Bionic hip joint and robot

Abstract

The invention discloses a bionic hip joint and a robot. The bionic hip joint comprises a bony structure, a clutch decoupling transmission mechanism and a supporting mechanism. The bony structure comprises a humanoid acetabulum and a humanoid femur; the humanoid acetabulum is mounted on the supporting mechanism; one end of the clutch decoupling transmission mechanism is mounted on the supporting mechanism, and the other end of the clutch decoupling transmission mechanism is mounted on the humanoid femur; the clutch decoupling transmission mechanism is used for achieving transmission and interruption of power, and when the power is transmitted, one action of abduction, adduction, external rotation, internal rotation, stretching and buckling is completed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot bionic mechanism design, and particularly relates to a bionic hip joint and a robot. BACKGROUND

[0002] With the rapid development of embodied intelligence and humanoid robot technology, humanoid robots are gradually evolving towards "motion humanization and scene universalization". However, at the present stage, humanoid robots still have problems such as stiff motion, insufficient coordination, unnatural motion transition and the like when performing complex motion tasks such as obstacle avoidance, balance adjustment and posture conversion, the main reason of which is that the lower limb joints have insufficient degrees of freedom, and it is difficult to realize the biological motion characteristics of human joints.

[0003] Among them, the hip joint is the core executive mechanism of the lower limb motion of the humanoid robot, and its configuration characteristics and motion characteristics directly determine the stability of the gait of the robot and the motion flexibility of the lower limb. The human hip joint has a cooperative structure with three active degrees of freedom and three passive degrees of freedom, and can realize flexion and extension, abduction and adduction, external rotation and internal rotation, and multi-directional small translation, thereby ensuring the motion flexibility in walking, turning and complex posture adjustment. Therefore, developing a bionic hip joint with multi-degree-of-freedom cooperative motion characteristics and capable of precise control is one of the key technologies in the design of bionic mechanisms of humanoid robots.

[0004] However, the hip joint of the existing humanoid robot is mostly a three-degree-of-freedom series connection configuration directly driven by a motor. Although it can realize basic motion functions, the degrees of freedom of the mechanism do not match the degrees of freedom of the biological joint of the human body, thereby causing some motion actions to be stiff and difficult to completely imitate natural human motion.

[0005] Since the overall design space of the bionic hip joint is limited, the present application intends to adopt a cable driving mode. The cable driving technology is gradually applied to the design of bionic joints due to its compact structure, flexible arrangement and low inertia and the like. In addition, this mode can simulate the tension transmission characteristics of biological tendons, realize high-efficiency torque output and soft control. However, the multi-degree-of-freedom hip joint based on line driving still has technical difficulties in mechanism design and control accuracy: (1) The clutch and decoupling mechanism is complex, and the design precision requirement is high, and problems such as mutual interference of transmission cables are prone to occur during motion; (2) The cable transmission system with multiple active degrees of freedom has complex wiring, and problems such as uneven tension distribution and decreased transmission stability are prone to occur.

[0006] In summary, the existing hip joint structure of the humanoid robot still has obvious deficiencies in multi-degree-of-freedom coordinated control and motion flexibility. It is urgent to provide a compact and soft motion characteristic line-driven bionic hip joint to improve the bionic motion ability of the humanoid robot. SUMMARY

[0007] The present application aims at solving the problems of the prior art, and provides a bionic hip joint and a robot.

[0008] The present application aims at solving the problems of the prior art, and provides a bionic hip joint and a robot. The bony structure comprises a human-like acetabulum and a human-like femur rotatably installed on the human-like acetabulum; the human-like acetabulum is installed on the supporting mechanism; one end of the clutch decoupling transmission mechanism is installed on the supporting mechanism, and the other end is installed on the human-like femur; The clutch decoupling transmission mechanism comprises a large universal joint, a clutch mechanism installed on the large universal joint, and a connecting rod transmission mechanism installed on the clutch mechanism; the clutch mechanism comprises a central shaft, a flexible body fixing seat, a movable clutch sliding table, a fixed clutch table, and a clutch outer ring sleeve; the connecting rod transmission mechanism comprises a transmission upper rod, a connecting block, and a transmission lower rod; the lower end of the transmission upper rod and the upper end of the transmission lower rod are provided with teeth for meshing connection and are rotatably installed on the connecting block; the upper end of the transmission upper rod is sleeved on the fixed clutch table; The flexible body fixing seat is connected with the movable clutch sliding table through a flexible body, and the lower part of the movable clutch sliding table and the upper part of the fixed clutch table are provided with rubber sheets; the clutch outer ring sleeve is provided with an inclined groove, and the movable clutch sliding table is provided with a cylinder which penetrates into the inclined groove; driving the clutch outer ring sleeve to rotate forward and reverse realizes the close contact and separation of the rubber sheets on the movable clutch sliding table and the fixed clutch table, drives the movable clutch sliding table to rotate forward and reverse, and through the friction torque between the rubber sheets when in close contact, drives the fixed clutch table to rotate, and then through cable transmission, drives the rotation between the transmission upper rod and the transmission lower rod to complete one of the abduction, adduction, external rotation, internal rotation, extension, and flexion actions.

[0009] Further, a plurality of clutch decoupling transmission mechanisms are included, and the number of clutch decoupling transmission mechanisms is set according to the required degree of freedom action, and is at most six; the six clutch decoupling transmission mechanisms correspond to one of the abduction, adduction, external rotation, internal rotation, extension, and flexion actions respectively.

[0010] Further, a plurality of transmission frames are arranged on the supporting mechanism, and the number of transmission frames matches the number of clutch decoupling transmission mechanisms, and are used for installing the clutch decoupling transmission mechanisms; The transmission frame comprises a supporting frame, a bent wheel group mounting seat and two frame upper guide wheel group mounting seats installed on the supporting frame, the bent wheel is rotatably installed on the bent wheel group mounting seat, and the two guide mechanism wheels are rotatably installed on the two frame upper guide wheel group mounting seats; According to the degree of freedom action of the clutch decoupling transmission mechanism mounted on the transmission frame, the transmission frame is divided into an abduction transmission frame, an adduction transmission frame, an external rotation transmission frame, an internal rotation transmission frame, an extension transmission frame and a flexion transmission frame; wherein the abduction transmission frame, the external rotation transmission frame, the internal rotation transmission frame, the extension transmission frame and the flexion transmission frame are vertically installed on the supporting mechanism, and the adduction transmission frame is horizontally installed on the supporting mechanism.

[0011] Further, a wire drive guide mechanism is also included, which is installed on the supporting mechanism; the wire drive guide mechanism is installed with an adduction guide wheel set, an abduction guide wheel set, an extension guide wheel set, a flexion guide wheel set, an external rotation guide wheel set and / or an internal rotation guide wheel set according to the degree of freedom action to be achieved, and is also installed with a two-stage transmission winding set; the two-stage transmission winding set includes a two-stage transmission winding seat and a plurality of two-stage transmission winding columns rotatably installed on the two-stage transmission winding seat; One end of the two upstream transmission cables is fixed and wound on the two-stage transmission winding column, and the other end of the two upstream transmission cables is guided through the adduction guide wheel set, the abduction guide wheel set, the extension guide wheel set, the flexion guide wheel set, the external rotation guide wheel set or the internal rotation guide wheel set according to the degree of freedom action to be achieved, and then guided through the elbow wheel on the transmission frame and the guide mechanism wheel, enters the clutch mechanism, and is finally wound and fixed on the clutch outer ring sleeve.

[0012] Further, a motor is also included, which is used to drive the two-stage transmission winding column to rotate forward / reverse, and to realize the forward / reverse rotation of the clutch outer ring sleeve through the upstream transmission cable.

[0013] Further, the rotation between the transmission upper rod and the transmission lower rod is driven through the cable transmission, which includes: Two transmission rod wheels are rotatably installed on the lower end of the transmission upper rod on the left and right sides, and another two transmission rod wheels are rotatably installed on the upper end of the transmission lower rod on the left and right sides; one end of the two downstream transmission cables is fixed and wound on the fixed clutch table, one of the two downstream transmission cables is guided through the transmission rod wheel on the left side of the transmission upper rod, then wound on the transmission rod wheel on the left side of the transmission lower rod, and finally fixed on the transmission lower rod, and the other is guided through the transmission rod wheel on the right side of the transmission upper rod, then wound on the transmission rod wheel on the right side of the transmission lower rod, and finally fixed on the transmission lower rod.

[0014] Further, the connecting rod transmission mechanism also includes a small universal joint, the lower end of the transmission lower rod is rotatably connected to the small universal joint, and the small universal joint is fixed on the artificial femur.

[0015] Further, the inner retraction guide wheel set and the outer extension guide wheel set each include a first height adjustment seat, two first height adjustment wheels, a wire adjustment seat, a anti-off cover, and four wire passing wheels; the anti-off cover is fixed on the wire adjustment seat; the wire adjustment seat is fixed on the first height adjustment seat and is hollow inside; two wire passing wheels are rotatably installed in the hollow part of the wire adjustment seat, and the other two wire passing wheels are rotatably installed on the upper part of the wire adjustment seat between the wire adjustment seat and the anti-off cover; the two first height adjustment wheels are rotatably installed on the first height adjustment seat; The extension guide wheel set, the flexion guide wheel set, the external rotation guide wheel set, and the internal rotation guide wheel set each include a guide two-section transmission winding group wheel set, a guide mechanism quick-mount wheel set, and a height adjustment wheel set; The guide two-section transmission winding group wheel set includes a transmission winding wheel seat and two transmission winding wheels rotatably installed on the transmission winding wheel seat; The guide mechanism quick-mount wheel set includes a wire adjustment quick-mount seat, four guide mechanism wheels, and a second anti-off cover; the four guide mechanism wheels are rotatably installed between the wire adjustment quick-mount seat and the second anti-off cover; The height adjustment wheel set includes a second height adjustment seat and two second height adjustment wheels rotatably installed on the second height adjustment seat; The two-section transmission winding group includes a two-section transmission winding seat and a plurality of two-section transmission winding columns rotatably installed on the two-section transmission winding seat; The upstream wire adjustment for the outer extension / inner retraction is as follows: one end of each of the two upstream transmission cables is fixed and wound on the two-section transmission winding column; one of the upstream transmission cables is guided through the two wire passing wheels in the hollow part of the wire adjustment seat, then through the two first height adjustment wheels on the first height adjustment seat, then through the elbow wheel and one guide mechanism wheel on the transmission frame, then through one of the through holes between the transmission frame and the large universal joint (two through holes are provided between the transmission frame and the large universal joint), and then through the two large universal joint wire passing wheels on one side of the large universal joint; the other upstream transmission cable is guided through the two wire passing wheels on the upper part of the wire adjustment seat, then through the two first height adjustment wheels on the first height adjustment seat, then through the elbow wheel and the other guide mechanism wheel on the transmission frame, then through the other through hole between the transmission frame and the large universal joint, and then through the two large universal joint wire passing wheels on the other side of the large universal joint; finally, the other ends of the two upstream transmission cables are finally wound and fixed on the clutch outer ring sleeve; The upstream walking lines of external rotation, internal rotation, extension and flexion are specifically as follows: one end of the two upstream transmission cables is fixed and wound on the two-section transmission winding column, one of the upstream transmission cables is guided through a transmission winding wheel of the two-section transmission winding group wheel set, then guided through two guide mechanism wheels on the left side of the guide mechanism quick mounting wheel set, then guided through two second height adjusting wheels on the second height adjusting seat, then guided through a turning wheel and a guide mechanism wheel on the transmission frame, then passes through a through hole between the transmission frame and the large universal joint, and then guided through two large universal joint wire passing wheels on one side of the large universal joint; the other upstream transmission cable is guided through another transmission winding wheel of the two-section transmission winding group wheel set, then guided through two guide mechanism wheels on the right side of the guide mechanism quick mounting wheel set, then guided through two second height adjusting wheels on the second height adjusting seat, then guided through a turning wheel and another guide mechanism wheel on the transmission frame, then passes through another through hole between the transmission frame and the large universal joint, and then guided through two large universal joint wire passing wheels on the other side of the large universal joint; finally, the other end of the two upstream transmission cables is finally wound and fixed on the clutch outer ring sleeve.

[0016] Further, the clutch outer ring sleeve is composed of two mirror-symmetrical shells, and the two mirror-symmetrical shells are detachably assembled into the clutch outer ring sleeve.

[0017] The application further provides a robot provided with the bionic hip joint.

[0018] Compared with the prior art, the application has the following beneficial effects: (1) The bionic hip joint can realize the coordinated cooperation of three active rotation degrees of freedom and three passive translation degrees of freedom, and further realize high-precision spatial movement and flexible posture adjustment, by simulating the complex movement characteristics of human hip joints and the elastic deformation characteristics of cartilage tissue, thereby effectively improving the adaptability and load absorption capacity of the bionic joint under dynamic load and impact working conditions. By introducing the geometric characteristics of human-like bones and the bionic driving layout into the bony structure, the bionic hip joint can highly reproduce the multi-axis coordinated movement characteristics of human hip joints.

[0019] (2) The clutch-type decoupling transmission mechanism based on the cable driving is designed for the cable decoupling transmission problem of the bionic hip joint in the coordinated movement of the active degrees of freedom and the passive degrees of freedom. The mechanism controls the clutch decoupling transmission mechanism through the cable to realize the relative relationship between the upstream transmission cable and the downstream transmission cable, so that the active degrees of freedom can independently complete the corresponding bionic hip joint movement action, and the interference problem caused by the movement coupling of the transmission cable of the passive degrees of freedom is avoided.

[0020] (3) The application adopts a composite transmission scheme combining linear driving and connecting rod mechanism, effectively overcomes the problems of tension loss and power transmission interruption in traditional cable driving system when there is multi-degree-of-freedom motion (especially including translation freedom along the power transmission direction). By introducing a guide connecting rod mechanism in the transmission path, the cable can still maintain stable tension under complex spatial trajectory, thereby ensuring the continuity and transmission accuracy of power output. This scheme not only improves the reliability and response speed of the driving system, but also reduces cable wear and energy loss, providing a stable mechanical foundation for realizing high-efficiency, flexible and highly controllable bionic hip joint motion. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0022] Figure 1 is a three-dimensional schematic diagram of the bionic hip joint described in the application.

[0023] Figure 2 is an exploded view of the bone structure described in the application.

[0024] Figure 3 is a three-dimensional schematic diagram and an exploded view of the clutch decoupling transmission mechanism described in the application.

[0025] Figure 4 is a state switching schematic diagram of the clutch decoupling transmission mechanism described in the application.

[0026] Figure 5 is a three-dimensional schematic diagram of the supporting mechanism described in the application.

[0027] Figure 6 is a three-dimensional exploded schematic diagram of the abduction transmission frame and the extension transmission frame described in the application.

[0028] Figure 7 is a three-dimensional schematic diagram of the wire driving guide mechanism described in the application.

[0029] Figure 8 is a three-dimensional schematic diagram of the adduction guide wheel set described in the application.

[0030] Figure 9 is a wire running plane schematic diagram in the wire driving guide mechanism described in the application.

[0031] Figure 10 is a wire running side schematic diagram in the wire driving guide mechanism described in the application.

[0032] Figure 11 is a schematic diagram of a downstream transmission cable routing according to the present application.

[0033] Figure 12 is a schematic diagram of abduction and adduction motion of a bionic hip joint according to the present application.

[0034] Figure 13 is a schematic diagram of external rotation and internal rotation motion of a bionic hip joint according to the present application.

[0035] Figure 14 is a schematic diagram of extension and flexion motion of a bionic hip joint according to the present application. DETAILED DESCRIPTION

[0036] The present application will be described in detail below with reference to the drawings. The drawings are only used for exemplary illustration, and the representation is only a schematic diagram, not a physical diagram, and should not be understood as a limitation on the present patent. In order to better illustrate the embodiments of the present application, some components in the drawings may be omitted, enlarged or reduced, and do not represent the actual product size. It is understandable to those skilled in the art that some well-known structures and their descriptions in the drawings may be omitted.

[0037] The same or similar reference numerals in the drawings of the embodiments of the present application correspond to the same or similar components; in the description of the present application, it should be understood that if the terms "upper", "upper side", "lower", "lower side", "left", "right", "inner", "inner side", "outer", "outer side" and the like indicate the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationship in the drawings are only used for exemplary illustration, and should not be understood as a limitation on the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0038] In the description of the present application, unless otherwise explicitly specified and limited, if the term "connection" and the like appears to indicate the connection relationship between components, the term should be interpreted broadly, for example, it can be a fixed connection, or a detachable connection, or an integral; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium; it can be the internal communication of two components or the interaction relationship between two components. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] The features in the following embodiments and implementation modes can be combined with each other without conflict.

[0040] Reference is made to Figure 1The application provides a bionic hip joint, which comprises a bone structure 1, a clutch decoupling transmission mechanism 2 and a supporting mechanism 3. Referring to Figure 2 The bone structure 1 comprises a bionic acetabulum 14 and a bionic femur 11 rotatably installed on the bionic acetabulum 14; the bionic acetabulum 14 is installed on the supporting mechanism 3; one end of the clutch decoupling transmission mechanism is installed on the supporting mechanism 3, and the other end is installed on the bionic femur 11. Referring to Figure 3 The clutch decoupling transmission mechanism comprises a large universal joint 21, the large universal joint 21 is installed with a clutch mechanism 22, and the clutch mechanism 22 is installed with a connecting rod transmission mechanism 23; the clutch mechanism 22 comprises a central shaft 224, the central shaft 224 is sleeved with an elastic body fixing seat 221, a motion clutch sliding table 222, a fixed clutch table 225 and a clutch outer ring sleeve 226, and all of them can rotate around the central shaft 224, wherein the elastic body fixing seat 221 and the clutch outer ring sleeve 226 are axially limited through the shaft shoulder cooperation of the central shaft 224; the connecting rod transmission mechanism 23 comprises a transmission upper rod 231, a connecting block 232 and a transmission lower rod 233; the lower end of the transmission upper rod 231 and the upper end of the transmission lower rod 233 are all provided with teeth for meshing connection, and are all rotatably installed on the connecting block 232; the upper end of the transmission upper rod 231 is sleeved on the fixed clutch table 225. The elastic body fixing seat 221 and the motion clutch sliding table 222 are connected through an elastic body, the lower part of the motion clutch sliding table 222 is installed with a rubber sheet 223 on the upper part of the fixed clutch table 225; the clutch outer ring sleeve 226 is provided with an inclined slot, and the motion clutch sliding table 222 is provided with a cylinder (see Figure 4 ), the cylinder penetrates into the inclined slot, drives the clutch outer ring sleeve 226 to rotate forward and reversely, realizes that the rubber sheets 223 on the motion clutch sliding table 222 and the fixed clutch table 225 are close to each other and separated, and drives the motion clutch sliding table 222 to rotate forward and reversely, when close to each other, the fixed clutch table 225 is driven to rotate forward through the friction torque between the rubber sheets 223, and then the rotation between the transmission upper rod 231 and the transmission lower rod 233 is driven through cable transmission, one of the abduction, adduction, external rotation, internal rotation, extension and flexion is completed.

[0041] Wherein, the lower end of the transmission upper rod 231 and the upper end of the transmission lower rod 233 are all provided with teeth for meshing connection, and are all rotatably installed on the connecting block 232, specifically: the circular arc parts of the lower end of the transmission upper rod 231 and the upper end of the transmission lower rod 233 are uniformly arranged with gear structures, and the two are meshed with each other; the lower end of the transmission upper rod 231 and the upper end of the transmission lower rod 233 are connected to the two sides of the upper and lower rod connecting block 232 through bolt hinging respectively, so as to ensure the effective meshing between the gear structures, form a stable rotary joint, realize angle transmission and linkage driving.

[0042] The artificial hip joint 14 is mounted on the supporting mechanism 3, specifically, the supporting mechanism 3 comprises a hip joint fixing platform 31 and a mechanism support frame 32, the mechanism support frame 32 is fixedly installed on the hip joint fixing platform 31 by bolts to fix the overall structure, thereby forming the complete supporting mechanism 3; the artificial hip joint 14 is fixedly installed on the mechanism support frame 32 to support the overall hip joint structure; the supporting mechanism 3 realizes accurate positioning and multi-degree-of-freedom collaborative support of the decoupling transmission mechanism 2 through the symmetrical arrangement and fixed installation of the multi-transmission frame, and provides a reliable installation and stress basis for the complex motion of the bionic hip joint.

[0043] It should be noted that driving the clutch outer ring sleeve 226 to rotate forward or reversely, through the cooperation between the cylinder extending radially outwards on the outer side of the motion clutch sliding table 222 and the inclined groove of the clutch outer ring sleeve 226, the motion clutch sliding table 222 is driven to move axially towards or away from the fixed clutch table 225, so as to realize the close contact or separation of the rubber sheets 223 on the motion clutch sliding table 222 and the fixed clutch table 225.

[0044] In an embodiment, the connecting rod transmission mechanism 23 further comprises a small universal joint 235, the lower end of the transmission lower rod 231 is rotatably connected to the small universal joint 235, and the small universal joint 235 is fixed on the artificial femur 11. For example, the lower end of the transmission lower rod 233 is connected to the small universal joint 235 through a cross shaft to form a small universal joint mechanism with two passive degrees of freedom. This structure can provide flexible adaptive compensation under the action of the main drive, further improving the coordination and motion adaptability of the entire bionic hip joint in complex postures.

[0045] In an embodiment, the large universal joint 21 comprises a large universal joint fixing base 211, four large universal joint wire passing wheels 212, a large universal joint rotating base 213, a closed hole shaft cover 214 and an open hole shaft cover 215; the large universal joint fixing base 211 is fixedly connected to the transmission frame by bolts; two large universal joint wire passing wheels 212 are arranged on the two sides of the large universal joint fixing base 211, the two ends of the upstream transmission cable entering the clutch mechanism are guided through the two large universal joint wire passing wheels 212 on the two sides of the large universal joint fixing base 211, and finally wound on the clutch outer ring sleeve 226. The central shaft 224 is installed on the large universal joint fixing base 211 through the closed hole shaft cover 214 and the open hole shaft cover 215. It can be understood that the large universal joint 21 cooperates with the clutch mechanism 22 to realize two movable degrees of freedom, and provides a multi-axis rotation basis for the bionic hip joint.

[0046] The elastic body fixing seat 221 and the motion clutch sliding table 222 are uniformly provided with buckle structures of the same shape and opposite directions, which are used for fixing the elastic body. When the motion clutch sliding table 222 moves axially in the direction of approaching the fixed clutch table 225, the elastic potential energy is stored to realize the reset of the motion clutch sliding table 222. Exemplarily, the fixed elastic body is a rubber ring, and the buckle structures of the two are bound by the rubber ring.

[0047] In an embodiment, the clutch outer ring sleeve 226 is composed of two mirror-symmetrical housings which are detachably assembled into the clutch outer ring sleeve 226. Exemplarily, the closed structure is locked by the outer ring embedding block 227, so that the lower part of the motion clutch sliding table 222, the two rubber sheets 223 and the upper part of the fixed clutch table 225 are installed therein, and the axial movement of the motion clutch sliding table 222 in the clutch outer ring sleeve 226 and the axial movement of the fixed clutch table 225 are limited. Since the clutch mechanism 22 needs to install the internal components such as the motion clutch sliding table 222, the rubber sheet 223 and the fixed clutch table 225 first in the assembly process, and then the external sleeve structure can be assembled, the two half structure design and the combination by the outer ring embedding block 227 can effectively avoid the structural interference problem of the clutch outer ring sleeve 226 in the assembly process. At the same time, this scheme also provides the convenience of quick disassembly for the subsequent disassembly, maintenance and repair of the clutch decoupling transmission mechanism 2.

[0048] In an embodiment, a plurality of clutch decoupling transmission mechanisms 2 are included, and the number of clutch decoupling transmission mechanisms 2 is set according to the required degree of freedom action. Each clutch decoupling transmission mechanism 2 corresponds to one of abduction, adduction, external rotation, internal rotation, extension and flexion to realize the degree of freedom action.

[0049] Preferably, two clutch decoupling transmission mechanisms (2) for controlling the same degree of freedom motion (abduction / adduction, external rotation / internal rotation, extension / flexion) are symmetrically arranged on both sides of the supporting mechanism (3) to form a symmetric driving structure.

[0050] Exemplarily, six clutch decoupling transmission mechanisms 2 are arranged to realize one of abduction, adduction, external rotation, internal rotation, extension and flexion. The humanoid femur 11 realizes three rotational degrees of freedom of abduction / adduction, external rotation / internal rotation and extension / flexion in the humanoid acetabulum 14 through the clutch decoupling transmission mechanism 2, so as to realize the main motion function corresponding to the human hip joint.

[0051] In an embodiment, a plurality of transmission frames are arranged on the supporting mechanism 3, and the number of transmission frames matches the number of clutch decoupling transmission mechanisms 2, which are used for installing the clutch decoupling transmission mechanisms 2. The transmission frame comprises a support frame, a turning wheel group mounting seat mounted on the support frame by bolts, and two frame-mounted guide wheel group mounting seats, the turning wheel is rotatably mounted on the turning wheel group mounting seat, and the two guide mechanism wheels are rotatably mounted on the two frame-mounted guide wheel group mounting seats; According to the freedom action of the clutch decoupling transmission mechanism 2 mounted on the transmission frame, the transmission frame is divided into abduction transmission frame 35, adduction transmission frame 38, external rotation transmission frame 37, internal rotation transmission frame 33, extension transmission frame 36, and flexion transmission frame 34; the support mechanism 3 comprises an acetabular fixed platform 31, the abduction transmission frame 35, the adduction transmission frame 38, the external rotation transmission frame 37, the internal rotation transmission frame 33, the extension transmission frame 36, and the flexion transmission frame 34 are fixedly installed on the peripheral plane of the acetabular fixed platform 31 by bolts, and are used as the installation platform of the large universal joint fixed base 211 in the clutch decoupling transmission mechanism 2, so that the spatial distribution and rigid support of the multidirectional driving unit are realized.

[0052] Preferably, the abduction transmission frame 35, the external rotation transmission frame 37, the internal rotation transmission frame 33, the extension transmission frame 36, and the flexion transmission frame 34 are vertically installed on the support mechanism 3, and the adduction transmission frame 38 is horizontally installed on the support mechanism 3.

[0053] Exemplarily, the structures of the abduction transmission frame 35, the external rotation transmission frame 37, the internal rotation transmission frame 33, the extension transmission frame 36, and the flexion transmission frame 34 are consistent, and refer to the abduction transmission frame 35. Figure 6 Taking the abduction transmission frame 35 as an example, the abduction transmission frame 35 comprises an abduction support frame 351, a first whole-line turning wheel group mounting seat 352, a first turning wheel 353, two first frame-mounted guide wheel group seats 354, and two first guide mechanism wheels 355, the first whole-line turning wheel group mounting seat 352 and the two first frame-mounted guide wheel group seats 354 are fixed on the abduction support frame 351, and the two first guide mechanism wheels 355 are rotatably mounted on the two first frame-mounted guide wheel group seats 354; the adduction transmission frame 38 is different from the abduction transmission frame 35, the adduction transmission frame 38 comprises an adduction support frame 381, a second whole-line turning wheel group mounting seat 382, a second turning wheel 383, two second frame-mounted guide wheel group seats 384, and two second guide mechanism wheels 385, the second whole-line turning wheel group mounting seat 382 and the two second frame-mounted guide wheel group seats 384 are fixed on the adduction support frame 381, and the two second guide mechanism wheels 385 are rotatably mounted on the two second frame-mounted guide wheel group seats 384; from Figure 6It can be seen that the structures of the abduction support frame 351 and the adduction support frame 381 are different, and the abduction support frame 351 and the adduction support frame 381 are both mounted on the acetabulum fixing platform 31 (the support mechanism 3 comprises the acetabulum fixing platform 31), but the mounting surfaces are different, wherein the abduction transmission frame 35 is vertically mounted on the acetabulum fixing platform 31, used for providing vertical space for the abduction movement and avoiding interference between the clutch decoupling transmission mechanism 2 and the abduction transmission frame 35; the adduction transmission frame 38 is horizontally mounted on the acetabulum fixing platform 31, used for providing sufficient mounting space for the adduction movement and avoiding interference with the adduction transmission frame 38.

[0054] In an embodiment, the connection sides of the artificial femur 11 and the artificial acetabulum 14 are both irregular curved surfaces; The bone structure 1 further comprises an artificial femur cartilage 12 and an artificial acetabulum cartilage 13; the artificial femur cartilage 12 and the artificial acetabulum cartilage 13 are both made of flexible elastic materials, are respectively provided with irregular curved surfaces corresponding to the artificial femur 11 and the artificial acetabulum 14, are respectively connected with the artificial femur 11 and the artificial acetabulum 14 in a close manner, and do not produce relative movement, used for simulating the deformation characteristics of human joint cartilage. The artificial femur 11 is in contact with the artificial acetabulum cartilage 13 via the artificial femur cartilage 12, to form a flexible variable contact space, which can passively produce a small range of all-directional translational degrees of freedom when the artificial femur 11 is disturbed by external force, thereby improving the compliance and buffering performance of the bionic hip joint under complex stress working conditions.

[0055] Specifically, the contact surface of the artificial femur 11 and the artificial femur cartilage 12 adopts a profiling design based on the original surface of the human femur. It can be understood that the side surface of the artificial femur cartilage 12 in contact with the artificial femur 11 is an irregular curved surface matched with the original surface of the human femur, to realize close contact and avoid relative sliding between the two, thereby improving the contact stability and structural simulation degree. The contact surface of the artificial acetabulum 14 and the artificial acetabulum cartilage 13 also adopts a profiling design based on the surface of the human hip bone after cutting. It can be understood that the surface of the artificial acetabulum cartilage 13 in contact with the artificial femur 11 is an irregular curved surface structure matched with the shape of the surface of the human hip bone after cutting, to ensure close contact and no relative sliding movement between the artificial acetabulum 14 and the artificial acetabulum cartilage 13, and realize high-fitting human bionic effect.

[0056] In an embodiment, a wire drive guide mechanism 4 is further included, which is installed on the support mechanism 3; the wire drive guide mechanism 4 is installed with an adduction guide wheel set 42, an abduction guide wheel set 44, an extension guide wheel set, a flexion guide wheel set, an external rotation guide wheel set, and / or an internal rotation guide wheel set according to the required degree of freedom action, and is further installed with a two-stage transmission winding set 43; the two-stage transmission winding set 43 includes a two-stage transmission winding seat 432 and a plurality of two-stage transmission winding columns 431 rotatably installed on the two-stage transmission winding seat 432; One end of the two upstream transmission cables is fixed and wound on the two-stage transmission winding column 431, and the other end of the two upstream transmission cables is guided through the adduction guide wheel set 42, the abduction guide wheel set 44, the extension guide wheel set, the flexion guide wheel set, the external rotation guide wheel set, or the internal rotation guide wheel set according to the required degree of freedom action, and then guided through the turning wheels and guide mechanism wheels on the transmission frame, enters the clutch mechanism 22, and is finally wound and fixed on the clutch outer ring sleeve 226.

[0057] In an embodiment, a motor is further included, which is used to drive the two-stage transmission winding column to rotate forward / reverse, and transmits power through the upstream transmission cables to realize the forward / reverse rotation of the clutch outer ring sleeve 226.

[0058] In an embodiment, the rotation between the transmission upper rod 231 and the transmission lower rod 233 is driven by cable transmission, which includes: As shown in Figure 11 , two transmission rod wheels 234 are rotatably installed on the left and right sides of the lower end of the transmission upper rod 231, and the other two transmission rod wheels 234 are rotatably installed on the left and right sides of the upper end of the transmission lower rod 233; one end of the two downstream transmission cables is fixed and wound on the fixed clutch table 225, one of the downstream transmission cables is guided through the transmission rod wheel 234 on the left side of the transmission upper rod 231, then wound on the transmission rod wheel 234 on the left side of the transmission lower rod 233, and finally fixed on the transmission lower rod 233, and the other is guided through the transmission rod wheel 234 on the right side of the transmission upper rod 231, then wound on the transmission rod wheel 234 on the right side of the transmission lower rod 233, and finally fixed on the transmission lower rod 233. When the fixed clutch table 225 rotates forward, the rotation between the transmission upper rod 231 and the transmission lower rod 233 is driven by the power of the downstream transmission cables to complete one of the abduction, adduction, external rotation, internal rotation, extension, and flexion actions. In an embodiment, referring to Figure 1 and Figure 3 , when the fixed clutch table 225 rotates forward, the left downstream transmission cable connected to the lower end of the transmission upper rod 231 and the upper end of the transmission lower rod 233 is pulled back, and the right downstream transmission cable connected to the lower end of the transmission upper rod 231 and the upper end of the transmission lower rod 233 is released, so that the included angle between the transmission upper rod 231 and the transmission lower rod 233 becomes smaller, and one of the abduction, adduction, external rotation, internal rotation, extension, and flexion actions is completed, for example, as shown inFigure 12 - TU 14, respectively, through the two symmetrical groups of transmission upper rod 231 and transmission lower rod 233 between, complete abduction / adduction, external rotation / internal rotation, extension / flexion three degrees of freedom action.

[0059] In an embodiment, the adduction guide wheel group 42 and the abduction guide wheel group 44 each include a first height adjustment seat, two first height adjustment wheels, a wire adjustment seat, a anti-off cap, four wire passing wheels; the anti-off cap is fixed on the wire adjustment seat; the wire adjustment seat is fixed on the first height adjustment seat, which is hollow inside, two wire passing wheels are rotatably installed in the hollow part of the wire adjustment seat, and the other two wire passing wheels are rotatably installed on the upper part of the wire adjustment seat between the wire adjustment seat and the anti-off cap; two first height adjustment wheels are rotatably installed on the first height adjustment seat; The extension guide wheel group, the flexion guide wheel group, the external rotation guide wheel group and the internal rotation guide wheel group each include a guide two-section transmission winding group wheel group 47, a guide mechanism quick-mount wheel group and a height adjustment wheel group 41; The guide two-section transmission winding group wheel group 47 includes a transmission winding wheel seat and two transmission winding wheels rotatably installed on the transmission winding wheel seat; The guide mechanism quick-mount wheel group includes a wire quick-mount seat, four guide mechanism wheels and a second anti-off cap; the four guide mechanism wheels are rotatably installed between the wire quick-mount seat and the second anti-off cap; The height adjustment wheel group 41 includes a second height adjustment seat and two second height adjustment wheels rotatably installed on the second height adjustment seat; The two-section transmission winding group 43 includes a two-section transmission winding seat 432 and a plurality of two-section transmission winding columns 431 rotatably installed on the two-section transmission winding seat 432; The upstream wire of abduction / adduction is specifically as follows: one end of the two upstream transmission cables is fixed and wound on the two-section transmission winding column 431, wherein one of the upstream transmission cables is guided through the two wire passing wheels in the hollow part of the wire adjustment seat, then guided through the two first height adjustment wheels on the first height adjustment seat, then guided through the elbow wheel on the transmission frame and one guide mechanism wheel, then passes through a through hole between the transmission frame and the large universal joint 21, and then guided through the two large universal joint wire passing wheels on one side of the large universal joint 21; the other upstream transmission cable is guided through the two wire passing wheels on the upper part of the wire adjustment seat, then guided through the two first height adjustment wheels on the first height adjustment seat, then guided through the elbow wheel on the transmission frame and the other guide mechanism wheel, then passes through another through hole between the transmission frame and the large universal joint 21, and then guided through the two large universal joint wire passing wheels on the other side of the large universal joint 21; finally, the other end of the two upstream transmission cables is wound on the clutch outer ring sleeve 226.

[0060] Referring to Figure 9The upstream walking line of abduction / adduction is as follows: one end of each of the two upstream transmission cables is fixed and wound on the second transmission winding column 431, one of the upstream transmission cables is guided through a transmission winding wheel of the second transmission winding set wheel group 47, then guided through two guide mechanism wheels on the left side of the quick mounting wheel group of the guide mechanism, then guided through two second height adjusting wheels on the second height adjusting seat, then guided through a turning wheel on the transmission frame and a guide mechanism wheel, then passes through a through hole between the transmission frame and the large universal joint 21, and then guided through two large universal joint passing wheels on one side of the large universal joint 21; the other upstream transmission cable is guided through another transmission winding wheel of the second transmission winding set wheel group 47, then guided through two guide mechanism wheels on the right side of the quick mounting wheel group of the guide mechanism, then guided through two second height adjusting wheels on the second height adjusting seat, then guided through a turning wheel on the transmission frame and another guide mechanism wheel, then passes through another through hole between the transmission frame and the large universal joint 21, and then guided through two large universal joint passing wheels on the other side of the large universal joint 21; and finally the other end of the two upstream transmission cables is wound and fixed on the clutch outer ring sleeve 226.

[0061] In the upstream walking line of abduction / adduction, the corresponding upstream transmission cables are wound on the same second transmission winding column 431; in the upstream walking line of external rotation / internal rotation, the corresponding upstream transmission cables are wound on the same second transmission winding column 431; and in the upstream walking line of extension / flexion, the corresponding upstream transmission cables are wound on the same second transmission winding column 431; if the actions of abduction / adduction, external rotation / internal rotation and extension / flexion are needed to be completed, the second transmission winding seat 432 needs to be rotatably installed with three second transmission winding columns 431.

[0062] The first height adjusting degree, the second height adjusting wheel and the turning wheel described above are double-groove pulleys, each groove corresponds to one upstream transmission cable, so as to prevent the two upstream transmission cables from contacting each other.

[0063] For example, referring to Figure 7 The wire driving guide mechanism 4 is installed with the adduction guide wheel group 42, the abduction guide wheel group 44, the extension guide wheel group, the flexion guide wheel group, the external rotation guide wheel group, the internal rotation guide wheel group and the second transmission winding set 43.

[0064] The adduction guide wheel group 42 and the abduction guide wheel group 44 have the same structure; for example Figure 8As shown, taking the inward retraction guide wheel set 42 as an example, the inward retraction guide wheel set 42 comprises an inward retraction height adjustment seat 421, an inward retraction wire adjustment seat 422, an inward retraction anti-escape cover 423, four inward retraction wire wheels 424, and two inward retraction height adjustment wheels 425. The two inward retraction height adjustment wheels 425 are rotatably installed on the inward retraction height adjustment seat 421 (for example, the inward retraction height adjustment wheels 425 are sleeved on a shaft (an optical shaft), the optical shaft is installed on the inward retraction height adjustment seat 421, and the inward retraction height adjustment wheels 425 are rotatably installed. The rotatable installation of other wheels in the embodiment can be installed by referring to the same method). The two inward retraction wire wheels 424 are rotatably installed on the hollow part of the wire adjustment seat through a shaft, and the other two wire wheels are rotatably installed on the upper part of the wire adjustment seat through a shaft. The inward retraction anti-escape cover 423 is fixedly installed on the inward retraction wire adjustment seat 422 by screws, so as to limit the axial position of the inward retraction wire wheel 424 on the shaft, thereby forming a stable wire passing mechanism.

[0065] Among them, the extension guide wheel set, the flexion guide wheel set, the external rotation guide wheel set and the internal rotation guide wheel set have the same structure. Taking the external rotation guide wheel set as an example, the external rotation guide wheel set comprises a guide two-section transmission wire winding wheel set 47, an external rotation guide mechanism quick-mount wheel set 46 and a height adjustment wheel set 41. The external rotation guide mechanism quick-mount wheel set 46 comprises an external rotation anti-escape cover 461, an external rotation wire quick-mount seat 462 and four external rotation guide mechanism wheels 463. The four external rotation guide mechanism wheels 463 are rotatably installed on the external rotation wire quick-mount seat 462 through a shaft, and the external rotation anti-escape cover 461 is fixedly installed on the external rotation wire quick-mount seat 462 by screws, so as to limit the axial position of the external rotation guide mechanism wheel 463 on the shaft. The extension guide mechanism quick-mount wheel set 45, the internal rotation guide mechanism quick-mount wheel set 48 and the flexion guide mechanism quick-mount wheel set 49 have the same structure as the external rotation guide mechanism quick-mount wheel set 46, and will not be described here.

[0066] Preferably, the extension guide wheel set and the flexion guide wheel set are symmetrically installed on the acetabular fixation platform 31, and the external rotation guide wheel set and the internal rotation guide wheel set are symmetrically installed on the acetabular fixation platform 31.

[0067] Preferably, the height adjustment wheel set 41 comprises a height adjustment seat 412 and two rotatable height adjustment wheels 411 installed on the height adjustment seat 412. The height adjustment wheel set 41 is provided with two height adjustment wheels 411, and forms a height difference on the acetabular fixation platform 31. Through the height difference, appropriate torsional moment is provided for the cable driving the extension / flexion and external rotation / internal rotation degrees of freedom when entering the support mechanism 3 through the extension / flexion guide mechanism quick-mount wheel set and the external rotation / internal rotation guide mechanism quick-mount wheel set, so as to effectively prevent the cable from slipping off.

[0068] It should be noted that the installation height of the low-position wheel in the height adjustment wheel set 41 is used to reasonably configure the installation height of the extension / flexion guide mechanism quick-mount wheel set, the external rotation / internal rotation guide mechanism quick-mount wheel set, and the guide two-stage transmission winding set wheel set fixedly mounted on the acetabular fixation platform 31, so that the overall wiring structure is more compact and orderly; the installation height of the high-position wheel is used to optimize the incident angle of the upstream transmission cable when entering the internal rotation transmission frame 33, the flexion transmission frame 34, the extension transmission frame 36, and the external rotation transmission frame 37 in the support mechanism 3, thereby avoiding interference and collision between the cable and the support mechanism 3.

[0069] Preferably, the extension / flexion guide mechanism quick-mount wheel set and the external rotation / internal rotation guide mechanism quick-mount wheel set in the wire drive guide mechanism 4 have the characteristics of a large number of parts, small part sizes, and unified fixing modes, and are modularly assembled in a quick-mount structure mode. Specifically, the installation process includes: first, fixing and mounting a plurality of external rotation / internal rotation guide mechanism wheels on the external rotation / internal rotation wire routing quick-mount seat; then fixing and mounting the external rotation / internal rotation anti-falling cover on the external rotation / internal rotation wire routing quick-mount seat to form an integrated structure; and finally fixing and mounting the integrated structure on the acetabular fixation platform 31 to complete the assembly. It can be understood that the extension / flexion guide mechanism quick-mount wheel set has the same functions and structural forms as the external rotation / internal rotation guide mechanism quick-mount wheel set, and the installation mode is also consistent with the above.

[0070] In this embodiment, the adduction guide wheel set 42 and the abduction guide wheel set 44 adopt a comprehensive wire routing scheme that combines the functions of the extension / flexion guide mechanism quick-mount wheel set and the adjacent height adjustment wheel set 41, or the functions of the external rotation / internal rotation guide mechanism quick-mount wheel set and the adjacent height adjustment wheel set 41. This scheme integrates the height adjustment function and the wire routing function in the same mechanism, significantly improving the compactness of the overall structure and the rationality of the wiring.

[0071] This design scheme is closely related to the orientation arrangement of the abduction / adduction movement freedom. As shown in Figure 5 The transmission frames that control the extension / flexion and external rotation / internal rotation movements are arranged on the left and right sides of the acetabular fixation platform 31, while the transmission frame that controls the abduction / adduction movement is arranged on the upper and lower sides of the acetabular fixation platform 31. Combined with the structural arrangement characteristics of the two-stage transmission winding set 43, the transmission cable routing of the abduction / adduction control is perpendicular to the two-stage transmission winding column 431. If the same plane of the extension / flexion or external rotation / internal rotation is used for the wire routing scheme, the structure interference problem of the transmission cable overlapping in the plane will inevitably occur; to solve this problem, the adduction guide wheel set 42 and the abduction guide wheel set 44 are arranged on the upper and lower sides of the acetabular fixation platform 31, and combined with the installation position of the two-stage transmission winding column 431, the comprehensive wire routing scheme as shown in Figure 10The upper side flying wire routing scheme is shown. The scheme makes full use of the upper side space of the acetabular fixation platform 31, thereby effectively avoiding the problems of insufficient platform space and cable interference caused by the conventional extension / flexion and external rotation / internal rotation routing methods.

[0072] Further explanation of the working principle of the clutch mechanism: when the clutch outer sleeve 226 rotates forward (clockwise), the inclined groove of the moving clutch sliding table 222 will drive the moving clutch sliding table 222 to rotate forward, and at the same time, the moving clutch sliding table 222 moves axially towards the fixed clutch table 225, so that the rubber sheets 223 on the moving clutch sliding table 222 and the fixed clutch table 225 are in close contact and are continuously pressed during the continuous forward rotation of the clutch outer sleeve 226. Through the friction torque between the rubber sheets 223, the fixed clutch table 225 can be driven to rotate forward, thereby driving the downstream transmission cable wound on the fixed clutch table 225 to complete power transmission, realizing the power engagement (transmission) function; when the clutch outer sleeve 226 reverses (counterclockwise), the inclined groove of the moving clutch sliding table 222 will drive the moving clutch sliding table 222 to reverse, and at the same time, the moving clutch sliding table 222 moves axially away from the fixed clutch table 225, so that the rubber sheets 223 on the moving clutch sliding table 222 and the fixed clutch table 225 are separated. At this time, the counterclockwise rotation of the clutch outer sleeve 226 only drives the moving clutch sliding table 222 and the rubber sheets 223 installed thereon to rotate around the center shaft 224, and since there is no friction contact between the two rubber sheets 223, no friction torque is formed, and finally the power is disconnected (disengaged).

[0073] The application also provides a robot provided with the bionic hip joint.

[0074] The above examples are only used to illustrate the design idea and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and implement it, and the protection scope of the present application is not limited to the above examples. Therefore, any equivalent changes or modifications made according to the principles and design ideas disclosed by the present application are within the protection scope of the present application.

Claims

1. A bionic hip joint, characterized in that, Includes skeletal structure (1), clutch decoupling transmission mechanism (2), and support mechanism (3); The bony structure (1) includes a humanoid acetabulum (14) and a humanoid femur (11) rotatably mounted on the humanoid acetabulum (14); the humanoid acetabulum (14) is mounted on a support mechanism (3); one end of the clutch decoupling transmission mechanism is mounted on the support mechanism (3), and the other end is mounted on the humanoid femur (11); The clutch decoupling transmission mechanism includes a large universal joint (21), on which a clutch mechanism (22) is mounted, and on which a linkage transmission mechanism (23) is mounted; the clutch mechanism (22) includes a central shaft (224), on which an elastic body fixing seat (221), a moving clutch slide (222), a fixed clutch platform (225), and a clutch outer ring sleeve (226) are fitted; the linkage transmission mechanism (23) includes an upper transmission rod (231), a connecting block (232), and a lower transmission rod (233); the lower end of the upper transmission rod (231) and the upper end of the lower transmission rod (233) are both provided with teeth for meshing connection, and both can be rotatably mounted on the connecting block (232); the upper end of the upper transmission rod (231) is fitted on the fixed clutch platform (225); The elastic body fixed seat (221) and the moving clutch slide (222) are connected by an elastic body. The lower part of the moving clutch slide (222) and the upper part of the fixed clutch table (225) are equipped with rubber sheets (223). The clutch outer ring sleeve (226) is provided with a groove, and the moving clutch slide (222) is provided with a cylinder, which passes through the groove. The clutch outer ring sleeve (226) is driven to rotate forward and reverse, so that the rubber sheets (223) on the moving clutch slide (222) and the fixed clutch table (225) are tightly attached and separated, and the moving clutch slide (222) is driven to rotate forward and reverse. When tightly attached, the friction torque between the rubber sheets (223) drives the fixed clutch table (225) to rotate. Then, through the cable transmission, the rotation between the transmission upper rod (231) and the transmission lower rod (233) is driven to complete one of the actions of abduction, retraction, external rotation, internal rotation, extension, and flexion.

2. The bionic hip joint according to claim 1, characterized in that, The connecting sides of the artificial femur (11) and the artificial acetabulum (14) are both irregular curved surfaces; The bony structure (1) also includes a human-like femoral cartilage (12) and a human-like acetabular cartilage (13); the human-like femoral cartilage (12) and the human-like acetabular cartilage (13) are both made of flexible elastic material and have irregular curved surfaces corresponding to the human-like femur (11) and the human-like acetabulum (14), respectively, and are closely connected to the human-like femur (11) and the human-like acetabulum (14), and the two do not produce relative movement.

3. The bionic hip joint according to claim 1, characterized in that, It includes several clutch decoupling transmission mechanisms (2). The number of clutch decoupling transmission mechanisms (2) is set according to the number of degrees of freedom to be realized. Each clutch decoupling transmission mechanism (2) corresponds to one of the following actions: abduction, retraction, external rotation, internal rotation, extension, and flexion. The support mechanism (3) is provided with several transmission frames, the number of which matches the number of clutch decoupling transmission mechanisms (2), for installing clutch decoupling transmission mechanisms (2). The transmission frame includes a support frame, a turning wheel assembly mounting base mounted on the support frame, and two frame-mounted guide wheel assembly mounting bases. The turning wheel is rotatably mounted on the turning wheel assembly mounting base, and the two guide mechanism wheels are rotatably mounted on the two frame-mounted guide wheel assembly mounting bases respectively. According to the degree of freedom of the transmission mechanism (2) installed on the transmission frame, the transmission frame is divided into an outward transmission frame (35), an inward transmission frame (38), an outward rotation transmission frame (37), an inward rotation transmission frame (33), an extension transmission frame (36), and a buckling transmission frame (34); among them, the outward transmission frame (35), the outward rotation transmission frame (37), the inward rotation transmission frame (33), the extension transmission frame (36), and the buckling transmission frame (34) are vertically installed on the support mechanism (3), and the inward transmission frame (38) is horizontally installed on the support mechanism (3).

4. A bionic hip joint according to claim 3, characterized in that, It also includes a wire-driven guide mechanism (4), which is mounted on a support mechanism (3); the wire-driven guide mechanism (4) is equipped with an inward guide wheel assembly (42), an outward guide wheel assembly (44), an extension guide wheel assembly, a buckling guide wheel assembly, an outward rotation guide wheel assembly and / or an inward rotation guide wheel assembly, and a two-stage drive winding assembly (43) is also installed, according to the required degrees of freedom of movement; the two-stage drive winding assembly (43) includes a two-stage drive winding seat (432) and a plurality of two-stage drive winding columns (431) rotatably mounted on the two-stage drive winding seat (432). One end of the two upstream transmission cables is fixed on the two-stage transmission winding column (431) and wound around. The other end of the two upstream transmission cables, according to the required degrees of freedom, is guided by the inward guide wheel group (42), the outward guide wheel group (44), the extension guide wheel group, the bending guide wheel group, the external rotation guide wheel group or the internal rotation guide wheel group, and then guided by the turning wheel and the guide mechanism wheel on the transmission frame, and enters the clutch mechanism (22), and finally wound around and fixed on the clutch outer ring sleeve (226).

5. A bionic hip joint according to claim 4, characterized in that, It also includes a motor, which drives the two-stage transmission winding column to rotate forward / reverse, and is transmitted via the upstream transmission cable to realize the forward / reverse rotation of the clutch outer ring sleeve (226).

6. A bionic hip joint according to claim 1, characterized in that, The rotation between the upper transmission rod (231) and the lower transmission rod (233) is driven by cable transmission, including: Two transmission levers (234) are rotatably mounted on the left and right sides of the lower end of the upper transmission rod (231), and two other transmission levers (234) are rotatably mounted on the left and right sides of the upper end of the lower transmission rod (233). One end of each of the two downstream transmission cables is fixed and wound around the fixed clutch platform (225). One of the downstream transmission cables is guided by the transmission lever (234) on the left side of the upper transmission rod (231), then wound around the transmission lever (234) on the left side of the lower transmission rod (233), and finally fixed on the lower transmission rod (233). The other cable is guided by the transmission lever (234) on the right side of the upper transmission rod (231), then wound around the transmission lever (234) on the right side of the lower transmission rod (233), and finally fixed on the lower transmission rod (233).

7. A bionic hip joint according to claim 1, characterized in that, The linkage mechanism (23) also includes a small universal joint (235), the lower end of the transmission lower rod (231) is rotatably connected to the small universal joint (235), and the small universal joint (235) is fixed on the humanoid femur (11).

8. A bionic hip joint according to claim 4, characterized in that, Both the inward guide wheel assembly (42) and the outward guide wheel assembly (44) include a first height adjustment seat, two first height adjustment wheels, a cable routing adjustment seat, an anti-detachment cover, and four cable guide wheels; the anti-detachment cover is fixed on the cable routing adjustment seat; the cable routing adjustment seat is fixed on the first height adjustment seat and is hollow inside, with two cable guide wheels rotatably mounted on the hollow part of the cable routing adjustment seat, and the other two cable guide wheels rotatably mounted on the upper part of the cable routing adjustment seat, located between the cable routing adjustment seat and the anti-detachment cover; the two first height adjustment wheels are rotatably mounted on the first height adjustment seat; The extension guide wheel assembly, the buckling guide wheel assembly, the external rotation guide wheel assembly, and the internal rotation guide wheel assembly all include a two-stage guide drive winding wheel assembly, a guide mechanism quick-release wheel assembly, and a height adjustment wheel assembly; The guide two-stage drive winding wheel set includes a drive winding wheel seat and two drive winding wheels rotatably mounted on the drive winding wheel seat; The guide mechanism quick-release wheel assembly includes a cable routing quick-release base, four guide mechanism wheels, and a second anti-detachment cover; the four guide mechanism wheels are rotatably mounted between the cable routing quick-release base and the second anti-detachment cover; The height adjustment wheel assembly (41) includes a second height adjustment seat and two second height adjustment wheels rotatably mounted on the second height adjustment seat; The two-stage drive winding assembly (43) includes a two-stage drive winding base (432) and several two-stage drive winding columns (431) rotatably mounted on the two-stage drive winding base (432). The upstream cable routing for outward / inward movement is as follows: one end of each of the two upstream transmission cables is fixed and wound around the two-section transmission winding post (431). One of the upstream transmission cables is guided by two guide wheels in the hollow part of the cable routing adjustment seat, then by two first height adjustment wheels on the first height adjustment seat, then by a turning wheel and a guide mechanism wheel on the transmission frame, then through a through hole between the transmission frame and the large universal joint (21), and through two large universal joint guide wheels on one side of the large universal joint (21); the other upstream transmission cable is guided by two guide wheels on the upper part of the cable routing adjustment seat, then by two first height adjustment wheels on the first height adjustment seat, then by a turning wheel and another guide mechanism wheel on the transmission frame, then through another through hole between the transmission frame and the large universal joint (21), and through two large universal joint guide wheels on the other side of the large universal joint (21); finally, the other ends of the two upstream transmission cables are wound and fixed on the clutch outer ring sleeve (226). The upstream cable routing, characterized by external rotation, internal rotation, extension, and bending, is as follows: one end of each of the two upstream transmission cables is fixed and wound around the two-stage transmission winding post (431). One of the upstream transmission cables is guided by a transmission winding wheel of the guide two-stage transmission winding wheel assembly (47), then by two guide mechanism wheels on the left side of the guide mechanism quick-release wheel assembly, then by two second height adjustment wheels on the second height adjustment seat, then by a turning wheel and a guide mechanism wheel on the transmission frame, then through a through hole between the transmission frame and the large universal joint (21), and then through two guide mechanism wheels on one side of the large universal joint (21). The large universal joint guide wheel; another upstream transmission cable is guided by another transmission winding wheel of the guide two-stage transmission winding wheel group (47), then by two guide mechanism wheels on the right side of the guide mechanism quick-release wheel group, then by two second height adjustment wheels on the second height adjustment seat, then by the turning wheel and another guide mechanism wheel on the transmission frame, then through another through hole between the transmission frame and the large universal joint (21), and through two large universal joint guide wheels on the other side of the large universal joint (21); finally, the other ends of the two upstream transmission cables are finally wrapped and fixed on the clutch outer ring sleeve (226).

9. A bionic hip joint according to claim 1, characterized in that, The clutch outer ring sleeve (226) is composed of two mirror-symmetric housings, which are detachably assembled into the clutch outer ring sleeve (226).

10. A robot, characterized in that, The device is equipped with a bionic hip joint as described in any one of claims 1-9.

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