Humanoid robot torso structure and hydraulic humanoid robot

Abstract

The present invention belongs to the technical field related to hydraulic robot body structures and discloses a humanoid robot trunk structure and a hydraulic humanoid robot. The trunk structure is formed with a closed oil circuit system, the flow channel of which is embedded in the trunk structure. The trunk structure includes a base plate, an arm support, an oil inlet valve block, a motor pump, an oil outlet valve block, and a hydraulic cylinder. The arm support is mounted on the base plate, and the oil inlet valve block and the oil outlet valve block are respectively connected to opposite ends of the motor pump, which is mounted on the base plate. The hydraulic cylinder is mounted on the arm support. The base plate, the arm support, the oil inlet valve block, the oil outlet valve block, and the hydraulic cylinder are all components of the closed oil circuit system. The present invention improves integration.

Description

Technical Field

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

[0002] Hydraulic bipedal robots rely on hydraulic systems to simulate human walking movements. While significant progress has been made in this area recently, several technical challenges remain, particularly with the use of hoses. In hydraulic bipedal robots, hoses are widely used to transport hydraulic oil or compressed air. However, hoses present several operational challenges. First, bending and twisting cause energy loss, which reduces the robot's walking efficiency. Second, hoses are sensitive to the external environment and are susceptible to friction, wear, and even rupture, which reduces the robot's stability and service life. Furthermore, the use of hoses increases the robot's weight and the system's complexity. Summary of the Invention

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

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

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

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

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

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

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

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

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

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

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

[0014] In general, compared with the prior art, the above technical solutions conceived by the present invention have the following beneficial effects:

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

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

[0017] 3. The trunk structure is the core of a bipedal robot. It connects to the lower body and serves as the base of the arms. The application of a tubeless design to the trunk of a hydraulic robot allows the trunk to serve as both the robot's skeleton and the valve block, achieving a highly integrated structure at the trunk. This reduces the weight of the upper body and improves the robot's overall mobility and speed. Furthermore, embedded transmission pipes and internal sealing structures allow the hydraulic medium to flow through the robot's structure, making the trunk, a core component, less susceptible to interference and damage from the external environment, thereby increasing the robot's operational stability and durability.

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

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

[0020] Figure 5 yes Figure 1 A schematic diagram of the humanoid robot torso structure along an angled plane;

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

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

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

[0024] Figure 10 and Figure 11 They are Figure 9 Cross-sectional view of the bottom plate along the AA and BB directions;

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

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

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

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

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

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

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

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

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

[0034] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is 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 for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0035] The robot's trunk is the core component of the humanoid robot, housing the power source and transmitting power to the robot's limbs. The robot's trunk utilizes a tubeless design, allowing it to simultaneously serve as structural support and control valves. This design achieves a high degree of integration within the trunk area, helping to reduce weight and improve the robot's overall mobility and speed. Furthermore, by embedding transmission pipes into the robot's structure and employing internal sealing technology, hydraulic media can flow within the robot. This makes this critical trunk less susceptible to environmental influences, such as friction, wear, or damage, thereby enhancing the robot's stability and durability.

[0036] See also Figure 1 、 Figure 2 、 Figure 3 and Figure 4 The present invention provides a humanoid robot trunk structure, comprising a support structure and a motion structure, the motion structure being mounted on the support structure. Hydraulic oil channels are provided within the support structure, and hydraulic oil circulates between the various support structure components to drive the motion structure. The trunk structure serves as both a support member and a valve block, achieving a highly integrated trunk structure.

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

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

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

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

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

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

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

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

[0045] See also Figure 15 The right hydraulic nail is stepped and has a first connection port 16-1 formed along its axial direction. The first connection port 16-1 extends through one end of the right hydraulic nail. The right hydraulic nail also has a second connection port 16-2 extending through the right hydraulic nail and perpendicularly intersecting and communicating with the first connection port.

[0046] See also Figure 16 The oil outlet valve block has a vertical oil port 4-2 extending axially along its axis. This vertical port extends through one end of the oil outlet valve block. A main oil inlet 4-1 extends through the other end of the oil outlet valve block and communicates with one end of the vertical port. A main oil outlet 4-3 is also provided on the side of the oil outlet valve block, communicating with the vertical port. The left hydraulic nail is mounted within the main oil inlet, communicating with the left hydraulic nail inlet. The left hydraulic nail outlet is also connected to the vertical port.

[0047] See also Figure 17 The relief valve block has a first vertical tube 6-3 and a second vertical tube 6-5 at one end, and a stepped relief valve slit 6-4 at the other end. The periphery of the relief valve block also includes a main oil inlet tube 6-1 and a second relief valve block horizontal tube 6-6. The second vertical tube and the first vertical tube 6-3 are connected to the second relief valve block horizontal tube 6-6 and the main oil inlet tube, respectively. The relief valve block also includes a first relief valve block horizontal tube 6-2, which is connected to the relief valve slit 6-4. The second relief valve block horizontal tube is also connected to the relief valve slit.

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

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

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

[0051] See also Figure 19 The oil inlet valve block is provided with a fourth connection port 14-2 and a third connection port 14-1. The fourth connection port 14-2 intersects the third connection port at right angles. The fourth connection port extends through one end of the oil inlet valve block and is arranged axially along the oil inlet valve block. The third connection port extends through the other end of the oil inlet valve block. The right hydraulic pin is disposed within the third connection port, which is connected to the first connection port. The second connection port is connected to the fourth connection port.

[0052] There are two motion structures, one on each arm support, used for the up and down movement of the left and right arms, respectively. The motion structure includes a hydraulic cylinder, a tandem plate, a second tandem plate, a linear guide slider, a rack, a linear guide rail, a gear cover, a connecting plate for the hydraulic cylinder, and a hydraulic cylinder shaft. The hydraulic cylinder is mounted on the arm support; the hydraulic cylinder is connected to the tandem plate; the tandem plate is connected to the second tandem plate; the second tandem plate is connected to the linear guide slider; the linear guide slider is connected to the linear guide; and the linear guide is connected to the arm support.

[0053] The oil circulation circuit corresponding to the left arm: The motor pump is connected to the left hydraulic pin oil inlet, and the left hydraulic pin oil outlet is connected to the main oil inlet. The main oil outlet is connected to the oil outlet transfer pipe. The oil outlet transfer pipe is connected to the one-way valve. The one-way valve is connected to the one-way valve transfer pipe. The one-way valve transfer pipe is connected to the main oil inlet pipe. The first vertical pipe is connected to the relief valve oil inlet. The first arm support connection port is connected to the first arm support oil inlet. The first oil outlet is connected to the servo valve T port. The first and second servo valve oil outlets are connected to the first and second servo valve oil outlets, respectively. The arm support oil outlet 2-3 is connected to the second base plate backplane connection port. The first base plate backplane connection port is connected to the first base plate oil inlet. The first backplane filter port is connected to the first backplane port. The second backplane port is connected to the second backplane filter port. The third backplane longitudinal pipe is connected to the second base plate backplane connection port. The bottom plate oil inlet valve block connection port is connected to the fourth connection port. The third connection port is connected to the second connection port. The first connection port is connected to the hydraulic pump, thus forming an internal circulation.

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

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

[0056] It will be easily understood by those skilled in the art that the above description is 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 in the scope of protection of the present invention.

Claims

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

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

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

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

5. The humanoid robot torso structure according to claim 4, wherein: A first backplane interface and a second backplane interface are respectively provided on one side of the filter, and a filter cavity is provided in the middle. The first backplane interface and the second backplane interface are spaced apart, and both are connected to the filter cavity; the second backplane interface is connected to the second backplane filter interface.

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

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

8. The humanoid robot torso structure according to claim 7, wherein: One end of the arm support is provided with an arm support oil outlet, a second arm support vertical pipe and a first arm support oil inlet, and the other end is provided with a first arm support vertical pipe; the two opposite sides of the arm support are respectively provided with a second arm support transverse pipe and a first arm support transverse pipe, and the second arm support transverse pipe and the first arm support transverse pipe are respectively connected with the arm support oil outlet and the first arm support oil inlet; the side of the arm support facing the servo valve is provided with a first oil outlet, a first servo valve oil port, a second arm support oil inlet and a second servo valve oil port, and the first oil outlet is connected with the first arm support transverse pipe; the first servo valve oil port is connected with the first arm support The vertical pipe of the column is connected; the oil inlet of the second arm support is connected with the horizontal pipe of the second arm support; the oil port of the second servo valve is connected with the vertical pipe of the second arm support; the first hydraulic cylinder oil port and the second hydraulic cylinder oil port are respectively opened on the other side of the arm support, the first hydraulic cylinder oil port is connected with the first arm support vertical pipe, and the second hydraulic cylinder oil port is connected with the second arm support vertical pipe; the arm support is connected to the hydraulic cylinder through the first hydraulic cylinder oil port and the second hydraulic cylinder oil port; the first oil outlet is connected with the T port of the servo valve; the first servo valve oil port and the second servo valve oil port are respectively connected with the first servo valve oil outlet and the second servo valve oil outlet.

9. The humanoid robot torso structure according to claim 6, wherein: One end of the relief valve block is provided with a first vertical pipe and a second vertical pipe, and the other end is provided with a stepped relief valve slot; the outer periphery of the relief valve block is also provided with a total oil inlet pipe and a second relief valve block horizontal pipe, the second vertical pipe and the first vertical pipe are respectively connected to the second relief valve block horizontal pipe and the total oil inlet pipe; the relief valve block is also provided with a first relief valve block horizontal pipe, the first relief valve block horizontal pipe is connected to the relief valve slot; the second relief valve block horizontal pipe is connected to the relief valve slot; the second vertical pipe is connected to the bottom plate relief valve block connection port.

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

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