, and more particularly to an integrated humanoid pelvic structure with hydraulically driven hip and lumbar joints, specifically to an integrated humanoid pelvic and lumbar mechanism. Background Technology

[0002] Bipedal humanoid robots exhibit joint movement characteristics similar to humans, featuring high speed, excellent maneuverability, and strong adaptability to complex environments. Currently, motor-driven systems are the mainstream propulsion method for humanoid robots, but these often suffer from drawbacks such as heavy weight and weak obstacle-crossing ability, making it difficult to provide sufficient power to overcome obstacles in relatively complex environments. The pelvis is a crucial component of the lower limb movement system of bipedal robots, comprising two hip joints and one lumbar joint, enabling six degrees of freedom of movement and connecting the upper and lower body structures.

[0003] In the field of humanoid robots, it is generally believed that an excellent actuator should have a high output force / weight ratio, low output force cost, and high force response speed. In other words, it should be lightweight, powerful, energy-efficient, and fast-responding. Most existing humanoid robots use motor drives, where the motor connects to a reducer to directly rotate the joints, or uses an electric cylinder to drive a linkage mechanism to rotate the joints. Motor-driven solutions are simple in structure, efficient, low in cost, space-saving, and offer fast control response, enabling remote control with simplicity and high precision. However, they have high requirements for operating conditions, relatively low torque, are prone to stalling, and have low load capacity. For humanoid robots requiring multiple degrees of freedom, high loads, and high burst output, motor drives face the risk of insufficient driving torque. In contrast, hydraulic drives can provide high load capacity, enabling bipedal robots to carry heavy objects or perform tasks requiring great strength, such as rescue, construction, and military operations. Hydraulic systems have high energy density, a high torque / volume ratio, and strong anti-stall capability, providing powerful torque in a lightweight manner. Due to its strong adjustability, the hydraulic system has low motion inertia and fast response speed, allowing bipedal robots to perform complex movements and maintain stable balance, so as to achieve a wide range of stepless speed regulation during operation.

[0004] For robots of comparable size, hydraulic drives offer a significant advantage in load-bearing capacity compared to fully electric drives. However, hydraulic systems have notable drawbacks, such as a larger number of parts, more complex structure, more external piping, greater weight, lack of closed-loop servo feedback, higher requirements for manufacturing precision, surface roughness, material quality, and heat treatment of hydraulic components, necessitating a professional maintenance team for repair and maintenance, and noise during operation. Therefore, they are not widely accepted. It is evident that hydraulically driven humanoid robots possess enormous potential. The development of metal 3D printing technology allows hydraulic systems to retain their output torque advantage while minimizing the additional weight and size of piping and other components.

[0005] In summary, existing motor-driven humanoid robots suffer from defects such as insufficient pelvic degrees of freedom, low driving force, and unstable motion, as well as low stiffness and bulkiness caused by the complex structure of multi-degree-of-freedom humanoid joints. Summary of the Invention

[0006] The purpose of this invention is to solve the defects of existing motor-driven humanoid robots, such as insufficient pelvic degrees of freedom, low driving force, and unstable movement, as well as the problems of low rigidity and bulkiness caused by the complex structure of multi-degree-of-freedom humanoid joints, and to provide a humanoid pelvic and waist integrated mechanism.

[0007] The technical solution of this invention is:

[0008] A human-shaped pelvic and lumbar integrated mechanism includes a pelvis 1, a lumbar joint mechanism 2 and two hip joint mechanisms 3. The pelvis 1 includes a pelvic skeleton 11, a lumbar rotation hydraulic transmission chain mechanism 12, a lumbar pitch hydraulic transmission chain mechanism 13, two hip lateral swing hydraulic transmission chain mechanisms 14 and two hip yaw hydraulic transmission chain mechanisms 15.

[0009] Two horizontally arranged and integrally formed hip side swing connectors 111 are provided on both sides of the pelvic frame 11. The two hip side swing connectors 111 are symmetrically arranged on the left and right sides of the pelvic frame 11. Each hip side swing connector 111 includes a front hip side swing mounting ring 1111 and a rear hip side swing mounting ring 1112 arranged coaxially, as well as multiple hip side swing connecting ribs 1113 connecting the front and rear hip side swing mounting rings. The two ends of the hip joint mechanism 3 are rotatably installed in the two front and rear hip side swing mounting rings respectively. Each hip joint mechanism 3 has a horizontally and vertically arranged hip side swing hydraulic transmission chain mechanism 14 on its side. The hip side swing hydraulic transmission chain mechanism 14 is installed on the pelvic frame 11, and the power output end of the hip side swing hydraulic transmission chain mechanism 14 is hinged to the side of the hip joint mechanism 3.

[0010] Each hip joint mechanism 3 includes a "T"-shaped leg connecting rod 31, a front hollow shaft 32 and a rear hollow shaft 33 of the hip lateral swing arranged coaxially, and a hip yaw connector 34 connecting the front and rear hollow shafts of the hip lateral swing. The hip yaw connector 34 includes an upper hip yaw mounting ring 341, a lower hip yaw mounting ring 342, and multiple hip yaw connecting ribs 343 connecting the upper and lower hip yaw mounting rings with the front and rear hollow shafts of the hip lateral swing. The vertical rod segment of the "T"-shaped leg connecting rod 31 is coaxially and rotatably mounted in the upper and lower hip yaw mounting rings. A horizontally and vertically arranged hip yaw hydraulic transmission chain mechanism 15 is provided on the side of the "T"-shaped leg connecting rod 31. The hip yaw hydraulic transmission chain mechanism 15 is mounted on the hip yaw connector 34, and the power output end of the hip yaw hydraulic transmission chain mechanism 15 is hinged to the side of the "T"-shaped leg connecting rod 31.

[0011] The pelvic frame 11 has a vertically arranged and integrally formed waist rotation connector 112 in the middle. The waist rotation connector 112 includes a waist rotation upper mounting ring 1121 and a waist rotation lower mounting ring 1122 arranged coaxially, as well as a plurality of waist rotation connecting ribs 1123 connecting the waist rotation upper and lower mounting rings. The two ends of the waist joint mechanism 2 are respectively coaxially and rotatably installed in the waist rotation upper and lower mounting rings. The side of the waist joint mechanism 2 is provided with a horizontally and vertically arranged waist rotation hydraulic transmission chain mechanism 12. The waist rotation hydraulic transmission chain mechanism 12 is installed on the pelvic frame 11, and the power output end of the waist rotation hydraulic transmission chain mechanism 12 is hinged to the side of the waist joint mechanism 2.

[0012] The waist joint mechanism 2 includes a "V"-shaped waist connecting rod 21, a waist rotating upper hollow shaft 22 and a waist rotating lower hollow shaft 23 arranged coaxially, and a waist rotating connector 24 connecting the upper and lower waist rotating hollow shafts. The upper and lower waist rotating hollow shafts are coaxially and rotatably installed in the upper and lower waist rotating mounting rings, respectively. The lower end of the "V"-shaped waist connecting rod 21 is connected to the upper end of the waist rotating upper hollow shaft 22. A vertical and parallel waist pitch hydraulic transmission chain mechanism 13 is provided on the side of the "V"-shaped waist connecting rod 21. The waist pitch hydraulic transmission chain mechanism 13 is installed on the waist rotating connector 24, and the power output end of the waist pitch hydraulic transmission chain mechanism 13 is hinged to the side of the waist pitch connecting shaft.

[0013] Furthermore, the hip lateral swing hydraulic transmission chain mechanism 14 includes a hip lateral swing hydraulic cylinder 141, a hip lateral swing linear guide rail 143, a hip lateral swing slider, a hip lateral swing slider connector, and a hip lateral swing two-force bar 142. The hip lateral swing hydraulic cylinder 141 is mounted on the pelvic frame 11. The piston rod end of the hip lateral swing hydraulic cylinder 141 is connected to the hip lateral swing slider connector. One end of the hip lateral swing two-force bar 142 is hinged to the hip lateral swing slider connector, and the other end of the hip lateral swing two-force bar 142 is hinged to the side of the hip joint mechanism 3. The lower end of the hip lateral swing slider connector is connected to the hip lateral swing slider. The hip lateral swing slider is slidably mounted on the hip lateral swing linear guide rail 143, and the hip lateral swing linear guide rail 143 is mounted on the pelvic frame 11.

[0014] Furthermore, the hip yaw hydraulic transmission chain mechanism 15 includes a hip yaw hydraulic cylinder 151, a hip yaw linear guide rail 153, a hip yaw slider, a hip yaw slider connector, and a hip yaw two-force bar 152. The hip yaw hydraulic cylinder 151 is mounted on the hip yaw connector 34. The piston rod end of the hip yaw hydraulic cylinder 151 is connected to the hip yaw slider connector. One end of the hip yaw two-force bar 152 is hinged to the hip yaw slider connector, and the other end of the hip yaw two-force bar 152 is hinged to the side of the "T"-shaped leg connecting rod 31. The lower end of the hip yaw slider connector is connected to the hip yaw slider. The hip yaw slider is slidably mounted on the hip yaw linear guide rail 153, and the hip yaw linear guide rail 153 is mounted on the hip yaw connector 34.

[0015] Furthermore, the lumbar rotation hydraulic transmission chain mechanism 12 includes a lumbar rotation hydraulic cylinder 121, a lumbar rotation linear guide rail 123, a lumbar rotation slider, a lumbar rotation slider connector, and a lumbar rotation two-force bar 122. The lumbar rotation hydraulic cylinder 121 is mounted on the pelvic frame 11. The piston rod end of the lumbar rotation hydraulic cylinder 121 is connected to the lumbar rotation slider connector. One end of the lumbar rotation two-force bar 122 is hinged to the lumbar rotation slider connector, and the other end of the lumbar rotation two-force bar 122 is hinged to the side of the lumbar joint mechanism 2. The lower end of the lumbar rotation slider connector is connected to the lumbar rotation slider. The lumbar rotation slider is slidably mounted on the lumbar rotation linear guide rail 123, and the lumbar rotation linear guide rail 123 is mounted on the pelvic frame 11.

[0016] Furthermore, the waist-tilt hydraulic transmission chain mechanism 13 includes a waist-tilt hydraulic cylinder, a waist-tilt linear guide, a waist-tilt slider, a waist-tilt slider connector, and a waist-tilt two-force bar 131. The waist-tilt hydraulic cylinder is mounted on the waist-rotation connector 24. The piston rod end of the waist-tilt hydraulic cylinder is connected to the waist-tilt slider connector. One end of the waist-tilt two-force bar 131 is hinged to the waist-tilt slider connector, and the other end of the waist-tilt two-force bar 131 is hinged to the side of the waist-tilt connecting shaft. The lower end of the waist-tilt slider connector is connected to the waist-tilt slider. The waist-tilt slider is slidably mounted on the waist-tilt linear guide, and the waist-tilt linear guide is mounted on the waist-rotation connector 24.

[0017] Furthermore, the "T"-shaped leg connecting rod 31 includes a hip yaw center shaft 311, a leg connecting sleeve 312, and a leg connecting shaft 313. One end of the hip yaw center shaft 311 is coaxially and rotatably mounted in the upper and lower hip yaw mounting rings, and the other end of the hip yaw center shaft 311 is perpendicularly connected to the middle of the side of the leg connecting sleeve 312. The leg connecting shaft 313 is rotatably mounted in the inner hole of the leg connecting sleeve 312.

[0018] Furthermore, the "V"-shaped waist connecting rod 21 includes two waist connecting brackets 211 and two waist connecting sleeves 212. The two waist connecting brackets 211 are symmetrically arranged in a "V" shape on the hollow shaft 22 for waist rotation. The upper ends of the two waist connecting brackets 211 are respectively connected to the middle of the side of the two waist connecting sleeves 212. A waist pitch connecting shaft is rotatably installed in the inner hole of the waist connecting sleeve 212.

[0019] Furthermore, it also includes six displacement sensors 16, with six displacement sensors 16 respectively mounted on the piston rods of the waist rotation hydraulic cylinder 121, waist pitch hydraulic cylinder, two hip lateral swing hydraulic cylinders 141 and hip yaw hydraulic cylinder 151.

[0020] Furthermore, it also includes six hydraulic valves 17, six hydraulic actuators 18, six oil pressure sensors 19 and six pressure gauges 10. The hydraulic lines of the waist rotation hydraulic cylinder 121, waist pitch hydraulic cylinder, two hip lateral swing hydraulic cylinders 141 and hip yaw hydraulic cylinder 151 are all equipped with hydraulic valves 17, hydraulic actuators 18, oil pressure sensors 19 and pressure gauges 10.

[0021] Furthermore, it also includes two hip lateral bearings 101, two hip yaw bearings 102, two waist rotation bearings 103, and two waist pitch bearings 104. The two ends of the two hip joint mechanisms 3 are respectively connected to the two hip lateral bearings 101 and the two hip lateral front and rear mounting rings. The vertical segments of the "T"-shaped leg connecting rod 31 are respectively connected to the hip yaw upper and lower mounting rings through the two hip yaw bearings 102. The two ends of the waist joint mechanism 2 are respectively connected to the waist rotation upper and lower mounting rings through the two waist rotation bearings 103. The two waist connecting sleeves 212 in the "V"-shaped waist connecting rod 21 are respectively connected to the waist pitch connecting shaft through the two waist pitch bearings 104.

[0022] Compared with existing robotic hip joints, the humanoid pelvic and lumbar integrated mechanism of the present invention has the following advantages:

[0023] 1. The humanoid pelvic and lumbar integrated mechanism of the present invention adopts an integrated hydraulic drive system, which has a high torque-to-volume ratio and strong anti-stall capability, and can withstand large loads. The integrated design of the oil circuit and pelvic frame effectively overcomes the shortcomings of traditional hydraulic systems, such as complex structure, complex oil circuit, and large weight, reduces the additional weight and size of pipelines and other components, and improves the system's sealing performance.

[0024] 2. The humanoid pelvic and lumbar integrated mechanism of the present invention adopts servo valves, oil pressure sensors and displacement sensors, and closed-loop control. It can sense the status of each joint in real time and control and adjust the oil pressure and flow to achieve precise control, convenient control, ensure position accuracy, and achieve stepless speed regulation.

[0025] 3. The humanoid pelvic and lumbar integrated mechanism of the present invention uses titanium alloy 3D printing technology based on topology optimization to process the skeleton. The overall structure is simple, easy to install and disassemble, and reduces weight and size.

[0026] 4. The humanoid pelvic and lumbar integrated mechanism of the present invention adopts a series mechanism, realizing two degrees of freedom of movement in the left and right hip joints, and the third degree of freedom actuator is set on the thigh, which simplifies the hip joint, makes the thigh movement flexible, and has the advantages of high rigidity and large load.

[0027] 5. The leg structure of the humanoid pelvic and waist integrated mechanism of the present invention is located on the lower side of the pelvis, which is simple in structure, easy to install, and stable in movement.

[0028] 6. The humanoid pelvic-lumbar integrated mechanism of the present invention integrates the lumbar joint into the pelvic structure, realizing two degrees of freedom of the waist in the pelvis, which greatly simplifies the overall structure, saves space, and is easy to control. Attached Figure Description

[0029] Figure 1 This is a front view of the human-shaped pelvic and lumbar integrated mechanism of the present invention;

[0030] Figure 2 This is a side view of the human-shaped pelvic and lumbar integrated mechanism of the present invention;

[0031] Figure 3 This is a top view of the human-shaped pelvic and lumbar integrated mechanism of the present invention;

[0032] Figure 4 This is an isometric drawing of the humanoid pelvic and lumbar integrated mechanism of the present invention;

[0033] Figure 5 This is an exploded view of the hip joint in the humanoid pelvic-lumbar integrated mechanism of the present invention;

[0034] Figure 6 This is an exploded view of the lumbar joint in the humanoid pelvic-lumbar integrated mechanism of the present invention;

[0035] Figure 7 This is a front view of the pelvic skeleton in the humanoid pelvic-waist integrated mechanism of the present invention;

[0036] Figure 8 This is a side view of the pelvic skeleton in the humanoid pelvic-waist integrated mechanism of the present invention;

[0037] Figure 9 This is a top view of the pelvic skeleton in the humanoid pelvic-waist integrated mechanism of the present invention;

[0038] Figure 10 This is an isometric view of the pelvic skeleton in the humanoid pelvic-waist integrated mechanism of the present invention.

[0039] In the diagram: 1. Pelvis; 2. Lumbar joint mechanism; 3. Hip joint mechanism;

[0040] 10. Pressure gauge; 11. Pelvic skeleton; 12. Waist rotation hydraulic transmission chain mechanism; 13. Waist pitch hydraulic transmission chain mechanism; 14. Hip lateral swing hydraulic transmission chain mechanism; 15. Hip yaw hydraulic transmission chain mechanism; 16. Displacement sensor; 17. Hydraulic valve; 18. Hydraulic actuator; 19. Oil pressure sensor;

[0041] 111. Hip lateral swing connector; 112. Waist rotation connector;

[0042] 121. Waist-rotating hydraulic cylinder; 122. Waist-rotating two-force bar; 123. Waist-rotating linear guide;

[0043] 131. Two-force member with waist-prone and waist-inclined posture;

[0044] 141. Hip swing hydraulic cylinder; 142. Hip swing two-force bar; 143. Hip swing linear guide;

[0045] 151. Hip yaw hydraulic cylinder; 152. Hip yaw two-force bar; 153. Hip yaw linear guide;

[0046] 1111. Anterior mounting ring for hip lateral swing; 1112. Rear mounting ring for hip lateral swing; 1113. Connecting rib for hip lateral swing;

[0047] 1121. Upper mounting ring with waist rotation; 1122. Lower mounting ring with waist rotation; 1123. Connecting rib with waist rotation;

[0048] 21. "V"-shaped waist connecting rod; 22. Upper hollow shaft for waist rotation; 23. Lower hollow shaft for waist rotation; 24. Waist rotation connecting piece;

[0049] 31. T-shaped leg connecting rod; 32. Hollow shaft for front hip lateral swing; 33. Hollow shaft for rear hip lateral swing; 34. Hip yaw connector;

[0050] 211. Waist support frame; 212. Waist support sleeve;

[0051] 311. Hip yaw center axis; 312. Leg connecting sleeve; 313. Leg connecting shaft;

[0052] 341. Upper hip yaw mounting ring; 342. Lower hip yaw mounting ring; 343. Hip yaw connecting rib;

[0053] 101. Hip lateral bearing; 102. Hip yaw bearing; 103. Waist swivel bearing; 104. Waist pitch bearing; 105. Oil flow joint; 106. Flushing connector; 107. Thigh oil guide tube. Detailed Implementation

[0054] Specific implementation method one: Combining Figures 1 to 10 This embodiment describes a human-shaped pelvic-lumbar integrated mechanism, which includes a pelvis 1, a lumbar joint mechanism 2, and two hip joint mechanisms 3. The pelvis 1 includes a pelvic skeleton 11, a lumbar rotation hydraulic transmission chain mechanism 12, a lumbar pitch hydraulic transmission chain mechanism 13, two hip lateral swing hydraulic transmission chain mechanisms 14, and two hip yaw hydraulic transmission chain mechanisms 15.

[0055] Two horizontally arranged and integrally formed hip side swing connectors 111 are provided on both sides of the pelvic frame 11. The two hip side swing connectors 111 are symmetrically arranged on the left and right sides of the pelvic frame 11. Each hip side swing connector 111 includes a front hip side swing mounting ring 1111 and a rear hip side swing mounting ring 1112 arranged coaxially, as well as multiple hip side swing connecting ribs 1113 connecting the front and rear hip side swing mounting rings. The two ends of the hip joint mechanism 3 are rotatably installed in the two front and rear hip side swing mounting rings respectively. Each hip joint mechanism 3 has a horizontally and vertically arranged hip side swing hydraulic transmission chain mechanism 14 on its side. The hip side swing hydraulic transmission chain mechanism 14 is installed on the pelvic frame 11, and the power output end of the hip side swing hydraulic transmission chain mechanism 14 is hinged to the side of the hip joint mechanism 3.

[0056] Each hip joint mechanism 3 includes a "T"-shaped leg connecting rod 31, a front hollow shaft 32 and a rear hollow shaft 33 of the hip lateral swing arranged coaxially, and a hip yaw connector 34 connecting the front and rear hollow shafts of the hip lateral swing. The hip yaw connector 34 includes an upper hip yaw mounting ring 341, a lower hip yaw mounting ring 342, and multiple hip yaw connecting ribs 343 connecting the upper and lower hip yaw mounting rings with the front and rear hollow shafts of the hip lateral swing. The vertical rod segment of the "T"-shaped leg connecting rod 31 is coaxially and rotatably mounted in the upper and lower hip yaw mounting rings. A horizontally and vertically arranged hip yaw hydraulic transmission chain mechanism 15 is provided on the side of the "T"-shaped leg connecting rod 31. The hip yaw hydraulic transmission chain mechanism 15 is mounted on the hip yaw connector 34, and the power output end of the hip yaw hydraulic transmission chain mechanism 15 is hinged to the side of the "T"-shaped leg connecting rod 31.

[0057] The pelvic frame 11 has a vertically arranged and integrally formed waist rotation connector 112 in the middle. The waist rotation connector 112 includes a waist rotation upper mounting ring 1121 and a waist rotation lower mounting ring 1122 arranged coaxially, as well as a plurality of waist rotation connecting ribs 1123 connecting the waist rotation upper and lower mounting rings. The two ends of the waist joint mechanism 2 are respectively coaxially and rotatably installed in the waist rotation upper and lower mounting rings. The side of the waist joint mechanism 2 is provided with a horizontally and vertically arranged waist rotation hydraulic transmission chain mechanism 12. The waist rotation hydraulic transmission chain mechanism 12 is installed on the pelvic frame 11, and the power output end of the waist rotation hydraulic transmission chain mechanism 12 is hinged to the side of the waist joint mechanism 2.

[0058] The waist joint mechanism 2 includes a "V"-shaped waist connecting rod 21, a waist rotating upper hollow shaft 22 and a waist rotating lower hollow shaft 23 arranged coaxially, and a waist rotating connector 24 connecting the upper and lower waist rotating hollow shafts. The upper and lower waist rotating hollow shafts are coaxially and rotatably installed in the upper and lower waist rotating mounting rings, respectively. The lower end of the "V"-shaped waist connecting rod 21 is connected to the upper end of the waist rotating upper hollow shaft 22. A vertical and parallel waist pitch hydraulic transmission chain mechanism 13 is provided on the side of the "V"-shaped waist connecting rod 21. The waist pitch hydraulic transmission chain mechanism 13 is installed on the waist rotating connector 24, and the power output end of the waist pitch hydraulic transmission chain mechanism 13 is hinged to the side of the waist pitch connecting shaft.

[0059] In this embodiment, a hydraulic joint 105 is used at the connection between the lumbar and hip joints, thus integrating the spine into the pelvis and simplifying the overall structure and size of the machine. The hydraulic circuit and pelvic frame of this invention are integrated, and the pelvic frame is also equipped with a flushing connector 106 and a thigh oil guide pipe 107. Bearings and hydraulic circuits are provided on the hip joints of the pelvis, further integrating the structure. All machined surfaces of the pelvic frame are horizontal and vertical, with consistent heights, making the structure simple and convenient to manufacture and reducing costs.

[0060] In this embodiment, the pelvic skeleton design employs topology optimization for weight reduction and connection. Topology optimization design achieves minimal mass while ensuring structural strength. Therefore, topology optimization design reduces the inertia of the hip joint and pelvis, making the upper and lower limbs easier to control, and enabling the bipedal robot to walk, run, and jump more flexibly, accurately, and quickly.

[0061] In this embodiment, finite element analysis was performed on the pelvic skeleton, which effectively improved the stiffness and stability of the skeleton. Throughout the optimization design process, finite element analysis played a role in constraint feedback, and through continuous iteration under the constraints of force and design space, the structure of the skeleton surface model was finally determined.

[0062] In this embodiment, the joint and pelvic skeleton and its hydraulic circuit are manufactured using 3D printing technology, employing high-performance titanium alloy to reduce weight while increasing rigidity. After printing, shot peening is used to improve the surface properties of the skeleton, followed by machining of various planes and holes.

[0063] This invention integrates the lumbar joint into the pelvis, resulting in a compact and highly integrated structure that is lightweight, has a high load-bearing capacity, is easy to control, and provides rich sensory information. This design enables the simulation of multi-degree-of-freedom flexibility of the human hip joint, allowing for lumbar joint movement while providing high rigidity and powerful driving force.

[0064] The humanoid pelvic-lumbar integrated mechanism of this invention is applied to a humanoid bipedal robot, achieving a total of six degrees of freedom. The hip joint is a two-degree-of-freedom tandem driven hip joint, enabling roll and yaw rotation. The pitch and forward / backward degrees of freedom are set on the thighs, and two symmetrically distributed hip joints connect the left and right thighs, totaling four degrees of freedom. The lumbar joint is integrated into the pelvis, placing the lumbar rotation and pitch degrees of freedom on the pelvis.

[0065] The pelvic joint of this invention has six degrees of freedom driven by six hydraulic cylinders, with four cylinders driving the two hip joints and two cylinders driving the lumbar joints. The hydraulic cylinders are arranged horizontally, forward and backward, vertically and horizontally, enabling posture adjustment of the hips (yaw, roll, rotation, and pitch). This allows for posture adjustment of key joints in a humanoid robot. Specifically, the hip joint mechanism has two degrees of freedom (lateral yaw and roll), and the hip joint pitch degree of freedom is driven by a hydraulic cylinder on the thigh; the lumbar joint mechanism has two degrees of freedom (rotation and pitch).

[0066] Specific Implementation Method Two: Combining Figures 1 to 10This embodiment describes a hip lateral swing hydraulic transmission chain mechanism 14, which includes a hip lateral swing hydraulic cylinder 141, a hip lateral swing linear guide rail 143, a hip lateral swing slider, a hip lateral swing slider connector, and a hip lateral swing two-force bar 142. The hip lateral swing hydraulic cylinder 141 is mounted on the pelvic frame 11. The piston rod end of the hip lateral swing hydraulic cylinder 141 is connected to the hip lateral swing slider connector. One end of the hip lateral swing two-force bar 142 is hinged to the hip lateral swing slider connector, and the other end is hinged to the side of the hip joint mechanism 3. The lower end of the hip lateral swing slider connector is connected to the hip lateral swing slider. The hip lateral swing slider is slidably mounted on the hip lateral swing linear guide rail 143, which is mounted on the pelvic frame 11. With this configuration, when the hip lateral swing hydraulic cylinder 141 pushes the piston rod, the thigh rotates in the lateral swing and roll direction. During operation, hydraulic oil enters the hip-side swing hydraulic cylinder 141 under the control of the servo valve, thereby pushing the piston rod to move. The front end of the piston rod is connected to the hip-side swing slider connector, the hip-side swing two-force bar 142, and the hip joint mechanism 3, realizing a transmission chain of hydraulic cylinder-slider-two-force bar-joint rotation. The piston rod of the hip-side swing hydraulic cylinder 141 pushes the hip-side swing slider on the hip-side swing linear guide rail 143 to move. The hip-side swing slider is connected to the hip joint mechanism 3 through the hip-side swing two-force bar 142. Other components and connections are the same as in specific embodiment one.

[0067] Specific implementation method three: Combining Figures 1 to 10 This embodiment describes a hip yaw hydraulic transmission chain mechanism 15, which includes a hip yaw hydraulic cylinder 151, a hip yaw linear guide rail 153, a hip yaw slider, a hip yaw slider connector, and a hip yaw two-force rod 152. The hip yaw hydraulic cylinder 151 is mounted on the hip yaw connector 34. The piston rod end of the hip yaw hydraulic cylinder 151 is connected to the hip yaw slider connector. One end of the hip yaw two-force rod 152 is hinged to the hip yaw slider connector, and the other end is hinged to the side of the "T"-shaped leg connecting rod 31. The lower end of the hip yaw slider connector is connected to the hip yaw slider. The hip yaw slider is slidably mounted on the hip yaw linear guide rail 153, which is mounted on the hip yaw connector 34. With this configuration, when the hip yaw hydraulic cylinder 151 pushes the piston rod, the thigh rotates in the yaw direction. The working principle is the same as that of the "hip side swing hydraulic transmission chain mechanism 14", and will not be described again here. Other components and connections are the same as those in specific implementation method one or two.

[0068] Specific implementation method four: Combination Figures 1 to 10This embodiment describes a lumbar rotation hydraulic transmission chain mechanism 12, which includes a lumbar rotation hydraulic cylinder 121, a lumbar rotation linear guide rail 123, a lumbar rotation slider, a lumbar rotation slider connector, and a lumbar rotation two-force bar 122. The lumbar rotation hydraulic cylinder 121 is mounted on the pelvic frame 11. The piston rod end of the lumbar rotation hydraulic cylinder 121 is connected to the lumbar rotation slider connector. One end of the lumbar rotation two-force bar 122 is hinged to the lumbar rotation slider connector, and the other end is hinged to the side of the lumbar joint mechanism 2. The lower end of the lumbar rotation slider connector is connected to the lumbar rotation slider. The lumbar rotation slider is slidably mounted on the lumbar rotation linear guide rail 123, which is mounted on the pelvic frame 11. With this configuration, when the lumbar rotation hydraulic cylinder 121 pushes the piston rod, the upper body structure rotates in the desired direction. The working principle is the same as that of the "hip lateral swing hydraulic transmission chain mechanism 14," and will not be described again here. Other components and connections are the same as in specific embodiments one, two, or three.

[0069] Specific Implementation Method Five: Combining Figures 1 to 10 This embodiment describes a waist-tilt hydraulic transmission chain mechanism 13, which includes a waist-tilt hydraulic cylinder, a waist-tilt linear guide rail, a waist-tilt slider, a waist-tilt slider connector, and a waist-tilt two-force rod 131. The waist-tilt hydraulic cylinder is mounted on a waist-rotation connector 24. The piston rod end of the waist-tilt hydraulic cylinder is connected to the waist-tilt slider connector. One end of the waist-tilt two-force rod 131 is hinged to the waist-tilt slider connector, and the other end is hinged to the side of the waist-tilt connecting shaft. The lower end of the waist-tilt slider connector is connected to the waist-tilt slider. The waist-tilt slider is slidably mounted on the waist-tilt linear guide rail, which is mounted on the waist-rotation connector 24. With this configuration, when the waist-tilt hydraulic cylinder pushes the piston rod, the upper body rotates in the tilt direction. The working principle is the same as that of the "hip-side swing hydraulic transmission chain mechanism 14," and will not be repeated here. Other components and connections are the same as in specific embodiments one, two, three, or four.

[0070] Specific Implementation Method Six: Combination Figures 1 to 10 The T-shaped leg connecting member 31 in this embodiment includes a hip yaw center shaft 311, a leg connecting sleeve 312, and a leg connecting shaft 313. One end of the hip yaw center shaft 311 is coaxially and rotatably mounted in the upper and lower hip yaw mounting rings, and the other end of the hip yaw center shaft 311 is perpendicularly connected to the middle of the side of the leg connecting sleeve 312. The leg connecting shaft 313 is rotatably mounted in the inner hole of the leg connecting sleeve 312. Other components and connections are the same as in specific embodiments one, two, three, four, or five.

[0071] Specific implementation method seven: Combination Figures 1 to 10This embodiment describes a "V"-shaped waist connecting rod 21 comprising two waist connecting brackets 211 and two waist connecting sleeves 212. The two waist connecting brackets 211 are symmetrically arranged in a "V" shape on the hollow shaft 22 for waist rotation. The upper ends of the two waist connecting brackets 211 are respectively connected to the middle of the side of the two waist connecting sleeves 212. A waist pitch connecting shaft is rotatably installed in the inner hole of the waist connecting sleeve 212. Other components and connections are the same as in specific embodiments one, two, three, four, five, or six.

[0072] Specific implementation method eight: Combination Figures 1 to 10 This embodiment further includes six displacement sensors 16. Six displacement sensors 16 are respectively mounted on the piston rods of the lumbar rotation hydraulic cylinder 121, the lumbar pitch hydraulic cylinder, the two hip lateral swing hydraulic cylinders 141, and the hip yaw hydraulic cylinder 151. With this configuration, the pelvis uses displacement sensors to measure the displacement of the piston rods, thereby calculating the joint rotation angle. This avoids using relatively large angle sensors, saving space, improving structural integration, and reducing overall weight. The displacement information of the aforementioned hydraulic cylinders is sensed through the displacement sensors 16. The joint angle is calculated from the feedback values ​​of the displacement sensors on the hydraulic rods. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, or seven.

[0073] Specific Implementation Method Nine: Combining Figures 1 to 10 This embodiment further includes six hydraulic valves 17, six hydraulic actuators 18, six oil pressure sensors 19, and six pressure gauges 10. Hydraulic valves 17, hydraulic actuators 18, oil pressure sensors 19, and pressure gauges 10 are installed on the hydraulic lines of the lumbar rotation hydraulic cylinder 121, the lumbar pitch hydraulic cylinder, the two hip lateral swing hydraulic cylinders 141, and the hip yaw hydraulic cylinder 151. With this configuration, all sensors, actuators, and controllers of the pelvis are located on the outside of the pelvic frame, facilitating installation. The pelvic hydraulic circuit is integrated with the pelvic frame, incorporating the hydraulic circuit of sensing and control elements such as oil pressure sensors and servo valves. This design optimizes the installation space of the hydraulic system, avoids complex hydraulic circuit structures, improves the rigidity of the pelvic structure, reduces weight, and allows for greater movement space. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, seven, or eight.

[0074] In this embodiment, the pelvic electrical components communicate via a CAN bus, featuring a simple power supply and communication interface and ease of use.

[0075] Specific Implementation Method Ten: Combining Figures 1 to 10This embodiment further includes two hip lateral bearings 101, two hip yaw bearings 102, two waist rotation bearings 103, and two waist pitch bearings 104. The two ends of the two hip joint mechanisms 3 are respectively connected to the two hip lateral bearings 101 and the two hip lateral bearing front and rear mounting rings. The vertical segments of the "T"-shaped leg connecting rod 31 are respectively connected to the two hip yaw upper and lower hip yaw mounting rings via the two hip yaw bearings 102. The two ends of the waist joint mechanism 2 are respectively connected to the two waist rotation upper and lower waist rotation mounting rings via the two waist rotation bearings 103. The two waist connecting sleeves 212 in the "V"-shaped waist connecting rod 21 are respectively connected to the waist pitch connecting shaft via the two waist pitch bearings 104. Other components and connections are the same as in embodiments one, two, three, four, five, six, seven, eight, or nine.

[0076] Working principle

[0077] Combination Figures 1 to 10 Explanation of the working principle of the human-shaped pelvic and lumbar integrated mechanism of the present invention:

[0078] This invention relates to a humanoid pelvic-lumbar integrated mechanism, which has two symmetrically distributed hip joints and a lumbar joint located in the middle of the pelvis. Each hip joint is driven by two hydraulic cylinders in series. The pelvis connects to the hip joints, and the hip joints connect to the thighs. One degree of freedom (tilt / spine) is provided on the thigh, driven by a single hydraulic cylinder. The two degrees of freedom of the lumbar joint are driven independently by two hydraulic cylinders on the pelvis. The integrated hydraulic circuit, hydraulic cylinders, and hydraulic valves are individually mounted on the pelvis. The two hydraulic cylinders push a slider on a guide rail via piston rods, and then push the hip joint through a two-force bar to achieve roll and yaw movements. Similarly, the two hydraulic cylinders push a slider on a guide rail via piston rods, and then push the lumbar joint through a two-force bar to achieve rotation and pitch movements. Hydraulic pressure sensors are installed at corresponding positions in the hydraulic circuits, displacement sensors are installed on the piston rods, and IMU sensors are installed on the pelvis. This multi-sensor integration enables system measurement and feedback.

[0079] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions 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. A human-shaped integrated pelvic and lumbar structure, characterized in that: It includes a pelvis (1), a lumbar joint mechanism (2), and two hip joint mechanisms (3). The pelvis (1) includes a pelvic skeleton (11), a lumbar rotation hydraulic transmission chain mechanism (12), a lumbar pitch hydraulic transmission chain mechanism (13), two hip lateral swing hydraulic transmission chain mechanisms (14), and two hip yaw hydraulic transmission chain mechanisms (15). The pelvic skeleton (11) is provided with two horizontally arranged and integrally formed hip lateral swing connectors (111) on both sides. The two hip lateral swing connectors (111) are symmetrically arranged on the left and right sides of the pelvic skeleton (11). Each hip lateral swing connector (111) includes a front hip lateral swing mounting ring (1111) arranged coaxially at the front and rear, a hip lateral swing rear mounting ring (1112), and a connection to the hip lateral swing. Multiple hip lateral swing connecting ribs (1113) of the front and rear mounting rings are rotatably mounted at both ends of the hip joint mechanism (3) in the two front and rear mounting rings of the hip lateral swing. Each hip joint mechanism (3) has a horizontally and vertically arranged hip lateral swing hydraulic transmission chain mechanism (14) on its side. The hip lateral swing hydraulic transmission chain mechanism (14) is mounted on the pelvic skeleton (11). The power output end of the hip lateral swing hydraulic transmission chain mechanism (14) is hinged to the side of the hip joint mechanism (3). Each hip joint mechanism (3) includes a "T"-shaped leg connecting rod (31), a front hollow shaft (32) of the hip lateral swing arranged coaxially at the front and rear, a rear hollow shaft (33) of the hip lateral swing, and a hip yaw connector (34) connecting the front and rear hollow shafts of the hip lateral swing. The hip yaw connector (34) includes an upper hip yaw mounting ring (341), a lower hip yaw mounting ring (342), and multiple hip yaw connecting ribs (343) connecting the upper and lower hip yaw mounting rings to the front and rear hollow shafts of the hip lateral swing. The vertical section of the "T"-shaped leg connecting rod (31) is coaxially and rotatably mounted in the upper and lower hip yaw mounting rings. The side of the "T"-shaped leg connecting rod (31) is provided with a horizontally and vertically arranged hip yaw hydraulic transmission chain mechanism (15). The hip yaw hydraulic transmission chain mechanism (15) is mounted on the hip yaw connector (34), and the power output end of the hip yaw hydraulic transmission chain mechanism (15) is hinged to the side of the "T"-shaped leg connecting rod (31). Pelvic skeleton (11) A vertically arranged and integrally formed waist rotation connector (112) is provided in the middle. The waist rotation connector (112) includes a waist rotation upper mounting ring (1121) and a waist rotation lower mounting ring (1122) arranged coaxially on the top and bottom, and multiple waist rotation connecting ribs (1123) connecting the waist rotation upper and lower mounting rings. The two ends of the waist joint mechanism (2) are coaxially and rotatably installed in the waist rotation upper and lower mounting rings respectively. A horizontally and vertically arranged waist rotation hydraulic transmission chain mechanism (12) is provided on the side of the waist joint mechanism (2). The waist rotation hydraulic transmission chain mechanism (12) is installed on the pelvic skeleton (11). The power output end of the waist rotation hydraulic transmission chain mechanism (12) is hinged to the side of the waist joint mechanism (2).The waist joint mechanism (2) includes a "V"-shaped waist connecting rod (21), a waist rotating upper hollow shaft (22) and a waist rotating lower hollow shaft (23) arranged coaxially, and a waist rotating connector (24) connecting the upper and lower waist rotating hollow shafts. The upper and lower waist rotating hollow shafts are coaxially and rotatably installed in the upper and lower waist rotating mounting rings, respectively. The lower end of the "V"-shaped waist connecting rod (21) is connected to the upper end of the waist rotating upper hollow shaft (22). A vertically and parallel waist pitch hydraulic transmission chain mechanism (13) is provided on the side of the "V"-shaped waist connecting rod (21). The waist pitch hydraulic transmission chain mechanism (13) is installed on the waist rotating connector (24), and the power output end of the waist pitch hydraulic transmission chain mechanism (13) is hinged to the side of the waist pitch connecting shaft.

2. The integrated human-shaped pelvic and lumbar structure according to claim 1, characterized in that: The hip lateral swing hydraulic transmission chain mechanism (14) includes a hip lateral swing hydraulic cylinder (141), a hip lateral swing linear guide rail (143), a hip lateral swing slider, a hip lateral swing slider connector, and a hip lateral swing two-force bar (142). The hip lateral swing hydraulic cylinder (141) is mounted on the pelvic skeleton (11). The piston rod end of the hip lateral swing hydraulic cylinder (141) is connected to the hip lateral swing slider connector. One end of the hip lateral swing two-force bar (142) is hinged to the hip lateral swing slider connector, and the other end of the hip lateral swing two-force bar (142) is hinged to the side of the hip joint mechanism (3). The lower end of the hip lateral swing slider connector is connected to the hip lateral swing slider. The hip lateral swing slider is slidably mounted on the hip lateral swing linear guide rail (143), and the hip lateral swing linear guide rail (143) is mounted on the pelvic skeleton (11).

3. The integrated human-shaped pelvic and lumbar structure according to claim 2, characterized in that: The hip yaw hydraulic transmission chain mechanism (15) includes a hip yaw hydraulic cylinder (151), a hip yaw linear guide (153), a hip yaw slider, a hip yaw slider connector, and a hip yaw two-force bar (152). The hip yaw hydraulic cylinder (151) is mounted on the hip yaw connector (34). The piston rod end of the hip yaw hydraulic cylinder (151) is connected to the hip yaw slider connector. One end of the hip yaw two-force bar (152) is hinged to the hip yaw slider connector, and the other end of the hip yaw two-force bar (152) is hinged to the side of the "T"-shaped leg connecting rod (31). The lower end of the hip yaw slider connector is connected to the hip yaw slider. The hip yaw slider is slidably mounted on the hip yaw linear guide (153), and the hip yaw linear guide (153) is mounted on the hip yaw connector (34).

4. The integrated human-shaped pelvic and lumbar structure according to claim 3, characterized in that: The waist rotation hydraulic transmission chain mechanism (12) includes a waist rotation hydraulic cylinder (121), a waist rotation linear guide (123), a waist rotation slider, a waist rotation slider connector, and a waist rotation two-force bar (122). The waist rotation hydraulic cylinder (121) is mounted on the pelvic frame (11). The piston rod end of the waist rotation hydraulic cylinder (121) is connected to the waist rotation slider connector. One end of the waist rotation two-force bar (122) is hinged to the waist rotation slider connector, and the other end of the waist rotation two-force bar (122) is hinged to the side of the waist joint mechanism (2). The lower end of the waist rotation slider connector is connected to the waist rotation slider. The waist rotation slider is slidably mounted on the waist rotation linear guide (123), and the waist rotation linear guide (123) is mounted on the pelvic frame (11).

5. The integrated human-shaped pelvic and lumbar structure according to claim 4, characterized in that: The waist-tilt hydraulic transmission chain mechanism (13) includes a waist-tilt hydraulic cylinder, a waist-tilt linear guide, a waist-tilt slider, a waist-tilt slider connector, and a waist-tilt two-force bar (131). The waist-tilt hydraulic cylinder is mounted on the waist-rotation connector (24). The piston rod end of the waist-tilt hydraulic cylinder is connected to the waist-tilt slider connector. One end of the waist-tilt two-force bar (131) is hinged to the waist-tilt slider connector, and the other end of the waist-tilt two-force bar (131) is hinged to the side of the waist-tilt connecting shaft. The lower end of the waist-tilt slider connector is connected to the waist-tilt slider. The waist-tilt slider is slidably mounted on the waist-tilt linear guide, and the waist-tilt linear guide is mounted on the waist-rotation connector (24).

6. A human-shaped pelvic and lumbar integrated mechanism according to claim 1 or 5, characterized in that: The "T"-shaped leg connecting rod (31) includes a hip yaw center shaft (311), a leg connecting sleeve (312), and a leg connecting shaft (313). One end of the hip yaw center shaft (311) is coaxially and rotatably installed in the upper and lower hip yaw mounting rings. The other end of the hip yaw center shaft (311) is vertically connected to the middle of the side of the leg connecting sleeve (312). The leg connecting shaft (313) is rotatably installed in the inner hole of the leg connecting sleeve (312).

7. The integrated human-shaped pelvic and lumbar structure according to claim 6, characterized in that: The "V"-shaped waist connecting rod (21) includes two waist connecting brackets (211) and two waist connecting sleeves (212). The two waist connecting brackets (211) are symmetrically arranged in a "V" shape on the hollow shaft (22) of the waist rotation. The upper ends of the two waist connecting brackets (211) are respectively connected to the middle of the side of the two waist connecting sleeves (212). The waist pitch connecting shaft is rotatably installed in the inner hole of the waist connecting sleeve (212).

8. A human-shaped pelvic and lumbar integrated mechanism according to claim 1 or 7, characterized in that: It also includes six displacement sensors (16), with six displacement sensors (16) installed on the piston rods of the waist rotation hydraulic cylinder (121), waist pitch hydraulic cylinder, two hip lateral swing hydraulic cylinders (141) and hip yaw hydraulic cylinder (151).

9. The integrated human-shaped pelvic and lumbar structure according to claim 8, characterized in that: It also includes six hydraulic valves (17), six hydraulic actuators (18), six oil pressure sensors (19) and six pressure gauges (10). The hydraulic lines of the waist rotation hydraulic cylinder (121), waist pitch hydraulic cylinder, two hip lateral swing hydraulic cylinders (141) and hip yaw hydraulic cylinder (151) are equipped with hydraulic valves (17), hydraulic actuators (18), oil pressure sensors (19) and pressure gauges (10).

10. The integrated human-shaped pelvic and lumbar structure according to claim 9, characterized in that: It also includes two hip lateral bearings (101), two hip yaw bearings (102), two waist rotation bearings (103) and two waist pitch bearings (104). The two hip joint mechanisms (3) are connected to the two hip lateral front and rear mounting rings through the two hip lateral bearings (101); the vertical segments of the "T"-shaped leg connecting rod (31) are connected to the upper and lower hip yaw mounting rings through the two hip yaw bearings (102); the two ends of the waist joint mechanism (2) are connected to the upper and lower waist rotation mounting rings through the two waist rotation bearings (103); the two waist connecting sleeves (212) in the "V"-shaped waist connecting rod (21) are connected to the waist pitch connecting shaft through the two waist pitch bearings (104).

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