Bionic hip joint and humanoid robot

Abstract

The invention discloses a bionic hip joint and a humanoid robot, the bionic hip joint comprises a hip bone connecting structure, a hip joint structure and a hip joint muscle structure, the hip bone connecting structure is used for connecting a bionic hip bone; one end of the hip joint structure is movably connected with the hip bone connecting structure; the hip joint muscle structure comprises a plurality of hip joint muscles distributed around the hip joint structure, each hip joint muscle comprises a pressure driving part and a flexible connecting part, the fixed end of the pressure driving part is connected with the hip joint structure, and the flexible connecting part is connected with the pressure driving part and the hip bone; the flexible connecting part is dragged through a hydrodynamic stretching mechanism of the pressure driving part, and the hip joint structure is driven to do joint movement relative to the hip bone; the flexible driving technology of the hydraulic muscles is adopted, the multiple hydraulic muscles can work cooperatively, multi-degree-of-freedom complex movement is achieved, and the design which is compact in space, high in connection reliability, low in power consumption and highly anthropomorphic is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and in particular to a bionic hip joint and a humanoid robot. Background Art

[0002] The hip joint plays a key role in connecting the thigh and waist (or torso) in humanoid robots. This connection enables the robot to simulate human movements such as walking, running, bending and turning, while maintaining body stability and balance. Through the three degrees of freedom of the hip joint, the robot can achieve flexible movement of the lower limbs to complete various complex tasks. At present, humanoid robots generally use electric drive solutions with multiple joint modules in series for control.

[0003] For example, the publication number CN113442161B provides a robot joint, a robot bionic hip joint and a robot, the robot bionic hip joint includes two robot joints, the two robot joints are fixedly connected and symmetrically arranged, the robot joint includes a frame, an output rod, an offset drive device, a pitch drive device, a universal structure and a rotation drive device, one end of the universal structure is fixedly connected to one end of the output rod, and the other end is rotatably connected to the frame around a first axis, and the end of the output rod away from the universal structure is used to connect the movable part; the offset drive device, the pitch drive device and the rotation drive device are all fixedly connected to the frame, the offset drive device and the pitch drive device can drive the output rod to rotate around the second axis and the third axis respectively, the rotation drive device can drive the universal structure to rotate around the first axis, and the universal structure drives the output rod to rotate when it rotates, and the second axis, the third axis and the first axis are perpendicular to each other and intersect at one point.

[0004] However, the electric drive solution of the humanoid robot in the above-mentioned prior art using multiple joint modules in series still has shortcomings, for example: 1) The hip joint has three degrees of freedom, so three joint modules need to be connected in series, which makes the volume and weight of the hip joint relatively large; 2) In the series mechanism, each component supports each other while moving with each other, which leads to low rigidity of the overall structure and insufficient stability of the connection; 3) The energy density is not high. Since the hip joint requires a large torque, multiple motors must be used, which causes a significant increase in the power consumption of the motor, and thus puts higher requirements on the performance of the battery. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and propose a bionic hip joint and a humanoid robot to solve the technical problems in the prior art that the hip joint is large in size and heavy in weight, the rigidity of the overall structure is low, the connection stability is insufficient, and the motor performance requirements are high.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: In the first aspect, the present invention provides a bionic hip joint, comprising: a hip bone connection structure, a hip joint structure and a hip joint muscle structure, wherein the hip bone connection structure is used to connect a bionic hip bone; one end of the hip joint structure is movably connected to the hip bone connection structure; the hip joint muscle structure comprises a plurality of hip joint muscles distributed around the hip joint structure, wherein the plurality of hip joint muscles each comprise a pressure driving part and a flexible connecting part, wherein the fixed end of the pressure driving part is connected to the hip joint structure, and the flexible connecting part is respectively connected to the movable end of the pressure driving part and the bionic hip bone, so as to pull the flexible connecting part through the fluid dynamic expansion and contraction mechanism of the pressure driving part, and drive the hip joint structure to perform joint movement relative to the bionic hip bone.

[0007] In some embodiments, the hip connection structure includes a ball socket and a ball head. The ball socket is connected to the hip bone, and one side of the ball socket is provided with a mounting groove matching the ball head. The ball head is movably connected to the mounting groove, and one end protrudes out of the mounting groove. One end of the hip joint structure is fitly connected to the protruding part of the ball head.

[0008] In some embodiments, the bionic hip joint also includes an angle sensor arranged on one side of the hip bone connection structure, and the angle sensor includes a detection body and detection contacts respectively arranged on one side of the ball socket and the hip joint structure, and the detection contacts are used to displace with the joint movement of the hip joint structure, so that the detection body can calculate the rotation angle according to the displacement signal of the detection contact.

[0009] In some embodiments, the hip joint structure includes a first bionic femur, an integrated valve and a second bionic femur, wherein the first bionic femur, the integrated valve and the second bionic femur are connected in sequence, wherein one end of the first bionic femur is connected to the hip bone connection structure, the integrated valve includes a pressure drive unit and a control unit, and the pressure drive parts of several hip joint muscles are connected to the pressure drive unit through an interface, and the control unit is used to control the medium flow in several pressure drive parts respectively, thereby controlling the extension and retraction action of the pressure drive parts.

[0010] In some embodiments, the pressure drive unit of the integrated valve includes a valve body and a plurality of first pipe joints and a plurality of second pipe joints arranged on the outside of the valve body, the valve body is formed with a medium cavity, a plurality of medium passages and a plurality of reflux passages, the first pipe joint is connected to the medium cavity through the medium passage, and is used to connect to the pressure drive part of the hip joint muscle to provide pressure medium for the pressure drive part, the second pipe joint is connected to the medium cavity through the reflux pipeline, and is used to connect to the medium reflux pipe to control the reflux of the fluid to adjust the flow rate; The control unit includes a plurality of valve cores and a plurality of motors, which are integrated and arranged in a one-to-one correspondence in the valve body, the driving end of the motor is connected to the valve core, each of the valve cores is communicated with the medium cavity, and has two outlets respectively connected to the corresponding medium passage and the reflux passage.

[0011] In some embodiments, a pressure sensor is further disposed in the medium passage, and the pressure sensor is used to monitor the pressure state in the medium passage in real time.

[0012] In some embodiments, the pressure driving parts of several hip joint muscles respectively include a first hip joint muscle, a second hip joint muscle, a third hip joint muscle, a fourth hip joint muscle and a fifth hip joint muscle, the fixed end of the pressure driving part is the outer shell of each hip joint muscle, and the movable end is a piston arranged in the outer shell of each hip joint muscle, the piston is connected to the flexible connection part, the first hip joint muscle, the second hip joint muscle, the third hip joint muscle, the fourth hip joint muscle and the fifth hip joint muscle are arranged in sequence on the outside of the hip joint structure and fixedly connected to the hip joint structure.

[0013] In some embodiments, the first hip joint muscle and the second hip joint muscle are respectively located on the front and rear sides of the hip joint structure away from the hip bone, and are both connected to the outer side of the bionic hip bone through a flexible connection part; the fourth hip joint muscle is located on the side of the hip joint structure close to the hip bone, and is connected to the inner side of the bionic hip bone through a flexible connection part, so as to control the flexion, extension, abduction and adduction of the hip joint structure through the coordinated traction of the first hip joint muscle, the second hip joint muscle and the fourth hip joint muscle; the third hip joint muscle and the fifth hip joint muscle are respectively located on the front and rear sides of the hip joint structure close to the hip bone, and are respectively connected to the outer side of the hip bone through a flexible connection part extending forward and a flexible connection part extending backward, so as to control the internal rotation and external rotation of the hip joint structure through the traction of the corresponding flexible connection part by the third hip joint muscle and the fifth hip joint muscle.

[0014] In some embodiments, the flexible connection parts of several of the hip joint muscles include tendon ropes, and the first hip joint muscle, the second hip joint muscle, the third hip joint muscle, the fourth hip joint muscle and the fifth hip joint muscle are respectively connected to the bionic hip bone through tendon ropes, so as to pull the tendon ropes through a fluid dynamic expansion and contraction mechanism to drive the hip joint structure to perform joint movement relative to the bionic hip bone.

[0015] In a second aspect, the present invention further provides a humanoid robot comprising any of the bionic hip joints described above.

[0016] Compared with the prior art, the bionic hip joint and humanoid robot provided by the present invention are provided with a hip bone connection structure, a hip joint structure and a hip joint muscle structure. The hip bone connection structure is connected to the hip bone, and the hip joint structure is flexibly connected to the hip bone connection structure to achieve connection and support with the hip bone. When the hip joint structure moves relative to the hip bone connection structure, the movement of the hip joint can be achieved. The pressure driving part of each hip joint muscle is connected to the hip bone through its flexible connection part. Under the fluid dynamic expansion and contraction mechanism of the pressure driving part, it can pull the flexible connection part, thereby driving the hip joint structure to perform joint movement relative to the hip bone. This solution adopts the flexible driving technology of hip joint muscles. By distributing multiple hydraulic artificial muscles around the hip joint structure for driving, multiple hip joint muscles can work together to achieve complex movements with multiple degrees of freedom, thereby achieving flexible movement of the hip joint. Compared with traditional electric motors or pneumatic actuators, hip joint muscles do not require complex mechanical components such as gear boxes and reducers. Therefore, the overall structure is more compact and has high power density, which is conducive to reducing volume and weight. It realizes a compact space, high connection reliability, low power consumption and highly anthropomorphic design. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the formal structure of a bionic hip joint and a humanoid robot provided by an embodiment of the present invention; Figure 2 is a schematic diagram of the three-dimensional structure of a bionic hip joint and a humanoid robot provided by an embodiment of the present invention; Figure 3 is a schematic diagram of the three-dimensional structure of a bionic hip joint and a humanoid robot provided by one embodiment of the present invention; Figure 4 It is a schematic diagram of the three-dimensional structure of the integrated valve of the bionic hip joint and the humanoid robot provided by the embodiment of the present invention; Figure 5 It is a bottom-up stereoscopic structural schematic diagram of a bionic hip joint and an integrated valve of a humanoid robot provided by an embodiment of the present invention; Figure 6 is a schematic cross-sectional structure diagram of a medium passage of a bionic hip joint and a humanoid robot provided by an embodiment of the present invention; Figure 7 It is a schematic cross-sectional structure diagram of a reflux path of a bionic hip joint and a humanoid robot provided in an embodiment of the present invention.

[0018] Description of reference numerals: 1. Hip connection structure; 11. Ball and socket; 12. Ball head; 13. Angle sensor; 2. Hip joint structure; 21. First bionic femur; 22. Integrated valve; 221. Valve body; 222. Medium cavity; 223. Medium passage; 224. Reflux passage; 225. First pipe joint; 226. Second pipe joint; 227. Valve core; 228. Motor; 229. Pressure sensor; 23. Second bionic femur; 3. Hip joint muscle structure; 31. First hip joint muscle; 32. Second hip joint muscle; 33. Third hip joint muscle; 34. Fourth hip joint muscle; 35. Fifth hip joint muscle; 36. Tendon rope; 37. Wire tube; 4. Hip bone. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0020] In order to solve the technical problems of large size and heavy weight of hip joints, low rigidity of the overall structure, insufficient connection stability and high requirements for motor performance, the present invention provides a bionic hip joint and a humanoid robot, which adopts hydraulic muscle flexible driving technology. Multiple hydraulic muscles can work together to realize complex movements with multiple degrees of freedom, achieving a compact space, high connection reliability, low power consumption and highly anthropomorphic design.

[0021] See also Figure 1 In the first aspect, an embodiment of the present invention provides a bionic hip joint, comprising: a hip bone connection structure 1, a hip joint structure 2 and a hip joint muscle structure 3, wherein the hip bone connection structure 1 is used to connect a bionic hip bone 4; one end of the hip joint structure 2 is movably connected to the hip bone connection structure 1; the hip joint muscle structure 3 comprises a plurality of hip joint muscles distributed around the hip joint structure 2, wherein the plurality of hip joint muscles each comprise a pressure driving part and a flexible connecting part, wherein the pressure driving part is connected to the hip joint structure 2, and the flexible connecting part respectively connects the active end of the pressure driving part and the bionic hip bone 4, so as to pull the flexible connecting part through the fluid dynamic expansion and contraction mechanism of the pressure driving part, and drive the hip joint structure 2 to perform joint movement relative to the bionic hip bone 4.

[0022] In the present device, the hip connection structure 1 is connected to the hip bone 4, and the hip joint structure 2 is flexibly connected to the hip connection structure 1. When the hip joint structure 2 moves relative to the hip connection structure 1, the movement of the hip bone 4 joint can be realized; the hip joint muscle structure 3 provided in the device includes a plurality of hip joint muscles, and the pressure driving part of each hip joint muscle is connected to the hip bone 4 through its flexible connecting part. Under the fluid dynamic expansion and contraction mechanism of the pressure driving part, it can pull the flexible connecting part, thereby driving the hip joint structure 2 to perform joint movement relative to the hip bone 4; the present scheme adopts the hydraulic muscle flexible driving technology, and drives by distributing a plurality of hydraulic artificial muscles around the hip joint structure 2. The plurality of hydraulic muscles can work together to realize complex movement with multiple degrees of freedom, and can realize compact space, high connection reliability, low power consumption, and highly anthropomorphic design.

[0023] See also Figures 1 to 3 In this embodiment, the hip bone connection structure 1 and the hip joint structure 2 adopt a spherical support that simulates the human hip joint. The hip bone connection structure 1 includes a ball socket 11 and a ball head 12. The ball socket 11 is connected to the hip bone 4, and one side of the ball socket 11 is provided with a mounting groove that matches the ball head 12. The groove is used to accommodate and support the ball head 12. The ball head 12 is movably connected to the mounting groove, and one end protrudes out of the mounting groove. One end of the hip joint structure 2 fits with the protruding part of the ball head 12 for fixed connection, so that the hip joint structure 2 is connected to the hip bone 4 through the ball head 12 and the ball socket 11. The ball head 12 can move in the ball socket 11 to support the hip joint structure 2 to rotate and swing around the hip bone 4, thereby simulating the natural hip joint movement of the human body. This design not only improves the flexibility of the joint, but also has high support reliability, enhancing the stability and durability of the entire device.

[0024] It should be noted that, in this solution, the diameter of the mounting groove is designed to be smaller than the diameter of the ball head 12 , which has a limiting effect and can effectively prevent the ball head 12 from escaping from the socket 11 , thereby ensuring the normal function of the hip joint structure 2 .

[0025] Preferably, in this embodiment, the ball socket 11 is made of a non-metallic material with good lubricity and high strength, and the ball head 12 is made of a metal material.

[0026] To monitor hip joint movement, see Figure 2 and Figure 3In some embodiments, the bionic hip joint also includes an angle sensor 13 arranged on one side of the hip bone connection structure 1, and the angle sensor 13 is used to monitor the position parameters of the hip joint structure 2. The angle sensor 13 includes a detection body and a detection contact respectively arranged on one side of the ball socket 11 and the hip joint structure 2, and the detection contact is used to displace with the joint movement of the hip joint structure 2, so that the detection body can calculate the rotation angle according to the displacement signal of the detection contact.

[0027] The angle sensor 13 is a capacitive angle sensor, a photoelectric angle sensor, a magnetic angle sensor, etc., which converts the mechanical angle into an electrical signal to achieve accurate measurement and control of the angle.

[0028] Furthermore, in some embodiments, the device also includes a control system, such as a PLC, which can adjust the hydraulic output of the pressure drive unit according to feedback information from the sensor, thereby achieving precise control of the hip joint movement.

[0029] Preferably, see Figures 1 to 3 In this embodiment, the hip joint structure 2 includes a first bionic femur 21, an integrated valve 22 and a second bionic femur 23, wherein the first bionic femur 21, the integrated valve 22 and the second bionic femur 23 are connected in sequence, wherein one end of the first bionic femur 21 is connected to the hip bone connection structure 1, and the integrated valve 22 can provide hydraulic driving force for the hip joint muscle structure 3, and the integrated valve 22 is integrated in the hip joint structure 2, which can significantly reduce the volume of the entire bionic hip joint. In addition, the integrated valve 22 includes a pressure drive unit and a control unit, and the pressure drive parts of several hip joint muscles are connected to the pressure drive unit through an interface, and the hip joint muscles can be installed around the integrated valve 22, which is convenient for its connection with the hip joint muscles, and can shorten the signal transmission path, reduce delays, and improve the response speed of the system; the control unit is responsible for controlling the medium flow in several pressure drive parts respectively, thereby controlling the telescopic action of the pressure drive parts. By embedding a high-pressure pipeline in the hollow part of the bionic skeleton and integrating the valve body with the skeleton, leakage of the high-pressure pipeline caused by squeezing can be effectively prevented while ensuring the compactness of the structure.

[0030] To achieve control of the hip joint muscle structure 3, refer to Figures 2 to 7In some embodiments, the pressure drive unit of the integrated valve 22 includes a valve body 221 and a plurality of first pipe joints 225 and a plurality of second pipe joints 226. The first pipe joints 225 and the second pipe joints 226 are both arranged outside the valve body 221. The valve body 221 is formed with a medium cavity 222, a plurality of medium passages 223 and a plurality of return passages 224. The medium cavity 222 is located in the center of the valve body 221. The first pipe joint 225 is connected to the medium cavity 222 through the medium passage 223, and is used to connect the pressure drive unit of the hip joint muscle to provide pressure medium for the pressure drive unit. The second pipe joint 226 is connected to the medium cavity 222 through the return pipeline, and is used to connect the medium return pipe. Such a design can ensure the smooth circulation of the hydraulic fluid in the system, and at the same time provide sufficient return space, and can control the return of the liquid to adjust the flow rate, so as to avoid blockage and pressure abnormality of the hydraulic system.

[0031] In order to realize the control of providing pressure medium to the pressure drive unit, the control unit includes a plurality of valve cores 227 and a plurality of motors 228, which are integrated and arranged in a one-to-one correspondence in the valve body 221, and the driving end of the motor 228 is connected to the valve core 227, each of the valve cores 227 is connected to the medium cavity 222, and has two outlets respectively connected to the corresponding medium passage 223 and the return passage 224, and the liquid in the medium cavity 222 will flow into each pressure drive unit after passing through the valve core 227, so that the pressure drive unit can be finely controlled by accurately adjusting the medium flow. The opening and closing state of each valve core 227 is controlled by the corresponding motor 228, and the motor 228 is used to provide rotational power, and the rotational power is transmitted to the ball of the valve core 227 through the transmission mechanism to realize the opening and closing of the valve, and at the same time, the speed and direction of the motor 228 determine the opening size and direction of the valve core 227, thereby affecting the flow and flow direction of the hydraulic oil. This mechatronic design not only improves the control accuracy of the system, but also enhances the stability and reliability of the system.

[0032] In addition, the control unit is equipped with sensors to monitor key parameters of the hydraulic system such as pressure and flow in real time. Figure 4 In some embodiments, a pressure sensor 229 is provided in the medium passage 223, and the pressure sensor 229 is used to monitor the pressure state in the medium passage 223 in real time. The control system is electrically connected to the motor and the pressure sensor 229, and the data of the pressure sensor 229 is transmitted to the control system. The control system dynamically adjusts the operating state of the motor 228 according to the preset control algorithm and real-time feedback information, thereby controlling the valve core 227 and realizing closed-loop control of the hydraulic system.

[0033] It should be noted that in the fluid power system described in this solution, the pressure medium is a key component for transmitting energy and achieving motion control. The medium includes but is not limited to air, various types of liquids, and steam. In this embodiment, liquid is preferably used as the pressure medium. Liquid has its unique advantages in transmitting energy and controlling motion, such as having higher energy density and better control accuracy.

[0034] See also Figures 1 to 3 In this embodiment, the hip joint driving part is driven in parallel by five hydraulic artificial muscles. For the convenience of introduction, the pressure driving parts of several hip joint muscles are defined as the first hip joint muscle 31, the second hip joint muscle 32, the third hip joint muscle 33, the fourth hip joint muscle 34 and the fifth hip joint muscle 35. The flexible connection parts of several hip joint muscles include tendons 36. The first hip joint muscle 31, the second hip joint muscle 32, the third hip joint muscle 33, the fourth hip joint muscle 34 and the fifth hip joint muscle 35 are sequentially arranged on the outside of the hip joint structure 2 and fixed on the outside of the integrated valve 22. Each hip joint muscle is connected to the bionic hip bone 4 through the tendons 36, so as to pull the tendons 36 through the fluid power expansion and contraction mechanism and drive the hip joint structure 2 to perform joint movement relative to the bionic hip bone 4.

[0035] Specifically, the first hip joint muscle 31 and the second hip joint muscle 32 are respectively located at the front and rear sides of the hip joint structure 2 away from the hip bone 4, and are connected to the outside of the bionic hip bone 4 through their respective tendon ropes 36; the fourth hip joint muscle 34 is located on the side of the hip joint structure 2 close to the hip bone 4, and is connected to the inside of the bionic hip bone 4 through another tendon rope 36. This layout ensures that the movement of the hip joint in all directions can be fully supported and controlled, and the first hip joint muscle 31, the second hip joint muscle 32 and the fourth hip joint muscle 34 can cooperate to pull the corresponding tendon rope 36 to control the flexion, extension, abduction and adduction of the hip joint structure 2. In actual operation, by controlling the pressure of the hydraulic system, the degree of expansion and contraction of each hydraulic artificial muscle can be accurately adjusted. For example, when it is necessary to simulate human walking, the first hip joint muscle 31 and the second hip joint muscle 32 can work together to simulate the flexion and extension of the hip joint; the fourth hip joint muscle 34 cooperates with the first hip joint muscle 31 and the second hip joint muscle 32 to simulate the adduction and abduction of the hip joint. Through this coordinated muscle activity, the hip joint drive part is able to achieve a movement pattern close to the natural human body.

[0036] In addition, the third hip joint muscle 33 and the fifth hip joint muscle 35 are mainly responsible for controlling the rotational movement of the hip joint. The third hip joint muscle 33 and the fifth hip joint muscle 35 are respectively located at the front and rear sides of the hip joint structure 2 near the hip bone 4, and are respectively connected to the outside of the hip bone 4 through two other tendon ropes 36 extending forward and the tendon rope 36 extending backward. By pulling the corresponding tendon ropes 36 by the third hip joint muscle 33 and the fifth hip joint muscle 35, the internal rotation and external rotation of the hip joint structure 2 can be controlled respectively. When the third hip joint muscle 33 contracts, the hip joint structure 2 will be pushed to rotate outward; on the contrary, when the fifth hip joint muscle 35 contracts, the hip joint structure 2 will be pushed to rotate inward.

[0037] Furthermore, the inner side of the first bionic femur 21 is equipped with a wire tube 37, and the tendon ropes 36 connecting the third hip joint muscles 33 and the fifth hip joint muscles 35 pass through the wire tube 37 and are then connected to the hip bone 4. The wire tube 37 acts as a wire to ensure the smooth movement of the tendon ropes 36.

[0038] In addition, the design of the integrated valve 22 significantly improves the response speed and control accuracy of the hydraulic system. Each hydraulic artificial muscle is connected to the integrated valve 22 through an independent pipe joint, which not only simplifies the layout of the hydraulic system, but also reduces the flow path of the hydraulic oil, thereby reducing the delay and energy loss of the system. This design enables the hip joint drive part to respond to control signals more quickly and accurately when performing fast and complex movements.

[0039] It should be noted that in this solution, the valve core is set as a ball valve, and the integrated valve 22 is composed of two valve bodies 221 arranged in a mirror image. One end of the two valve bodies 221 is connected, the medium cavity 222 is connected, and the other end is fixedly connected to the first bionic femur 21 and the second bionic femur 23, respectively. Four first pipe joints 225, two second pipe joints 226, four ball valves and four motors 228 are arranged on each valve body 221. The four ball valves and four motors 228 are respectively integrated in the interior of the valve body 221 in a rectangular array. Each second pipe joint 226 is connected to two ball valves through two reflux passages 224, and the four first pipe joints 225 are respectively connected to four ball valves through four medium passages 223. Among them, the five first pipe joints 225 are respectively connected to five hip joint muscles, so that each muscle can be hydraulically driven independently to achieve fine motion control. A rectangular array of four ball valves and four motors 228 is integrated inside the valve body 221. This connection method can ensure the uniform distribution of hydraulic fluid in each passage, which not only saves space but also improves the response speed and control accuracy of the system. Through the fine control of the integrated valve 22, a variety of movement modes of the hip joint can be achieved, including but not limited to flexion, extension, abduction, adduction, internal rotation and external rotation.

[0040] The integrated valve is connected to the femur and connected to the high-pressure pipeline. The integrated valve has the function of being removable and replaceable, which greatly improves its maintainability. Specifically, when the integrated valve fails or requires routine maintenance, it can be easily removed from the femoral connection and necessary repairs or replacement of a new valve can be made. This design not only facilitates the user's daily use, but also reduces downtime caused by maintenance, and improves the overall equipment operation efficiency and reliability.

[0041] It can be understood that after the first pipe joints 225 are connected to the five hip joint muscles one by one, the remaining first pipe joints 225 can also be connected to other lower limb muscles such as knee joint muscles, which makes it possible to integrate the control of the entire lower limb movement system. Through this design, more complex and natural human movement simulation can be achieved.

[0042] In a second aspect, the present invention further provides a humanoid robot comprising the bionic hip joint described in any one of the above embodiments.

[0043] The humanoid robot further includes bionic knee joints and bionic ankle joints, which also use a hydraulic drive system and work in conjunction with the bionic hip joint to simulate the natural movement of the human lower limbs. The design of the bionic knee joint and bionic ankle joint is similar to the bionic hip joint, and each joint is equipped with an independent hydraulic drive unit to ensure flexibility and precision of movement.

[0044] The present invention provides a hip connection structure 1, a hip joint structure 2 and a hip joint muscle structure 3. The hip connection structure 1 is connected to the hip bone 4, and the hip joint structure 2 is flexibly connected to the hip connection structure 1 to achieve connection and support with the hip bone 4. When the hip joint structure 2 moves relative to the hip connection structure 1, movement of the hip bone 4 joint can be achieved. The pressure driving part of each hip joint muscle is connected to the hip bone 4 through its flexible connecting part. Under the fluid dynamic expansion and contraction mechanism of the pressure driving part, it can pull the flexible connecting part, thereby driving the hip joint structure 2 to perform joint movement relative to the hip bone 4.

[0045] This solution adopts hydraulic muscle flexible driving technology, and drives by distributing multiple hydraulic artificial muscles around the hip joint structure 2. Multiple hydraulic muscles can work together to achieve complex movements with multiple degrees of freedom, thereby achieving flexible movement of the hip joint; compared with traditional electric motors or pneumatic actuators, hydraulic muscles do not require complex mechanical components such as gear boxes and reducers, so the overall structure is more compact and has high power density, which is conducive to reducing volume and weight; it achieves a compact space, high connection reliability, low power consumption and highly anthropomorphic design.

[0046] In the description of the present application, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0047] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0048] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A bionic hip joint, characterized in that: include: A hip bone connection structure, wherein the hip bone connection structure is used to connect a bionic hip bone; A hip joint structure, one end of which is movably connected to the hip bone connection structure; as well as, A hip joint muscle structure, wherein the hip joint muscle structure includes a plurality of hip joint muscles distributed around the hip joint structure, wherein the plurality of hip joint muscles each include a pressure driving part and a flexible connecting part, wherein a fixed end of the pressure driving part is connected to the hip joint structure, and the flexible connecting part is respectively connected to a movable end of the pressure driving part and the bionic hip bone, so as to pull the flexible connecting part through the fluid dynamic expansion and contraction mechanism of the pressure driving part, and drive the hip joint structure to perform joint movement relative to the bionic hip bone.

2. The bionic hip joint according to claim 1, characterized in that: The hip bone connection structure includes a ball socket and a ball head. The ball socket is connected to the hip bone and has a mounting groove matching the ball head on one side. The ball head is movably connected to the mounting groove and one end protrudes out of the mounting groove. One end of the hip joint structure is fitly connected to the protruding part of the ball head.

3. The bionic hip joint according to claim 2, characterized in that: The bionic hip joint also includes an angle sensor arranged on one side of the hip bone connection structure, and the angle sensor includes a detection body and a detection contact respectively arranged on one side of the ball socket and the hip joint structure, and the detection contact is used to displace with the joint movement of the hip joint structure, so that the detection body calculates the rotation angle according to the displacement signal of the detection contact.

4. The bionic hip joint according to claim 1, characterized in that: The hip joint structure includes a first bionic femur, an integrated valve and a second bionic femur, wherein the first bionic femur, the integrated valve and the second bionic femur are connected in sequence, wherein one end of the first bionic femur is connected to the hip bone connection structure, the integrated valve includes a pressure drive unit and a control unit, and the pressure drive parts of several hip joint muscles are connected to the pressure drive unit through an interface, and the control unit is used to control the medium flow in several pressure drive parts respectively, thereby controlling the extension and retraction action of the pressure drive parts.

5. The bionic hip joint according to claim 4, characterized in that: The pressure drive unit of the integrated valve includes a valve body and a plurality of first pipe joints and a plurality of second pipe joints arranged on the outside of the valve body. The valve body is formed with a medium cavity, a plurality of medium passages and a plurality of reflux passages. The first pipe joint is connected to the medium cavity through the medium passage and is used to connect to the pressure drive part of the hip joint muscle to provide pressure medium for the pressure drive part. The second pipe joint is connected to the medium cavity through the reflux pipeline and is used to connect to the medium reflux pipe to control the reflux of the fluid to adjust the flow rate. The control unit includes a plurality of valve cores and a plurality of motors, which are integrated and arranged in a one-to-one correspondence in the valve body, the driving end of the motor is connected to the valve core, each of the valve cores is communicated with the medium cavity, and has two outlets respectively connected to the corresponding medium passage and the reflux passage.

6. The bionic hip joint according to claim 5, characterized in that: A pressure sensor is also provided in the medium passage, and the pressure sensor is used to monitor the pressure state in the medium passage in real time.

7. The bionic hip joint according to claim 1, characterized in that: The pressure driving parts of the several hip joint muscles respectively include a first hip joint muscle, a second hip joint muscle, a third hip joint muscle, a fourth hip joint muscle and a fifth hip joint muscle. The first hip joint muscle, the second hip joint muscle, the third hip joint muscle, the fourth hip joint muscle and the fifth hip joint muscle are sequentially arranged on the outside of the hip joint structure and fixedly connected to the hip joint structure.

8. The bionic hip joint according to claim 7, characterized in that: The first hip joint muscle and the second hip joint muscle are respectively located at the front and rear sides of the hip joint structure away from the hip bone, and are both connected to the outer side of the bionic hip bone through a flexible connection part; the fourth hip joint muscle is located on the side of the hip joint structure close to the hip bone, and is connected to the inner side of the bionic hip bone through a flexible connection part, so as to control the flexion, extension, abduction and adduction of the hip joint structure through the coordinated traction of the first hip joint muscle, the second hip joint muscle and the fourth hip joint muscle with the corresponding flexible connection part; The third hip joint muscle and the fifth hip joint muscle are respectively located on the front and rear sides of the hip joint structure close to the hip bone, and are respectively connected to the outside of the hip bone through a flexible connection portion extending forward and a flexible connection portion extending backward, so as to control the internal rotation and external rotation of the hip joint structure by pulling the corresponding flexible connection portions through the third hip joint muscle and the fifth hip joint muscle.

9. The bionic hip joint according to claim 8, characterized in that: The flexible connection parts of several hip joint muscles all include tendon ropes, and the first hip joint muscle, the second hip joint muscle, the third hip joint muscle, the fourth hip joint muscle and the fifth hip joint muscle are respectively connected to the bionic hip bone through tendon ropes, so as to pull the tendon ropes through a fluid dynamic expansion and contraction mechanism to drive the hip joint structure to perform joint movement relative to the bionic hip bone.

10. A humanoid robot, characterized in that: Comprising the bionic hip joint as described in any one of claims 1-9.

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