A multi-legged hydraulic robot

Abstract

The present invention provides a multi-legged hydraulic robot, comprising a mechanical frame, a driving bracket, a single-legged hydraulic driving module and a swinging assembly. The mechanical frame is provided with at least two mounting grooves. The upper linear oil cylinder and the lower linear oil cylinder can pull the thigh to make the driving assembly perform a compound motion, and perform the actions of extending, contracting, moving forward and retreating. The rotary swinging oil cylinder can drive the output shaft of the torque sensor to rotate, and further drive the driving assembly, the upper linear oil cylinder and the lower linear oil cylinder to rotate through the driving bracket, so that the mechanical frame can make a turning motion relative to the driving assembly. The compressibility of the hydraulic oil is beneficial to the present invention in resisting external environmental impulses. Different postures and motion modes are achieved by controlling multiple groups of single-legged hydraulic driving modules. Based on the structural characteristics of the single-legged hydraulic driving module with strong impact resistance and fast response speed, the whole machine can make accurate motion decisions and fast execution actions in response to external environmental interference.

Description

Technical Field

[0001] The present invention relates to the field of legged robots, and in particular to a multi-legged hydraulic robot. Background Art

[0002] At present, there are three main types of legged robots: motor drive, hydraulic drive and hybrid drive. In the motor drive method, each leg motion joint uses a motor as the driving source, but the motor has weak load impact resistance and continuous working heat dissipation capabilities; the hydraulic drive method uses hydraulic actuators to drive each joint. After the bulky actuators are installed on the legs, they will increase the leg inertia, reduce the control response speed, and are not conducive to the robot's fast walking; the hybrid drive method uses motors and hydraulics to drive the corresponding motion joints respectively, but it increases the complexity of the software and hardware systems, as well as the overall control difficulty. Summary of the invention

[0003] In order to solve the above technical problems, a multi-legged hydraulic robot with strong impact resistance and fast dynamic response speed is provided.

[0004] A multi-legged hydraulic robot comprises a mechanical frame, a driving bracket, a single-legged hydraulic driving module and a swinging assembly, wherein the mechanical frame is provided with at least two mounting slots, the left and right ends of the mounting slot are respectively provided with mounting seats, and the left and right ends of the driving bracket are respectively rotatably mounted on the two mounting seats of the mounting slot; the lower end of the driving bracket is provided with a driving slot, and the side wall of the driving slot is provided with a joint mounting seat; the single-legged hydraulic driving module comprises a linear cylinder and a driving assembly, and the driving assembly comprises a thigh, a calf, a thigh connecting rod and a hip joint connecting rod, a hip joint pin is provided on the upper side of the hip joint connecting rod, and the hip joint pin is rotatably mounted on the joint mounting seat, a second pin is provided on the upper side of the thigh, and the second pin is rotatably mounted on the hip joint The lower side of the connecting rod; the right end of the linear cylinder is rotatably mounted on the right side of the driving groove, the linear cylinder comprises an upper linear cylinder and a lower linear cylinder, the front end of the driving rod of the upper linear cylinder is rotatably mounted on the upper end of the thigh, and the front end of the driving rod of the lower linear cylinder is rotatably mounted on the second pin shaft; the upper side of the thigh connecting rod is rotatably mounted on the hip joint pin shaft; the upper side of the calf is rotatably mounted on the lower side of the thigh connecting rod, and the middle part of the calf is rotatably mounted on the lower side of the thigh; the swing assembly comprises a rotary swing cylinder, the rotary swing cylinder is mounted on a mechanical frame, the driving rod of the rotary swing cylinder is fixedly connected to a driving bracket, and the driving rod of the rotary swing cylinder is coaxially arranged with the rotating axis of the driving bracket.

[0005] Preferably, a swing bearing is installed at the left end of the mounting seat, the driving bracket is installed on the inner ring of the swing bearing, and the driving rod of the rotary swing cylinder is fixedly connected to the inner ring of the swing bearing.

[0006] Preferably, the present invention further comprises a torque sensor mounted on the rotary swing cylinder drive rod and an angular displacement sensor integrated in the rotary swing cylinder barrel.

[0007] Preferably, a hip joint bearing is provided on the joint mounting seat, the hip joint pin is installed on the inner ring of the hip joint bearing, the hip joint pin is coaxially arranged with the hip joint bearing, and the thigh, calf, thigh connecting rod and hip joint connecting rod form a parallelogram or a quasi-parallelogram structure.

[0008] Preferably, a linear pin is provided on the right side of the driving groove, the rear end of the linear cylinder is rotatably mounted on the linear pin, a rotation groove is provided at the upper end of the thigh, a thigh joint bearing is provided on the lower side of the side wall of the rotation groove, the inner ring of the thigh joint bearing is fixedly connected to the second pin, the outer end of the driving rod of the lower linear cylinder is installed on the second pin, a first pin is provided on the upper side of the side wall of the rotation groove, and the outer end of the driving rod of the upper linear cylinder is rotatably mounted on the first pin.

[0009] Preferably, a rear end cover is installed at the rear end of the linear cylinder, a rear end ball joint is installed on the rear end cover, an inner ring of the rear end ball joint is installed on the linear pin shaft, an earring joint is installed at the front end of the driving rod of the linear cylinder, a front end ball joint is installed at the front end of the earring joint, and the inner ring of the front end ball joint is installed on the first pin shaft or the second pin shaft.

[0010] Preferably, a displacement sensor is provided in the linear cylinder, and a weighing sensor is provided on the driving rod of the linear cylinder.

[0011] Preferably, a foot end is provided at the lower end of the calf.

[0012] Preferably, a posture sensor is provided on the mechanical frame.

[0013] Preferably, the present invention also includes a hydraulic oil source and an upper linear servo valve, a lower linear servo valve and a swing servo valve installed on the mechanical frame, the upper linear servo valve is respectively connected to the upper linear cylinder and the hydraulic oil source, the lower linear servo valve is respectively connected to the lower linear cylinder and the hydraulic oil source, and the swing servo valve is respectively connected to the rotary swing cylinder and the hydraulic oil source.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The upper linear cylinder and the lower linear cylinder pull the thigh to make the drive assembly perform compound movement, and perform the movements of extending, contracting, moving forward and retreating. The rotating swing cylinder can drive the drive bracket to rotate, and further drive the drive assembly, the upper linear cylinder and the lower linear cylinder to rotate through the drive bracket. The multiple single-leg hydraulic drive modules work together to make the mechanical frame swing or turn. The compressibility of the hydraulic oil in the linear cylinder and the rotating swing cylinder is beneficial for the present invention to resist the external environmental impulse; 2. By controlling multiple groups of single-leg hydraulic drive modules to achieve different postures and movement modes, based on the structural characteristics of the single-leg hydraulic drive module with strong impact resistance and fast response speed, the whole machine can make accurate movement decisions and quickly execute actions in response to external environmental interference; 3. The modular installation method solves the problems of complex structure and low installation efficiency of the whole machine, and the consistency of the leg structure also reduces the control difficulty to a certain extent; 4. The linear cylinder is moved upward as a whole and installed on the driving bracket, which greatly reduces the leg mass and moment of inertia, as well as the inertial impact during leg swinging, and at the same time reduces the difficulty of leg control, so that the entire robot can make timely motion decisions and quickly execute actions in response to external environmental interference; 5. The thigh, calf, thigh connecting rod and hip joint connecting rod form a parallelogram or a quasi-parallelogram structure, which makes the structure of the present invention simpler and helps to reduce the amount of calculation of the algorithm program for driving and controlling the motion trajectory of the foot end by the upper linear cylinder and the lower linear cylinder; 6. The weighing sensor or torque sensor installed on the hydraulic cylinder will quickly detect the external impact and transmit the force signal to the control end. The control end sends instructions to all single-leg hydraulic drive modules according to the dynamic calculation results, so that the whole machine enters the impedance control mode to absorb the impact and achieve self-protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a stereogram of the present invention;

[0016] Figure 2 It is a structural schematic diagram of a single-leg hydraulic drive module of the present invention;

[0017] Figure 3 It is a schematic diagram of the structure of the rotary swing cylinder of the present invention;

[0018] Figure 4 It is a schematic diagram of the three-dimensional structure of the mechanical frame of the present invention;

[0019] Figure 5 This is a partial exploded view of the single-leg hydraulic drive module of the present invention;

[0020] Figure 6 It is a schematic diagram of the structure of the linear cylinder of the present invention;

[0021] Figure 7 It is a schematic diagram of the hydraulic system of the present invention.

[0022] Markings in the accompanying drawings: single-leg hydraulic drive module 101, mechanical frame 102, posture sensor 103, hydraulic oil source 104, swing assembly 105, drive bracket 201, swing bearing 202, upper linear cylinder 203, lower linear cylinder 204, thigh 205, calf 206, foot end 207, thigh connecting rod 208, hip joint connecting rod 209, hip joint bearing 210, rotary swing cylinder 212, knee joint bearing 213, knee joint shaft 214, calf joint shaft 215, joint mounting seat 216, drive slot 217, rotary swing cylinder cylinder 301, Torque sensor 302, swing servo valve 305, angular displacement sensor 306, joint hole 401, mounting groove 403, mounting seat 404; hip joint pin 501, first pin 502, linear pin 503, second pin 504, thigh joint bearing 506, rotation groove 507, driving rod 603 of linear cylinder, weighing sensor 604, earring joint 605, front end ball joint 606, linear servo valve 607, upper linear servo valve 607A, lower linear servo valve 607B, displacement sensor outlet hole 608, rear end cover 609, rear end ball joint 610. DETAILED DESCRIPTION

[0023] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0024] A multi-legged hydraulic robot, as shown in Figure 1~ Figure 7 As shown, it includes a mechanical frame 102, a drive bracket 201, a single-leg hydraulic drive module 101 and a swing assembly 105, as shown in FIG. Figure 4 As described above, two mounting slots 403 are provided on the mechanical frame 102, and mounting seats 404 are provided at the left and right ends of the mounting slots 403, respectively. The two ends of the driving bracket 201 are rotatably mounted on the two mounting seats 404 of the mounting slots 403; Figure 1 and Figure 2 As shown, a driving slot 217 is provided at the lower end of the driving bracket 201, and a joint mounting seat 216 is provided on the side wall of the driving slot 217; the single-leg hydraulic driving module 101 includes a linear cylinder and a driving assembly, and the driving assembly includes a thigh 205, a calf 206, a thigh connecting rod 208 and a hip joint connecting rod 209, and a hip joint pin 501 is provided on the upper side of the hip joint connecting rod 209, and the hip joint pin 501 is rotatably mounted on the joint mounting seat 216, as shown in FIG. Figure 5As shown, a second rotating shaft 504 is provided on the upper side of the thigh 205, and the second rotating shaft 504 is rotatably mounted on the lower side of the hip joint connecting rod 209; the right end of the linear oil cylinder is rotatably mounted on the right side of the driving groove 217, and the linear oil cylinder includes an upper linear oil cylinder 203 and a lower linear oil cylinder 204, the outer end of the driving rod of the upper linear oil cylinder 203 is rotatably mounted on the upper end of the thigh 205, and the outer end of the driving rod of the lower linear oil cylinder 204 is rotatably mounted on the second pin shaft 504; the thigh connecting rod 20 8 The upper side is rotatably mounted on the hip joint pin 501; the upper side of the calf 206 is rotatably mounted on the lower side of the thigh connecting rod 208, and the middle part of the calf 206 is rotatably mounted on the lower side of the thigh 205; the swing assembly includes a rotary swing cylinder 212, which is mounted on the mechanical frame 102, and the driving rod of the rotary swing cylinder 212 is fixedly connected to the driving bracket 201, and the driving rod of the rotary swing cylinder 212 is coaxially arranged with the rotating axis of the driving bracket 201.

[0025] The upper linear cylinder and the lower linear cylinder pull the thigh to make the driving component perform compound movement, and perform the actions of extending, contracting, moving forward and retreating. The rotary swing cylinder 212 can drive the driving bracket to rotate, and further drive the driving component, the upper linear cylinder 203 and the lower linear cylinder 204 to rotate through the driving bracket 201. The multiple single-leg hydraulic drive modules work together to make the mechanical frame swing or turn. The compressibility of the hydraulic oil in the linear cylinder and the rotary swing cylinder is beneficial for the present invention to resist the impulse of the external environment. The present invention can achieve different postures and movement modes by controlling multiple groups of single-leg hydraulic drive modules 101 Based on the structural characteristics of the single-leg hydraulic drive module 101 with strong impact resistance and fast response speed, the whole machine can make accurate motion decisions and quickly execute actions in response to external environmental interference; the modular installation method is adopted to solve the problems of complex structure and low installation efficiency of the whole machine, and the consistency of the leg structure also reduces the control difficulty to a certain extent; the linear cylinder is moved upward as a whole and installed on the drive bracket, which greatly reduces the mass and moment of inertia of the leg, as well as the inertial impact during the leg swinging process, and at the same time reduces the difficulty of leg control, so that the whole robot can make timely motion decisions and quickly execute actions in response to external environmental interference.

[0026] There may be multiple installation slots 403, such as three or four, each of which is equipped with a driving bracket 201, a single-leg hydraulic driving module 101 and a swinging assembly 105, so that the multi-legged robot can perform compound movements.

[0027] The left end of the mounting seat 404 can be installed with a swing bearing 202, the driving bracket 201 is installed on the inner ring of the swing bearing 202, and the driving rod of the rotating swing oil cylinder 212 is fixedly connected to the inner ring of the swing bearing 202, so that the rotating swing oil cylinder 212 can swing or rotate the driving bracket, thereby driving the calf to swing. Specifically, the left end of the mounting seat 404 is provided with a joint hole 401, and the swing bearing is installed in the joint hole 401. The right end of the mounting seat 404 can also be provided with a swing bearing, so that the left and right ends of the driving bracket are installed on the inner ring of the swing bearing, thereby improving applicability.

[0028] The present invention may also include a torque sensor 302 mounted on the driving rod of the rotary swing cylinder 212 and an angular displacement sensor 306 integrated in the cylinder barrel 301 of the rotary swing cylinder, such as Figure 3 As shown, the angular displacement sensor 306 is used to detect the rotation angle of the driving rod and generate an analog signal or a digital signal; the torque sensor 302 is used to detect the force condition of the driving rod, reflecting the condition of the external impulse. In a specific implementation, the outer end of the driving rod of the rotary swing cylinder 212 is connected to the detection shaft of the torque sensor 302, and the outer end of the torque sensor detection shaft is connected to the inner ring of the swing bearing 202. The angular displacement sensor 306 can be integrated in the rotary swing cylinder barrel 301.

[0029] A hip joint bearing 210 may be provided on the joint mounting seat 216, and a hip joint pin 501 is installed on the inner ring of the hip joint bearing, and the hip joint pin 501 is coaxially arranged with the hip joint bearing 210. The thigh, calf, thigh connecting rod and hip joint connecting rod form a parallelogram or parallelogram-like structure, and a hip joint bearing 210 may be provided on each of the joint mounting seats on the front and rear sides. The parallelogram structure makes the structure of the present invention more concise, which is conducive to reducing the calculation amount of the motion trajectory algorithm program of the upper linear oil cylinder 203 and the lower linear oil cylinder 204 driving and controlling the foot end 207 or the lower end of the calf 206.

[0030] A linear pin 503 may be provided on the right side of the driving slot 217. Figure 5 As shown, the rear end of the linear cylinder is rotatably mounted on the linear pin 503, so that the rear end of the linear cylinder is hinged on the right side of the driving groove 217, and a rotation groove 507 can be provided at the upper end of the thigh 205, and a thigh joint bearing 506 is provided on the lower side of the side wall of the rotation groove 507, and the inner ring of the thigh joint bearing 506 is fixedly connected to the second pin 504, and the outer end of the driving rod of the lower linear cylinder is installed on the second pin 504, and a first pin 502 is provided on the upper side of the side wall of the rotation groove 507, and the outer end of the driving rod of the upper linear cylinder 203 is rotatably mounted on the first pin 502, and the outer end of the driving rod is embedded in the rotation groove for installation, thereby improving applicability and making the entire structure more compact.

[0031] In a specific embodiment, a rear end cover 609 is installed at the rear end of the linear cylinder, a rear end ball joint 610 is installed on the rear end cover 609, the inner ring of the rear end ball joint 610 is installed on the linear pin 503, an earring joint 605 is installed at the front end of the driving rod 603 of the linear cylinder, a front end ball joint 606 is installed at the front end of the earring joint 605, and the inner ring of the front end ball joint 606 is installed on the first pin 502 or the second pin 504 to improve applicability.

[0032] The linear cylinder may be provided with a displacement sensor, such as Figure 6 As shown, a weighing sensor 604 is also provided on the driving rod 603 of the linear oil cylinder. The displacement sensor can be integrated in the linear oil cylinder to detect the displacement of the driving rod. The weighing sensor 604 is used to detect the force of the driving rod and can be used to reflect the external impulse force. The displacement sensor can be routed through the displacement sensor outlet hole 608 on the cylinder barrel of the linear oil cylinder; a knee joint bearing 213 is provided on the upper side of the calf 206, and a knee joint shaft 214 is provided in the inner ring of the knee joint bearing 213. The lower end of the thigh connecting rod 208 is installed on the knee joint shaft 214, and a calf joint shaft 215 is provided in the middle of the calf 206. The lower end of the thigh 205 is rotatably installed on the calf joint shaft 215.

[0033] A foot end 207 may be provided at the lower end of the calf 206. The foot end 207 may be made of a lightweight material to provide a buffer for the present invention.

[0034] A posture sensor 103 may also be provided on the mechanical frame 102. The posture sensor 103 may adopt a six-axis sensor. In a specific embodiment, the six-axis sensor adopts an MPU-6050 model electronic gyroscope accelerometer for monitoring displacement, acceleration and rotation angle in three directions, thereby monitoring the spatial posture of the mechanical frame 102 in real time.

[0035] like Figure 7 As shown, the present invention may also include a hydraulic oil source 104, an upper linear servo valve 607A, a lower linear servo valve 607B and a swing servo valve 305 installed on the mechanical frame 102, the upper linear servo valve 607A is connected to the upper linear cylinder 203 and the hydraulic oil source 104 respectively, the lower linear servo valve 607B is connected to the lower linear cylinder 204 and the hydraulic oil source 104 respectively, and the swing servo valve 305 is connected to the rotary swing cylinder 212 and the hydraulic oil source 104 respectively. The upper linear servo valve 607A, the lower linear servo valve 607B and the swing servo valve 305 are connected in parallel, so that each cylinder is controlled by a servo valve alone. Specifically, the swing servo valve 305 is installed on the cylinder barrel 301 of the rotary swing cylinder, and the linear servo valve 607 is installed on the cylinder barrel of the linear cylinder. The linear servo valve 607 includes an upper linear servo valve 607A and a lower linear servo valve 607B.

[0036] The hydraulic oil source 104 may include a motor, a pump, an accumulator, a one-way valve, a relief valve, an air cooler, and an oil tank, etc. The relief valve is used to control the pump outlet pressure, and the accumulator is used to absorb the impact of the hydraulic system and the instantaneous acceleration oil replenishment. The hydraulic oil source outlet P is connected to the three servo valve oil supply ports of each group of single-leg hydraulic drive modules 101 through a hydraulic pipeline diversion. The high-pressure hydraulic oil flows through the three servo valves and enters the upper linear cylinder 203, the lower linear cylinder 204, and the rotary swing cylinder 212 respectively; the low-pressure hydraulic oil flowing out of the upper linear cylinder 203, the lower linear cylinder 204, and the rotary swing cylinder 212 flows through the three servo valves respectively, and after merging at the return oil port T of the hydraulic oil source 104, it flows through the air cooler to the oil tank.

[0037] For the single-leg hydraulic drive module 101, in order to make the foot end 207 reach the specified position within the reach, firstly, the telescopic displacement of the two linear cylinders and the rotation angle of the rotary swing cylinder 212 are calculated respectively through spatial inverse kinematics, and the telescopic displacement of the upper linear cylinder 203 and the lower linear cylinder 204 and the rotation angle of the rotary swing cylinder 212 are calculated according to these three parameters. The controller gives three servo valve control signals respectively according to the calculation results, and collects the angular displacement sensor or displacement sensor signals of the three hydraulic cylinders in real time for feedback control. The three hydraulic cylinders finally drive the drive assembly to move so that the foot end 207 reaches the target position accurately, completing the movement of the single-leg hydraulic drive module 101 part.

[0038] The multi-legged hydraulic robot integrates a mechanical frame 102 and multiple groups of single-legged hydraulic drive modules 101, and realizes different modes of movement of the whole machine by collaboratively controlling the foot end motion trajectories of multiple groups of single-legged hydraulic drive modules 101. When the rotary swing cylinder 212 maintains a specific angular displacement, the upper linear cylinder 203 and the lower linear cylinder 204 of each drive module are controlled to extend and retract, so that the multi-legged hydraulic robot can move forward and backward or turn; when the upper linear cylinder 203 and the lower linear cylinder 204 of multiple groups of single-legged hydraulic drive modules 101 maintain a specific extension and retraction displacement, the multi-legged hydraulic robot can be moved sideways by controlling the rotary swing cylinders on the left and right sides of the multi-legged robot to swing synchronously in opposite directions, or by controlling the diagonal rotary swing cylinders to swing synchronously in opposite directions. In the process of controlling various gaits of the robot, the control system needs to collect the position signals of all hydraulic cylinders in real time and calculate the current posture of the quadruped robot, and perform feedback control to eliminate the posture error after comparing it with the expected posture.

[0039] When the multi-legged robot is impacted by the external environment, in addition to the compressibility of the hydraulic oil and the accumulator that can absorb the impact energy, the weighing sensor or torque sensor installed on the hydraulic cylinder will quickly detect the external impact and transmit the force signal to the control end. The control end sends instructions to all single-legged hydraulic drive modules based on the dynamic calculation results, allowing the entire machine to enter the impedance control mode to absorb the impact and achieve self-protection.

[0040] It can be seen that the present invention can realize different postures and motion modes of the multi-legged hydraulic robot by controlling four groups of single-legged hydraulic drive modules 101. Based on the structural characteristics of the single-legged hydraulic drive module 101 with strong impact resistance and fast response speed, the whole machine can make accurate motion decisions and quickly execute actions in response to external environmental interference.

[0041] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multi-legged hydraulic robot, characterized in that: It includes mechanical frame, drive bracket, single-leg hydraulic drive module and swing assembly. The mechanical frame is provided with at least two mounting grooves, the left and right ends of the mounting grooves are respectively provided with mounting seats, and the left and right ends of the driving bracket are respectively rotatably mounted on the two mounting seats of the mounting grooves; A driving groove is provided at the lower end of the driving bracket, and a joint mounting seat is provided on the side wall of the driving groove; The single-leg hydraulic drive module includes a linear oil cylinder and a drive assembly, and the drive assembly includes a thigh, a calf, a thigh connecting rod and a hip joint connecting rod. A hip joint pin is provided on the upper side of the hip joint connecting rod, and the hip joint pin is rotatably mounted on the joint mounting seat; a second pin is provided on the upper side of the thigh, and the second pin is rotatably mounted on the lower side of the hip joint connecting rod; The right end of the linear oil cylinder is rotatably mounted on the right side of the driving groove, and the linear oil cylinder comprises an upper linear oil cylinder and a lower linear oil cylinder, the outer end of the driving rod of the upper linear oil cylinder is rotatably mounted on the upper end of the thigh, and the outer end of the driving rod of the lower linear oil cylinder is rotatably mounted on the second pin shaft; The upper side of the thigh connecting rod is rotatably mounted on the hip joint pin; The upper side of the calf is rotatably mounted on the lower side of the thigh connecting rod, and the middle part of the calf is rotatably mounted on the lower side of the thigh; The swing assembly includes a rotary swing cylinder, which is mounted on a mechanical frame, a driving rod of the rotary swing cylinder is fixedly connected to a driving bracket, and the driving rod of the rotary swing cylinder is coaxially arranged with a rotating axis of the driving bracket; The thigh, calf, thigh connecting rod and hip joint connecting rod form a parallelogram or parallelogram-like structure; A displacement sensor is provided in the linear cylinder, and a weighing sensor is provided on the driving rod of the linear cylinder; The lower end of the calf is provided with a foot end.

2. The multi-legged hydraulic robot according to claim 1, characterized in that: A swing bearing is installed at the left end of the mounting seat, the driving bracket is installed on the inner ring of the swing bearing, and the driving rod of the rotary swing cylinder is fixedly connected to the inner ring of the swing bearing.

3. The multi-legged hydraulic robot according to claim 1 or 2, characterized in that: It also includes a torque sensor installed on the driving rod of the rotary swing oil cylinder and an angular displacement sensor integrated in the cylinder barrel of the rotary swing oil cylinder.

4. The multi-legged hydraulic robot according to claim 1, characterized in that: A hip joint bearing is arranged on the joint mounting seat, and the hip joint pin is mounted on the inner ring of the hip joint bearing. The hip joint pin is coaxially arranged with the hip joint bearing.

5. The multi-legged hydraulic robot according to claim 1, characterized in that: A linear pin is provided on the right side of the driving groove, and the rear end of the linear cylinder is rotatably mounted on the linear pin. A rotation groove is provided at the upper end of the thigh, and a thigh joint bearing is provided on the lower side of the side wall of the rotation groove. The inner ring of the thigh joint bearing is fixedly connected to the second pin. The outer end of the driving rod of the lower linear cylinder is installed on the second pin. A first pin is provided on the upper side of the side wall of the rotation groove, and the outer end of the driving rod of the upper linear cylinder is rotatably mounted on the first pin.

6. The multi-legged hydraulic robot according to claim 5, characterized in that: A rear end cover is installed at the rear end of the linear cylinder, a rear end ball joint is installed on the rear end cover, the inner ring of the rear end ball joint is installed on the linear pin shaft, an earring joint is installed at the front end of the driving rod of the linear cylinder, a front end ball joint is installed at the front end of the earring joint, and the inner ring of the front end ball joint is installed on the first pin shaft or the second pin shaft.

7. The multi-legged hydraulic robot according to claim 1, characterized in that: The mechanical frame is provided with a posture sensor.

8. The multi-legged hydraulic robot according to claim 1, characterized in that: It also includes a hydraulic oil source and an upper linear servo valve, a lower linear servo valve and a swing servo valve installed on the mechanical frame, the upper linear servo valve is connected to the upper linear cylinder and the hydraulic oil source respectively, the lower linear servo valve is connected to the lower linear cylinder and the hydraulic oil source respectively, and the swing servo valve is connected to the rotary swing cylinder and the hydraulic oil source respectively.

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