The invention discloses a bionic hip joint and a humanoid robot, the bionic hip joint comprises a hip bone connecting structure, a hip joint structure and a hip joint muscle structure, the hip bone connecting structure is used for connecting a bionic hip bone; one end of the hip joint structure is movably connected with the hip bone connecting structure; the hip joint muscle structure comprises a plurality of hip joint muscles distributed around the hip joint structure, each hip joint muscle comprises a pressure driving part and a flexible connecting part, the fixed end of the pressure driving part is connected with the hip joint structure, and the flexible connecting part is connected with the pressure driving part and the hip bone; the flexible connecting part is dragged through a hydrodynamic stretching mechanism of the pressure driving part, and the hip joint structure is driven to do joint movement relative to the hip bone; the flexible driving technology of the hydraulic muscles is adopted, the multiple hydraulic muscles can work cooperatively, multi-degree-of-freedom complex movement is achieved, and the design which is compact in space, high in connection reliability, low in power consumption and highly anthropomorphic is achieved.
本发明公开了一种仿生髋关节及人形机器人,仿生髋关节包括:髋骨连接结构、髋关节结构以及髋关节肌肉结构,髋骨连接结构用于连接仿生髋骨;髋关节结构的一端与髋骨连接结构活动连接;髋关节肌肉结构包括分布在髋关节结构周围的若干个髋关节肌肉,若干个髋关节肌肉均包括压力驱动部以及柔性连接部,压力驱动部的固定端与髋关节结构相连,柔性连接部分别连接压力驱动部和髋骨,以通过压力驱动部的流体动力伸缩机制牵引柔性连接部、带动髋关节结构相对髋骨进行关节运动;本发明采用液压肌肉柔性的驱动技术,多个液压肌肉可以协同工作,实现多自由度的复杂运动,实现了空间紧凑、连接可靠性高、功耗低以及高度拟人化的设计。
Bionic hip joint and humanoid robot
一种仿生髋关节及人形机器人
2025-03-14
Patent
Electronic Resource
Chinese
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