Integrated valve block accumulator and humanoid robot

Abstract

The utility model discloses an integrated valve group energy accumulator and humanoid robot, integrated valve group energy accumulator includes power hydraulic pump, energy accumulator subassembly and integrated valve subassembly, energy accumulator subassembly includes installation body and deformable container, and installation body forms a cavity and a plurality of valve group interfaces communicating with the cavity, and the cavity communicates with the liquid outlet of power hydraulic pump, and deformable container sets up in the cavity, and can reduce when the pressure in the cavity becomes big, and becomes big when the pressure in the cavity reduces, integrated valve subassembly is integrally arranged in installation body, and its liquid inlet end is connected with the valve group interface adaptation, and the liquid outlet end is used for connecting power element, the device carries out integrated design to power hydraulic pump, energy accumulator subassembly and integrated valve subassembly, and the traditional layout has saved a large number of external pipeline connection, has greatly shortened the fluid path, has reduced the pressure loss of fluid in the flow channel, has improved the utilization efficiency of energy, has simplified the part arrangement complexity simultaneously, and has promoted the system integration degree.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, specifically to an integrated valve group accumulator and a humanoid robot. Background Technology

[0002] As highly complex mechatronic systems, humanoid robots' drive systems directly impact their motion flexibility, energy efficiency, and dynamic response capabilities. Traditional hydraulic or fluid drive systems typically employ a distributed layout, where the power hydraulic pump, accumulator, and various control valves (such as relief valves, throttle valves, and directional valves) are connected via external pipelines. This layout results in a loosely structured system, large footprint, numerous pipeline interfaces, and a susceptibility to leaks. Furthermore, due to the long fluid paths and large cavities, the system exhibits lag in response and significant energy loss.

[0003] Existing technologies have attempted to address these issues through integrated design. For example, patent CN208576595U discloses an integrated hydraulic system in which two accumulators, a motor pump, and an oil tank are arranged in a specific order on a bracket, and the relief valve assembly and parking valve assembly are integrated into the side wall of the oil tank. This arrangement, through structural optimization of all components, simplifies the piping and reduces leakage points. Furthermore, because all components are integrated within the bracket, it saves space and facilitates installation, thus solving to some extent the technical problems of large space occupation and numerous failure points in traditional hydraulic systems.

[0004] However, the existing technical solution still has obvious shortcomings. The integration of the components is limited, and the accumulator and valve group still need to be connected by pipes, which poses a high risk of leakage and pressure loss. It fails to achieve true high integration and cannot meet the requirements of humanoid robots for extremely compact drive systems and dynamic response performance. Utility Model Content

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose an integrated valve group accumulator and humanoid robot to solve the technical problems of loose structure, large space occupation, easy leakage and slow response in existing hydraulic drive systems.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0007] In a first aspect, this utility model provides an integrated valve accumulator, including a power hydraulic pump, an accumulator assembly, and an integrated valve assembly. The power hydraulic pump is provided with a suction port and a discharge port. The accumulator assembly includes a mounting body and a deformable container. The mounting body forms a cavity and a plurality of valve assembly interfaces communicating with the cavity. The cavity is connected to the discharge port of the power hydraulic pump. The deformable container is disposed in the cavity and can decrease in size when the pressure in the cavity increases and increase in size when the pressure in the cavity decreases. The integrated valve assembly is integrated into the mounting body, and its inlet end is adapted to be connected to the valve assembly interfaces, and its outlet end is used to connect to a power element.

[0008] In some embodiments, the mounting body has a pump connection surface and at least one valve integration surface, the pump connection surface being connected to the power hydraulic pump, and at least one valve integration surface having a valve group interface and an integrated valve assembly.

[0009] In some embodiments, at least two valve integration surfaces are provided, and the pump connection surface and at least two valve integration surfaces are connected in sequence to form the enclosing side area of ​​the mounting body, with each pair of valve integration surfaces being adjacent or opposite to each other.

[0010] In some embodiments, the integrated valve assembly includes a plurality of valve groups, each of which is disposed on at least two valve integration surfaces.

[0011] In some embodiments, the valve assembly includes a valve body, a valve core, and a drive component. The valve body is provided with an inlet channel and an outlet channel. The inlet channel is connected to the valve assembly interface, and the outlet channel is used to connect to a power component. The valve core is movably disposed in the valve body and is used to control the opening and closing between the inlet channel and the outlet channel. The drive component is connected to the valve core and is used to drive the valve core to move.

[0012] In some embodiments, the deformable container includes an air bladder and an inflation valve, the air bladder being disposed within the cavity, and the inflation valve being disposed on the air bladder for inflating gas into the air bladder.

[0013] In some embodiments, the airbag is provided in two sets, the two sets of airbags are coaxial and spaced apart in the cavity, and the inflation valve is provided at the end of each set of airbags that is close to each other.

[0014] In some embodiments, the integrated valve assembly further includes a support member fixed within the cavity of the mounting body and wrapped around the outside of the airbag, the support member having a plurality of openings on its sidewalls communicating with its interior and the cavity.

[0015] In some embodiments, the integrated valve accumulator further includes an overflow valve connected to the suction port and the discharge port of the power hydraulic pump, which opens when the pressure at the suction port and the discharge port of the power hydraulic pump exceeds a preset value.

[0016] Secondly, this utility model also provides a humanoid robot, including an integrated valve group accumulator as described in any of the above claims.

[0017] Compared with existing technologies, the integrated valve accumulator and humanoid robot provided by this utility model integrate the power hydraulic pump, accumulator assembly, and integrated valve assembly into a single design, eliminating the need for numerous external pipeline connections found in traditional layouts. The outlet of the power hydraulic pump is directly connected to the cavity of the mounting body, and the integrated valve assembly is connected to the valve interface on the surface of the mounting body, greatly shortening the fluid path, reducing pressure loss within the flow channel, and improving energy utilization efficiency.

[0018] At the same time, this integrated design makes the entire drive system more compact and significantly reduces the space occupied, avoiding the problems of messy component placement and low space utilization in traditional distributed layouts, and is suitable for the needs of small, compact and irregular robot arrangements. Attached Figure Description

[0019] Figure 1 This is a front perspective view of the integrated valve group accumulator provided in this embodiment of the utility model;

[0020] Figure 2 This is a three-dimensional structural diagram of the back of the integrated valve group accumulator provided in this embodiment of the utility model;

[0021] Figure 3 This is a cross-sectional structural schematic diagram of the accumulator assembly of the integrated valve group accumulator provided in this embodiment of the utility model;

[0022] Figure 4 This is a front perspective three-dimensional structural diagram of the accumulator assembly of the integrated valve group accumulator provided in this embodiment of the utility model;

[0023] Figure 5 This is a three-dimensional back view of the accumulator assembly of the integrated valve group accumulator provided in this embodiment of the utility model;

[0024] Figure 6 This is a schematic diagram of the valve assembly structure of the integrated valve accumulator provided in this embodiment of the utility model;

[0025] Figure 7 This is a cross-sectional structural diagram of the deformable container installation of the integrated valve group accumulator provided in this embodiment of the utility model;

[0026] Figure 8 This is a schematic diagram of the structure of the support component of the integrated valve group accumulator provided in this embodiment of the utility model.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1. Power hydraulic pump;

[0029] 2. Accumulator assembly; 21. Mounting body; 211. Cavity; 212. Valve assembly interface; 213. Pump connection surface; 214. Valve integration surface; 215. Lug; 216. Pressure fluid outlet pipe; 22. Deformable container; 221. Airbag; 222. Inflation valve; 23. Support component; 231. Support barrel; 232. Fixing pressure plate;

[0030] 3. Integrated valve assembly; 31. First torso valve assembly; 32. Second torso valve assembly; 33. Leg muscle control valve assembly; 301. Valve body; 3011. Inlet channel; 3012. Outlet channel; 302. Valve core; 303. Drive component;

[0031] 4. Valve assembly block; 41. Inlet flow channel; 42. Outlet flow channel;

[0032] 5. Relief valve;

[0033] 6. Pressure sensor. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0035] To address the technical problems of loose structure, large space occupation, easy leakage and slow response of hydraulic drive systems, this utility model provides an integrated valve group accumulator and humanoid robot. It integrates the power hydraulic pump, accumulator assembly and integrated valve assembly into one design, eliminating a large number of external pipeline connections in the traditional layout, greatly shortening the fluid path, reducing the pressure loss of the fluid in the flow channel, and improving the energy utilization efficiency.

[0036] It should be noted that the integrated valve group accumulator described in this utility model is used in, but not limited to, humanoid robots. For ease of explanation, this utility model only uses the application of the integrated valve group accumulator in a humanoid robot as an example. The principle of the integrated valve group accumulator in other types of equipment is essentially the same as that in humanoid robots, and will not be elaborated here.

[0037] Please see Figures 1 to 4In a first aspect, embodiments of this application provide an integrated valve accumulator, including a power hydraulic pump 1, an accumulator assembly 2, and an integrated valve assembly 3. The power hydraulic pump 1 is provided with a suction port and a discharge port. The accumulator assembly 2 includes a mounting body 21 and a deformable container 22. The mounting body 21 forms a cavity 211 and a plurality of valve assembly interfaces 212 communicating with the cavity 211. The cavity 211 is connected to the discharge port of the power hydraulic pump 1. The deformable container 22 is disposed in the cavity 211 and can decrease when the pressure in the cavity 211 increases and increase when the pressure in the cavity 211 decreases. The integrated valve assembly 3 is integrated into the mounting body 21, and its inlet end is adapted to be connected to the valve assembly interface 212, and its outlet end is used to connect to a power element.

[0038] In this device, the power hydraulic pump 1 is equipped with a suction port and a discharge port. The power hydraulic pump 1 draws in liquid through its suction port, pressurizes it internally, and discharges it through the discharge port. The discharge port of the power hydraulic pump 1 connects to a cavity 211 formed inside the mounting body 21, allowing the discharged high-pressure liquid to enter the cavity 211 of the mounting body 21 of the accumulator assembly 2. When the power hydraulic pump 1 operates, increasing the pressure inside the cavity 211, the deformable container 22 is compressed, storing some liquid and pressure energy. When the power hydraulic pump 1 stops operating or the system pressure decreases, the deformable container 22 expands, releasing the stored liquid and pressure energy, maintaining system pressure stability. The integrated valve assembly 3, connected to the valve group interface 212 on the mounting body 21, can control the flow direction and pressure of the liquid, achieving precise control of the power components. By integrating the power hydraulic pump 1, accumulator assembly 2, and integrated valve assembly 3 into a single design, a large number of external pipeline connections in the traditional layout are eliminated. This not only reduces the space occupied by the system but also significantly reduces the risk of leakage caused by pipeline connections, reduces the pressure loss of fluid in the flow channel, and improves the energy utilization efficiency.

[0039] It should be noted that the power hydraulic pump unit 1 uses a variable speed oil-immersed motor, which can not only reduce the internal temperature and noise of the motor, but also improve the efficiency and reliability of the motor. The pump unit uses a cycloidal gear pump, which has a compact structure, small size, smooth operation, low noise, and high volumetric efficiency.

[0040] Please see Figures 1 to 5 In some possible embodiments, the mounting body 21 has a pump connection surface 213 and at least one valve integration surface 214. The power hydraulic pump 1 is mounted on the pump connection surface 213, and the valve integration surface 214 is provided with a valve group interface 212. The integrated valve assembly 3 is integrated and mounted on the valve integration surface 214 and connected to the valve group interface 212, so that the connection between the power hydraulic pump 1 and the integrated valve assembly 3 is more compact and direct.

[0041] Please see Figure 5In some possible embodiments, at least two valve integration surfaces 214 are provided, with the pump connection surface 213 and at least two valve integration surfaces 214 connected sequentially to form the enclosing side area of ​​the mounting body 21. Each pair of valve integration surfaces 214 is arranged adjacently or opposite to each other. The integrated valve assembly 3 includes several valve groups, each correspondingly disposed on at least two valve integration surfaces 214. Each valve group is connected to the cavity 211 of the mounting body 21 via a valve group interface 212. Each valve group has independent control functions, allowing for precise adjustment of the liquid flow and pressure according to actual needs, thereby achieving more refined and flexible control of the power components.

[0042] Please see Figure 5 Preferably, in this embodiment, the mounting body 21 is designed as a cuboid shell structure. One side of its length forms a pump connection surface 213 for mounting the hydraulic pump 1, and the other three sides form valve integration surfaces 214 for mounting the valve assembly. One pump connection surface 213 and three valve integration surfaces 214 are connected sequentially to form a compact and reasonable enclosed side area of ​​the mounting body 21. Lugs 215 are provided at the connection positions of the pump connection surface 213 of the mounting body 21 and the hydraulic pump 1. The lugs 215 have connection holes, through which fasteners such as bolts can be passed to securely mount the hydraulic pump 1 onto the pump connection surface 213 of the mounting body 21. The cuboid shell structure design facilitates the installation and layout of the hydraulic pump 1 and the integrated valve assembly 3, and effectively utilizes space, making the entire device more compact and stable.

[0043] Please see Figures 1 to 5 Furthermore, in this embodiment, the integrated valve assembly 3 comprises several valve groups, namely a first torso valve assembly 31, a second torso valve assembly 32, and a leg muscle control valve assembly 33. The first torso valve assembly 31, the second torso valve assembly 32, and the leg muscle control valve assembly 33 are respectively mounted on three valve integration surfaces 214. Both the first torso valve assembly 31 and the second torso valve assembly 32 include several torso valves, which are sequentially arranged along the length of the mounting body 21. A valve group interface 212 is provided along the length of the valve integration surface 214. Each torso valve communicates with the cavity 211 of the mounting body 21 by inserting into the corresponding valve group interface 212, and is stably connected to the mounting body 21 through the insertion position. Two sets of leg muscle control valve assemblies 33 are provided, respectively located on both sides of their respective valve integration surfaces 214, and are used to control the power elements corresponding to the left and right leg muscles. Each leg muscle control valve assembly 33 includes multiple leg muscle control valves, which are also connected to the cavity 211 of the mounting body 21 by being inserted into the corresponding valve assembly interface 212, ensuring a stable connection between the leg muscle control valve and the mounting body 21.

[0044] Furthermore, please refer to Figure 5Two pressure hydraulic outlet pipes 216 are respectively provided at both ends of the mounting body 21. One end of the pressure hydraulic outlet pipe 216 is connected to the housing of the mounting body 21, and the other end is used to connect to valve components at other locations of the humanoid robot, such as the hydraulic control valve component or the head motion adjustment valve component connected to the humanoid robot arm, so as to realize the coordinated and flexible control of the movements of various parts of the robot.

[0045] Please see Figures 4 to 6 In some possible embodiments, the valve assembly consists of multiple valve bodies 301, multiple valve cores 302, and multiple drive components 303. The valve body 301 is mounted on the mounting body 21 and has an inlet channel 3011 and an outlet channel 3012 inside. The inlet channel 3011 is connected to the valve assembly interface 212, and the outlet channel 3012 is used to connect to the power component. The valve core 302 is movably disposed in the valve body 301 and is used to control the opening and closing between the inlet channel 3011 and the outlet channel 3012. The drive component 303 is connected to the valve core 302 and is used to drive the valve core 302 to move, so as to provide the required pressure medium to the power component.

[0046] The driving component 303 is preferably a servo motor, which controls the rotation of the valve core 302 to achieve on / off control between the inlet channel 3011 and the outlet channel 3012. The driving component 303 can also be a solenoid valve, a stepper motor, etc. When a solenoid valve is used as the driving component 303, it can quickly respond to electrical signals and precisely control the opening and closing of the valve core 302, thereby regulating the flow of liquid. When a stepper motor is used as the driving component 303, it can rotate precisely at a set angle, converting the rotational motion into linear motion of the valve core 302 through a transmission mechanism, thus achieving precise control over the on / off state of the inlet channel 3011 and the outlet channel 3012.

[0047] It should be noted that in this solution, water is preferred as the pressure medium. Water facilitates energy transfer and control, and its excellent thermal conductivity helps the system dissipate heat effectively during operation, maintaining stable system temperature and ensuring the normal operation of all components. Of course, in other possible embodiments, other suitable fluid media such as hydraulic silicone oil can also be used as the pressure medium, as long as they meet the system's requirements for pressure transmission, energy storage, and power control.

[0048] Accumulators can absorb significant amounts of pulsating pressure fluctuations and energy from fluids. During flow pulsation cycles, the portion of the instantaneous flow rate exceeding the average flow rate is absorbed and stored by the accumulator. When the flow rate falls below the average, the stored energy can be released to replenish the system's energy. Absorbing flow fluctuations can reduce system noise. For details, please refer to [link to relevant documentation]. Figure 3 , Figure 7 and Figure 8In some possible embodiments, the deformable container 22 includes an air bladder 221 and an inflation valve 222. The air bladder 221 is disposed within the cavity 211. When the hydraulic pump 1 operates, increasing the pressure within the cavity 211, the air bladder 221 is compressed, storing some liquid and pressure energy. Simultaneously, the inflation valve 222 prevents gas leakage, ensuring stable and reliable compression and expansion of the air bladder 221. When the hydraulic pump 1 stops operating or the system pressure decreases, the air bladder 221 inflates, releasing the stored liquid and pressure energy, maintaining stable system pressure. The inflation valve 222 is disposed on the air bladder 221 and is used to inflate the air bladder 221 with gas. The amount of gas within the air bladder 221 can be flexibly adjusted via the inflation valve 222, changing the volume and elasticity of the air bladder 221.

[0049] To accommodate the cuboid shell structure of the mounting body 21, in some possible embodiments, two sets of airbags 221 are provided. These two sets of airbags 221 are coaxially and spaced apart on both sides of the cavity 211, enabling them to more evenly withstand pressure changes within the cavity 211 during the operation of the hydraulic pump 1, thus achieving more stable storage of liquid and pressure energy. Each set of airbags 221 has an inflation valve 222 at its closest end. This inflation valve 222 is a one-way valve, ensuring that gas can only enter the airbag 221 in one direction, preventing backflow of gas during the compression and expansion of the airbag 221, and ensuring stable internal pressure.

[0050] Further, please refer to Figure 3 and Figure 7 In some possible embodiments, the integrated valve assembly 3 further includes a support member 23, which is fixed inside the cavity 211 of the mounting body 21 and wraps around the outside of the airbag 221. Its sidewall is provided with several openings connecting its interior and the cavity 211. This design can both protect the airbag 221 and prevent it from being excessively deformed or damaged due to pressure changes or other factors inside the cavity 211, and ensure that the airbag 221 and the fluid inside the cavity 211 can have sufficient gas exchange, so that the deformable container 22 can accurately deform according to the pressure changes inside the cavity 211, thereby stably regulating the system pressure.

[0051] Preferably, please refer to Figure 7 and Figure 8 In this embodiment, the support member 23 includes a support barrel 231 and a fixing plate 232. The support barrel 231 is cylindrical, which matches the shape of the inflated airbag 221, and its sidewalls are evenly distributed with multiple openings, allowing fluid to flow smoothly inside and outside the support barrel 231 through the openings, while enhancing the support stability of the support member 23 for the airbag 221. The fixing plate 232 is located at the open end of the support barrel 231 and is used to press the airbag 221 into the support barrel 231 to prevent the airbag 221 from shifting or falling off when the pressure changes.

[0052] Furthermore, in some possible embodiments, to optimize the performance of the integrated valve assembly 3, the valve assembly is configured with a pressure sensor and a controller. The pressure sensor is located on the inlet channel 3011 or outlet channel 3012 of the valve body 301 to monitor the pressure changes of the liquid in real time and transmit the pressure signal to the controller.

[0053] Of course, in other possible embodiments, the specific forms of the mounting body 21, deformable container 22, and support member 23 are not limited to these, and other structural forms can also be adopted. For example, the mounting body 21 can also be designed as a cylindrical or polyhedral structure, which can reasonably arrange the power hydraulic pump 1 and the valve integration surface 214 to achieve compact installation and stable connection. The deformable container 22 can also adopt an elastic rubber membrane structure or a spring energy storage structure. The elastic rubber membrane structure stores and releases liquid and pressure energy through its own elastic deformation; the spring energy storage structure utilizes the elastic potential energy of the spring. When the pressure changes, the spring is compressed or stretched to achieve energy storage and release, which can also maintain the pressure stability of the system. The support member 23 can also be designed as a frame structure, with the frame surrounding the deformable container 22 to provide support and protection.

[0054] Please see Figures 1 to 5 In some possible embodiments, a valve assembly block 4 is provided on one side of the power hydraulic pump 1. The valve assembly block 4 is fixedly connected to the mounting body 21. The valve assembly block 4 has an inlet channel 41 and an outlet channel 42 connected to the power hydraulic pump 1. The inlet channel 41 is connected to the outlet of the power hydraulic pump 1, and the outlet channel 42 is connected to the internal cavity 211 of the mounting body 21. An overflow valve 5 and a pressure sensor 6 are provided on the valve assembly block 4. The overflow valve 5 is connected to the inlet channel 41 and the outlet channel 42, and the pressure sensor 6 is connected to the outlet channel 42. The overflow valve 5 can automatically open when the system pressure exceeds a set value. If the system pressure is higher than the preset pressure during system operation, the system pressure can be unloaded through the overflow valve 5 to ensure system safety. The pressure sensor 6 can sense the liquid pressure in the outlet channel 42 in real time and convert the pressure data into an electrical signal for transmission, so as to monitor and precisely control the system pressure in real time.

[0055] Secondly, this application also provides a humanoid robot, including an integrated valve accumulator as described in any of the above embodiments. The first torso valve assembly 31 and the second torso valve assembly 32 are connected to the power components of the humanoid robot's torso, providing stable and flexible power support for the robot's torso movement by precisely controlling the flow and pressure of the liquid. The leg muscle control valve assembly 33 is connected to the leg power components of the humanoid robot, regulating the flow and pressure of the liquid entering the leg power components, thereby enabling flexible contraction and extension of the humanoid robot's leg muscles. By applying the aforementioned integrated valve accumulator, this humanoid robot achieves more efficient and stable hydraulic system control. The integrated design of the valve accumulator simplifies the internal hydraulic piping layout of the robot, reducing potential malfunctions and maintenance costs caused by complex piping connections.

[0056] To better understand this utility model, the following is combined with... Figures 1 to 8 The technical solution of this utility model is described in detail below: During operation, the power hydraulic pump 1 starts and draws in liquid through the inlet channel 41 of the valve assembly block 4. After internal pressurization, the liquid is discharged from the outlet and the drain channel of the valve assembly block 4 into the cavity 211 of the mounting body 21. As the pressure inside the cavity 211 gradually increases, the air bladder 221 of the deformable container 22 is compressed, storing some liquid and pressure energy. At the same time, the inflation valve 222 prevents gas leakage and ensures the stability of the compression process. When the power hydraulic pump 1 continues to work and the pressure inside the cavity 211 reaches the set value, the overflow valve 5 on the valve assembly block 4 automatically opens to prevent the system pressure from being too high and to ensure operational safety. Each valve group in the integrated valve assembly 3 is connected to the cavity 211 through the valve group interface 212. The valve core 302 is driven by a servo motor to control the flow rate and pressure of the liquid entering each power element, providing the required pressurized liquid medium to the power elements of the humanoid robot.

[0057] This invention integrates a power hydraulic pump 1, an accumulator assembly 2, and an integrated valve assembly 3 into a single design, eliminating the need for numerous external piping connections found in traditional layouts. The outlet of the power hydraulic pump 1 is directly connected to the cavity 211 of the mounting body 21, and the integrated valve assembly 3 is connected to the valve group interface 212 on the surface of the mounting body 21. This significantly shortens the fluid path, reduces pressure loss within the flow channel, and improves energy utilization efficiency.

[0058] At the same time, this integrated design makes the entire drive system more compact and significantly reduces the space occupied, avoiding the problems of messy component placement and low space utilization in traditional distributed layouts, and is suitable for the needs of small, compact and irregular robot arrangements.

[0059] Furthermore, this design reduces the number of pipe interfaces, thereby lowering the risk of leakage. Traditional hydraulic or fluid-driven systems, due to their numerous pipe interfaces, are prone to problems such as seal aging and loosening during long-term operation, leading to fluid leakage and affecting the normal operation of the system. In contrast, the integrated valve accumulator of this invention, through its highly integrated design, retains only the necessary connection points, effectively improving the reliability and stability of the system and providing strong support for the stable operation of the humanoid robot.

[0060] In the description of this application, it should be noted that the terms "upper" and "lower," etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0061] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0062] The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. An integrated valve group accumulator, characterized in that, include: A power hydraulic pump, equipped with a suction port and a discharge port; An accumulator assembly includes a mounting body and a deformable container. The mounting body forms a cavity and a plurality of valve ports communicating with the cavity. The cavity is connected to the outlet of a power hydraulic pump. The deformable container is disposed within the cavity and can decrease in size when the pressure within the cavity increases and increase in size when the pressure within the cavity decreases. An integrated valve assembly is integrated into the mounting body, with its inlet end adapted to the valve group interface and its outlet end used to connect to a power element.

2. The integrated valve group accumulator according to claim 1, characterized in that, The mounting body has a pump connection surface and at least one valve integration surface. The pump connection surface is connected to the power hydraulic pump. At least one valve integration surface is provided with a valve group interface and the integrated valve assembly is integrated and installed thereon.

3. The integrated valve group accumulator according to claim 2, characterized in that, At least two valve integration surfaces are provided, and the pump connection surface and at least two valve integration surfaces are connected in sequence to form the enclosed side area of ​​the mounting body. Each pair of valve integration surfaces are arranged adjacently or opposite to each other.

4. The integrated valve group accumulator according to claim 3, characterized in that, The integrated valve assembly includes several valve groups, and each of the valve groups is respectively disposed on at least two valve integration surfaces.

5. The integrated valve group accumulator according to claim 4, characterized in that, Each valve assembly includes a valve body, a valve core, and a drive component. The valve body is provided with an inlet channel and an outlet channel. The inlet channel is connected to the valve assembly interface, and the outlet channel is used to connect to a power component. The valve core is movably disposed within the valve body and is used to control the opening and closing of the inlet channel and the outlet channel. The drive component is connected to the valve core and is used to drive the valve core to move.

6. The integrated valve group accumulator according to claim 1, characterized in that, The deformable container includes an air bladder and an inflation valve. The air bladder is disposed within the cavity, and the inflation valve is disposed on the air bladder for inflating gas into the air bladder.

7. The integrated valve group accumulator according to claim 6, characterized in that, The airbag is provided in two sets, and the two sets of airbags are coaxially arranged and spaced apart in the cavity. The inflation valve is provided at the end of the two sets of airbags that are close to each other.

8. The integrated valve group accumulator according to claim 6 or 7, characterized in that, The integrated valve assembly also includes a support member, which is fixed inside the cavity of the mounting body. The support member has several openings on its sidewall that connect its interior to the cavity. The airbag is disposed inside the support member.

9. The integrated valve group accumulator according to claim 1, characterized in that, It also includes an overflow valve, which is connected to the suction port and the discharge port of the power hydraulic pump, and opens when the pressure at the suction port and the discharge port of the power hydraulic pump exceeds a preset value.

10. A humanoid robot, characterized in that, Includes the integrated valve group accumulator as described in any one of claims 1-9.

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