Flow and flow direction control system suitable for joint swing of hydrodynamic humanoid robot

Abstract

The utility model relates to the field of valve control, and discloses a flow and flow direction control system (control system for short) suitable for joint swing of a hydrodynamic humanoid robot. According to the control system, a rotary flow control valve technology is applied, and the flow and the flow direction of joint swing of the hydrodynamic force humanoid robot are controlled by controlling the rotating direction and the rotating angle of a stepping motor of a rotary flow control valve. The control system mainly comprises a stepping motor of the rotary flow control valve, a driver, a single-chip microcomputer controller, a rotation angle position signal device and a humanoid robot computer control center. According to the control system, the rotating angle range of the stepping motor is controlled to swing between the center of the opening D and the center of the opening F in the center of the outlet B by utilizing the position characteristics of the opening and the outlet of the rotary flow control valve and the rotating characteristic of the stepping motor, grading is carried out according to the flow change, and the control program is simplified. The control system adopts a rotation angle position signal device to carry out closed-loop control.

Description

Technical Field

[0001] The utility model relates to the field of valve control, in particular to a flow rate and flow direction control system suitable for the joint swing of a fluid power humanoid robot. Background Art

[0002] Nowadays, most humanoid robots are powered by electricity. According to the article "There are only 200,000 professional caregivers in the country, and the customization of elderly care talents is accelerating" published by Eastmoney.com, on April 28, 2020, the National Health Commission of China predicts that by 2020, the number of disabled / semi-disabled elderly people in the country will reach 65 million. If the ratio of disabled elderly people to caregivers is 5:1, my country will need at least 13 million caregivers. If humanoid robots are used to replace caregivers, electrically driven humanoid robots will have the defect of insufficient power. In "PLC Stepper and Servo from Beginner to Master" (author: Qi Xingming, published by People's Postal Press in May 2019), the saturation torque value per unit volume of the stepper motor rotor, referred to as the unit volume torque, is close to a constant, whether it is a large motor or a small motor, and is within 0.5×10 -3 Nm / cm 3 ; "Principles of Electromagnetic Device Design" (edited by Li Langru, Chen Qiaofu, and Zhou Libing, published by China Electric Power Press in October 2017) proposed that when B (magnetic flux density) reaches a certain value, such as the "inflection point" of the curve of material B = f (H), the growth of H (magnetic field intensity) value is obviously faster than B value, which is bound to cause the increase of excitation current component, thereby increasing the winding copper loss (ohmic loss). Especially for rotating motors, B δ The increase in (the maximum value of air gap magnetic flux density (magnetic flux density)) will inevitably increase the air gap magnetomotive force, excitation power and loss; the increase in magnetic flux density in the core will lead to an increase in core loss, and the efficiency of the device will also decrease; based on the above analysis, the power of existing electric-driven humanoid robots is limited by the torque per unit volume; for example, the humanoid robot Optimus Prime recently manufactured by Tesla is 1.72m tall, weighs 57kg, and can carry a load of 20kg (5kg additional for the arms), with a maximum movement speed of 8km / h. Obviously, this robot produced by a famous multinational company led by the world's most powerful man (Musk) is not competent for the job of a caregiver.

[0003] Using fluid power (including pneumatic power and hydraulic power), the fluid thrust is the product of fluid pressure and the pressure area, so the idea of ​​a small power device providing greater force can be realized. The movement of each joint of the human body is a swinging movement. At this time, the utility model patent No. 2023215088185, a rotary flow control valve suitable for swinging motion, can be used to control the direction and flow of the fluid movement.

[0004] The utility model discloses a rotary flow control valve that can simultaneously control the flow rate and flow direction of a fluid, and is mainly composed of a valve body, a valve core, and a micro-stepping motor connected to the valve core. The rotary flow control valve is generally composed of two cylinders according to the pneumatic motor that swings according to the air pressure, and the two cylinders have the characteristics of a linkage relationship. Two air inlets, an air outlet, and an exhaust port are respectively provided on the valve body, and two Y-shaped fluid channels are provided at the corresponding positions of the rotary valve core. In combination with the rotary stepping motor, the rotary position of a Y-shaped fluid channel port is controlled to realize the function of the rotary flow control valve to transport fluid to the pneumatic motor or quickly discharge fluid.

[0005] The rotary flow control valve uses a rotary stepper motor to control the rotation angle of the rotary valve core to achieve fluid flow and flow direction control. It needs to be used in conjunction with a stepper motor control system to achieve the purpose of controlling the flow and flow direction of the fluid. The utility model patent No. 2023215088185 does not provide a rotary stepper motor control technology achievement.

[0006] A rotary stepper motor is an open-loop control element that converts an electrical pulse signal into an angular displacement. The speed and stop position of the motor depend on the frequency, number of pulses and initial position of the pulse signal. When a pulse signal is applied to the motor, the motor rotates through a step angle without being affected by load changes.

[0007] According to the different structures of stepper motor rotors, stepper motors can be divided into three categories: reactive, permanent magnet and hybrid. Permanent magnet and hybrid stepper motors have detent torque. After power failure, the magnetic flux generated by the permanent magnet on the rotor is always closed along the path with the smallest magnetic resistance, so that the rotor is in a stable state; the rotor of the reactive stepper motor has no permanent magnet, so there is no detent torque.

[0008] The controlled rotation system of the stepper motor consists of a power supply, a motor, a driver, and a controller. The driver is an actuator that converts electrical pulses into angular displacement. According to the external control pulses and direction signals, the driver controls the windings of the stepper motor to be energized in a certain sequence in the forward or reverse direction through its internal logic circuit, so that the motor rotates forward or reverse or is locked. The controller is a device that converts control instructions into forward, reverse, speed, and stop rotation instructions for the stepper motor that can be accepted by the driver. In order to determine the rotation position of the rotor, a rotation angle position sensor can be used to measure and determine the rotation position of a certain point on the rotor. Summary of the invention

[0009] Controlling the motion force, motion direction and motion amplitude of each joint of the fluid power of a humanoid robot is achieved by controlling the direction and flow of the fluid power of each joint. The utility model uses rotary flow control valve technology to control the rotation direction and angle of the stepper motor of the rotary flow control valve to achieve flow and flow direction control of the swing of the joints of the fluid power humanoid robot.

[0010] The utility model adopts the following technical solutions to achieve: a flow and flow direction control system suitable for the joint swing of a fluid-powered humanoid robot, comprising:

[0011] The stepper motor of the rotary flow control valve adopts permanent magnet type or hybrid type, with detent torque; and

[0012] The stepper motor is connected to a driver and a single-chip microcomputer controller, and the stepper motor feeds back power information of the stepper motor to a computer control center of the humanoid robot; and

[0013] The D-shaped hole in the middle of the rotation angle position sensor is embedded in the stepper motor shaft, the stepper motor housing and the rotation angle position sensor housing are fixed on the same fixed plate, the D-shaped hole of the rotation angle position sensor can rotate, and after power is turned on, the rotation angle position sensor sends different electrical signals according to the rotation position of the D-shaped hole; and

[0014] The single-chip microcomputer controller receives the stepper motor rotation angle position command sent by the humanoid robot computer control center, and feeds back the angle, delay, controller power supply and fault information to the humanoid robot computer control center. The single-chip microcomputer controller calculates and determines the forward rotation angle, reverse rotation angle, or stop rotation of the stepper motor according to the command data of the humanoid robot computer control center and the angle position data stored in the single-chip microcomputer controller, and then adopts a limited loop or conditional loop program to provide a forward rotation step, a reverse rotation step, or a stop rotation result to the driver, and the stepper motor performs a rotation action according to the result received by the driver; and

[0015] The single-chip microcomputer controller receives the angle position data information sent by the rotation angle position signal device, and the single-chip microcomputer controller compares the angle position data sent by the rotation angle position signal device with the angle position value calculated by the single-chip microcomputer controller. When the error between the two is within the allowable range, the single-chip microcomputer controller performs calculation and analysis based on the calculated angle position value. When the error between the two exceeds the allowable range, the single-chip microcomputer controller feeds back the information to the computer control center of the humanoid robot; and

[0016] The rotation angle position signal device is composed of a rotation angle position sensor, an analog-to-digital converter and a power supply, and the rotation angle position signal device feeds back power supply information to the computer control center of the humanoid robot; and

[0017] The humanoid robot computer control center is the brain of the humanoid robot, which transmits the stepper motor rotation angle position instruction to the single-chip microcomputer controller after calculation, analysis and judgment based on the instructions and information; and

[0018] For the three openings of the same cross section on the valve body of the rotary flow control valve, the angle formed by the lines connecting the centers of opening D and opening F with the axis is less than 90 degrees, and the angle formed by the lines connecting the centers of opening E and opening D, and the centers of opening E and opening F with the axis is greater than 90 degrees; and

[0019] The angles formed by the lines connecting the center of outlet B and the center of outlet A, the center of outlet B and the center of outlet C of the Y-shaped fluid passage on the valve core of the rotary flow control valve and the axis are all greater than 90 degrees, and the angles formed by the lines connecting the center of outlet A and the center of outlet C and the axis are less than 90 degrees; and

[0020] The stepper motor rotates in an angular range such that the center of the outlet B swings between the center of the opening D and the center of the opening F; and

[0021] When the center of outlet B coincides with the center of opening D, opening D is connected to opening E, and the flow rate is maximum, and the passage between opening E and opening F is closed; and

[0022] When the center of outlet B coincides with the center of opening F, opening F is connected to opening E, and the flow rate is maximum, and the passage between opening E and opening D is closed; and

[0023] When the center of the outlet B is located at the middle position between the opening D and the opening F, the passages between the opening D, the opening E and the opening F are all closed.

[0024] As a further improvement of the above solution, the single chip microcomputer controller includes:

[0025] The single chip controller stores the rotation angle position data of the center of outlet B located at the midpoint between opening D and opening F, the rotation angle position data of the center of outlet B when opening D is connected with opening E and the flow rate is minimum, the rotation angle position data of the center of outlet B when opening D is connected with opening E and the flow rate is maximum, the rotation angle position data of the center of outlet B when opening F is connected with opening E and the flow rate is minimum, and the rotation angle position data of the center of outlet B when opening F is connected with opening E and the flow rate is maximum; and

[0026] The opening D is connected to the opening E, and is divided into N levels from the smallest flow rate to the largest flow rate, wherein the flow rate of the first level is the smallest, the flow rate of the second level is larger than that of the first level, and the flow rate of the Nth level is the largest; and

[0027] The opening F is connected to the opening E, and is divided into M levels from the smallest flow rate to the largest flow rate, wherein the flow rate of the first level is the smallest, the flow rate of the second level is larger than that of the first level, and the flow rate of the M level is the largest; and

[0028] The single chip controller receives the stepper motor rotation angle position instruction sent by the computer control center of the humanoid robot, specifically, the instruction to close both openings D and F, or the instruction to connect openings D and E to a certain level, or the instruction to connect openings F and E to a certain level.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] 1. This technology is combined with utility model patent No. 2023215088185, a rotary flow control valve suitable for swinging motion, to achieve flow and flow direction control of the joint swing of a fluid-powered humanoid robot, which is simpler than the flow and flow direction control system of existing fluid-powered swinging machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of a flow rate and flow direction control system suitable for the joint swing of a fluid-powered humanoid robot according to the utility model;

[0032] Figure 2 This is a schematic diagram of the plane position of the rotation angle position sensor of the utility model;

[0033] Figure 3 This is a schematic diagram of the vertical position of the rotation angle position sensor of the utility model;

[0034] Figure 4 This is a schematic diagram of the utility model in which the center of the outlet B is located in the middle between the opening D and the opening F;

[0035] Figure 5 This is a schematic diagram of the center position of the outlet B when the flow rate of the opening D and the opening E is the minimum;

[0036] Figure 6 This is a schematic diagram of the center position of the outlet B when the flow rate of the opening D and the opening E is the maximum;

[0037] Figure 7 This is a schematic diagram of the center position of the outlet B when the flow rate of the opening F and the opening E is the minimum;

[0038] Figure 8 This is a schematic diagram of the center position of the outlet B when the flow rate of the opening F and the opening E is the maximum;

[0039] Explanation of main symbols: 1 stepper motor, 2 fixed plate, 3 stepper motor shaft, 4 rotation angle position sensor, 5 rotary flow control valve body, 6 rotary flow control valve core, 7 opening D, 8 opening E, 9 opening F, 10 axis, 11 outlet A, 12 outlet B, 13 outlet C, 14 center line of outlet B. DETAILED DESCRIPTION

[0040] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0041] Embodiment 1:

[0042] Please combine Figure 1-8 , a flow and flow direction control system suitable for joint swing of a fluid-powered humanoid robot of this embodiment includes:

[0043] The stepper motor 1 of the rotary flow control valve is of permanent magnet type or hybrid type and has a detent torque; and

[0044] The stepper motor 1 is connected to a driver and a single-chip microcomputer controller, and the stepper motor 1 feeds back power information of the stepper motor 1 to the computer control center of the humanoid robot; and

[0045] The D-shaped hole in the middle of the rotation angle position sensor 4 is embedded in the stepper motor shaft 3, the stepper motor 1 housing and the rotation angle position sensor 4 housing are fixed on the same fixed plate 2, the D-shaped hole of the rotation angle position sensor 4 can rotate, and after power is turned on, the rotation angle position sensor 4 sends different electrical signals according to the rotation position of the D-shaped hole; and

[0046] The single-chip microcomputer controller receives the stepper motor 1 rotation angle position command sent by the humanoid robot computer control center, and feeds back the angle, delay, controller power supply and fault information to the humanoid robot computer control center. The single-chip microcomputer controller calculates and determines the forward rotation angle, reverse rotation angle, or stop rotation of the stepper motor 1 according to the command data of the humanoid robot computer control center and the angle position data stored in the single-chip microcomputer controller, and then adopts a limited loop or conditional loop program to provide a forward rotation step, a reverse rotation step, or a stop rotation result to the driver, and the stepper motor 1 performs a rotation action according to the result received by the driver; and

[0047] The single-chip microcomputer controller receives the angle position data information sent by the rotation angle position signal device, and the single-chip microcomputer controller compares the angle position data sent by the rotation angle position signal device with the angle position value calculated by the single-chip microcomputer controller. When the error between the two is within the allowable range, the single-chip microcomputer controller performs calculation and analysis based on the calculated angle position value. When the error between the two exceeds the allowable range, the single-chip microcomputer controller feeds back the information to the computer control center of the humanoid robot; and

[0048] The rotation angle position signal device is composed of a rotation angle position sensor 4, an analog-to-digital converter and a power supply, and the rotation angle position signal device feeds back power supply information to the computer control center of the humanoid robot; and

[0049] The humanoid robot computer control center is the brain of the humanoid robot, which transmits the rotation angle position instruction of the stepper motor 1 to the single-chip microcomputer controller after calculation, analysis and judgment based on the instructions and information; and

[0050] The three openings of the same cross section on the valve body 5 of the rotary flow control valve, wherein the angle formed by the lines connecting the centers of the opening D7 and the opening F9 and the axis 10 is less than 90 degrees, and the angle formed by the lines connecting the centers of the opening E8 and the opening D7, and the angle formed by the lines connecting the centers of the opening E8 and the opening F9 and the axis 10 are all greater than 90 degrees; and

[0051] The angles formed by the lines connecting the center of the outlet B12 and the center of the outlet A11, the center of the outlet B12 and the center of the outlet C13 of the Y-shaped fluid passage on the rotary flow control valve core 6 and the axis 10 are all greater than 90 degrees, and the angles formed by the lines connecting the center of the outlet A11 and the center of the outlet C13 and the axis 10 are less than 90 degrees; and

[0052] The stepper motor 1 rotates in an angular range such that the center of the outlet B12 swings between the center of the opening D7 and the center of the opening F9; and

[0053] When the center of the outlet B12 coincides with the center of the opening D7, the opening D7 is connected to the opening E8, and the flow rate is maximum, and the passage between the opening E8 and the opening F9 is closed; and

[0054] When the center of the outlet B12 coincides with the center of the opening F9, the opening F9 is connected to the opening E8, and the flow rate is maximum, and the passage between the opening E8 and the opening D7 is closed; and

[0055] When the center of the outlet B12 is located at the middle position between the opening D7 and the opening F9, the passages between the opening D7, the opening E8 and the opening F9 are all closed.

[0056] Please combine Figure 1-8 , the single chip microcomputer controller comprises:

[0057] The single chip controller stores the rotation angle position data of the outlet B12 center located at the midpoint position between the opening D7 and the opening F9, the rotation angle position data of the outlet B12 center position when the opening D7 is connected to the opening E8 and the flow rate is the smallest, the rotation angle position data of the outlet B12 center position when the opening D7 is connected to the opening E8 and the flow rate is the largest, the rotation angle position data of the outlet B12 center position when the opening F9 is connected to the opening E8 and the flow rate is the smallest, and the rotation angle position data of the outlet B12 center position when the opening F9 is connected to the opening E8 and the flow rate is the largest; and

[0058] The opening D7 is connected to the opening E8, and is divided into N levels from the smallest flow rate to the largest flow rate, wherein the flow rate of the first level is the smallest, the flow rate of the second level is larger than that of the first level, and the flow rate of the Nth level is the largest; and

[0059] The opening F9 is connected to the opening E8, and is divided into M levels from the smallest flow rate to the largest flow rate, wherein the flow rate of the first level is the smallest, the flow rate of the second level is larger than that of the first level, and the flow rate of the M level is the largest; and

[0060] The single chip controller receives the stepper motor rotation angle position instruction sent by the computer control center of the humanoid robot, specifically, the instruction to close both openings D7 and F9, or the instruction to connect openings D7 and E8 to a certain level, or the instruction to connect openings F9 and E8 to a certain level.

[0061] The implementation principle of a flow rate and flow direction control system suitable for the joint swing of a fluid-powered humanoid robot in the embodiment of the present application is as follows:

[0062] The utility model adopts the technology of controlling the driver by a single chip controller, the technology of combining the rotation angle position sensor 4 with the analog-to-digital converter, and the computer control technology. These technologies have been widely used in the manufacturing industry and the field of robotics. The widely used and mature technologies are the basis for the implementation of the utility model.

[0063] The stepper motor shaft 3 is fixed to the rotary flow control valve spool 6, so that the rotation of the rotary flow control valve spool 6 is synchronized with the rotation of the stepper motor shaft 3. In order to prevent the stepper motor shaft 3 from swinging after power failure, the stepper motor 1 adopts two types of permanent magnet or hybrid type, and has a positioning torque. The stepper motor 1 is connected with the driver and the single-chip microcomputer controller to provide hardware for controlling the rotation of the stepper motor. In order to timely detect the "lost step" fault of the stepper motor rotation, a stepper motor is equipped with a rotation angle position sensor 4, and the stepper motor rotation angle position data is sent to the single-chip microcomputer controller in real time through an analog-to-digital converter, which is used for the single-chip microcomputer controller to calibrate the rotation angle position calculation results to achieve closed-loop control.

[0064] In order for the computer control center of the humanoid robot to timely grasp the working status of the system, and to promptly discover and handle the faults of the system, the system provides real-time feedback of the power supply information of the stepper motor 1, the single-chip controller, and the rotation angle position signal device, as well as the fault information, some parameters and results of the single-chip controller.

[0065] By utilizing the characteristics of the position relationship between the three openings and the three outlets of the rotary flow control valve, the rotational position angle range of the stepper motor shaft 3 is controlled to swing between the center of the outlet B12 (the center line 14 of the air outlet B) between the center of the opening D7 and the center of the opening F9, thereby narrowing the rotation range of the stepper motor shaft 3. The rotational position change of the fluid channel conforms to the movement characteristics of the swing joint, which is conducive to simplifying the control program of the stepper motor 1.

[0066] Taking advantage of the fact that the stepper motor rotates one step at a time and can stop rotating at a certain step, opening D7 is connected with opening E8, and the flow rate is divided into N levels from the minimum flow rate to the maximum flow rate, and opening F9 is connected with opening E8, and the flow rate is divided into M levels from the minimum flow rate to the maximum flow rate. This can accurately control the change of flow rate.

[0067] The instructions transmitted from the computer control center of the humanoid robot to the single-chip microcomputer controller are specifically instructions to close both openings D7 and F9 (the center of outlet B12 is located in the middle position between openings D7 and F9), or instructions to connect openings D7 and E8 as a certain level, or instructions to connect openings F9 and E8 as a certain level. These instructions enable the single-chip microcomputer controller to find a corresponding angle position data.

[0068] The single chip controller stores the rotation angle position data of the flow change characteristic point positions, including the rotation angle position data when the center of outlet B12 is located at the midpoint position between opening D7 and opening F9, the rotation angle position data when opening D7 is connected to opening E8 and the flow is minimum, the rotation angle position data when opening D7 is connected to opening E8 and the flow is maximum, the rotation angle position data when opening F9 is connected to opening E8 and the flow is minimum, and the rotation angle position data when opening F9 is connected to opening E8 and the flow is maximum, which provides important parameters for the rotation angle position calculation.

[0069] The computer control center of the humanoid robot provides instructions for closing both openings D7 and F9, or connecting openings D7 and E8 as a certain level instruction, or connecting openings F9 and E8 as a certain level instruction, as well as the angle position data stored in the single-chip controller. The single-chip controller can calculate and determine the forward rotation angle, or reverse rotation angle, or stop rotation of the stepper motor 1, and then use a finite loop or conditional loop program to provide the driver with a result of one forward rotation, one reverse rotation, or stop rotation. The stepper motor 1 performs a rotation action according to the result received by the driver to complete the task of this system.

[0070] The above-mentioned implementation modes are only preferred implementation modes of the present invention, and cannot be used to limit the protection scope of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A flow and flow direction control system suitable for the joint swing of a fluid-powered humanoid robot, characterized in that include: The stepper motor (1) of the rotary flow control valve is of permanent magnet type or hybrid type and has a positioning torque; and The stepper motor (1) is connected to a driver and a single-chip microcomputer controller, and the stepper motor (1) feeds back power information of the stepper motor (1) to a computer control center of the humanoid robot; and The D-shaped hole in the middle of the rotation angle position sensor (4) is embedded in the stepper motor shaft (3), the stepper motor (1) housing and the rotation angle position sensor (4) housing are fixed on the same fixed plate (2), the D-shaped hole of the rotation angle position sensor (4) can rotate, and after power is turned on, the rotation angle position sensor (4) sends different electrical signals according to the rotation position of the D-shaped hole; and The single-chip microcomputer controller receives a stepper motor (1) rotation angle position command sent by a humanoid robot computer control center, and feeds back angle, delay, controller power supply and fault information to the humanoid robot computer control center. The single-chip microcomputer controller calculates and determines the forward rotation angle, reverse rotation angle, or stop rotation of the stepper motor (1) based on the command data of the humanoid robot computer control center and the angle position data stored in the single-chip microcomputer controller, and then uses a limited loop or conditional loop program to provide a forward rotation step, a reverse rotation step, or a stop rotation result to the driver, and the stepper motor (1) performs a rotation action according to the result received by the driver; and The single-chip microcomputer controller receives the angle position data information sent by the rotation angle position signal device, and the single-chip microcomputer controller compares the angle position data sent by the rotation angle position signal device with the angle position value calculated by the single-chip microcomputer controller. When the error between the two is within the allowable range, the single-chip microcomputer controller performs calculation and analysis based on the calculated angle position value. When the error between the two exceeds the allowable range, the single-chip microcomputer controller feeds back the information to the computer control center of the humanoid robot; and The rotation angle position signal device is composed of a rotation angle position sensor (4), an analog-to-digital converter and a power supply, and the rotation angle position signal device feeds back power supply information to the computer control center of the humanoid robot; as well as The humanoid robot computer control center is the brain of the humanoid robot, which transmits the rotation angle position instruction of the stepping motor (1) to the single-chip microcomputer controller after calculation, analysis and judgment based on the instructions and information; and The three openings of the same cross section on the valve body (5) of the rotary flow control valve, wherein the angle formed by the lines connecting the centers of the opening D (7) and the opening F (9) and the axis (10) is less than 90 degrees, and the angle formed by the lines connecting the centers of the opening E (8) and the opening D (7), and the centers of the opening E (8) and the opening F (9) and the axis (10) are all greater than 90 degrees; and The angles formed by the lines connecting the center of the outlet B (12) and the center of the outlet A (11), the center of the outlet B (12) and the center of the outlet C (13) of the Y-shaped fluid passage on the rotary flow control valve core (6) and the axis (10) are all greater than 90 degrees, and the angle formed by the lines connecting the center of the outlet A (11) and the center of the outlet C (13) and the axis (10) is less than 90 degrees; and The stepping motor (1) rotates within an angular range such that the center of the outlet B (12) swings between the center of the opening D (7) and the center of the opening F (9); and When the center of the outlet B (12) coincides with the center of the opening D (7), the opening D (7) is connected to the opening E (8) and the flow rate is maximum, and the passage between the opening E (8) and the opening F (9) is closed; and When the center of the outlet B (12) coincides with the center of the opening F (9), the opening F (9) is connected to the opening E (8) and the flow rate is maximum, and the passage between the opening E (8) and the opening D (7) is closed; and When the center of the outlet B (12) is located at the middle position between the opening D (7) and the opening F (9), the passages between the opening D (7), the opening E (8) and the opening F (9) are all closed.

2. A flow and flow direction control system suitable for joint swing of a fluid-powered humanoid robot according to claim 1, wherein: The single chip microcomputer controller comprises: The single chip controller stores the rotation angle position data of the outlet B (12) center located at the midpoint position between the opening D (7) and the opening F (9), the rotation angle position data of the outlet B (12) center position when the opening D (7) is connected to the opening E (8) and the flow rate is minimum, the rotation angle position data of the outlet B (12) center position when the opening D (7) is connected to the opening E (8) and the flow rate is maximum, the rotation angle position data of the outlet B (12) center position when the opening F (9) is connected to the opening E (8) and the flow rate is minimum, and the rotation angle position data of the outlet B (12) center position when the opening F (9) is connected to the opening E (8) and the flow rate is maximum; and The opening D (7) is connected to the opening E (8), and is divided into N levels from the smallest flow rate to the largest flow rate, wherein the flow rate of the first level is the smallest, the flow rate of the second level is larger than that of the first level, and the flow rate of the Nth level is the largest; and The opening F (9) is connected to the opening E (8), and is divided into M levels from the smallest flow rate to the largest flow rate, wherein the flow rate of the first level is the smallest, the flow rate of the second level is larger than that of the first level, and the flow rate of the M level is the largest; and The single chip controller receives a stepper motor rotation angle position instruction sent by the computer control center of the humanoid robot, specifically an instruction to close both opening D (7) and opening F (9), or an instruction to connect opening D (7) and opening E (8) to a certain level, or an instruction to connect opening F (9) and opening E (8) to a certain level.

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