An electro-hydraulic hybrid driven humanoid double-arm system

Abstract

An electro-hydraulic hybrid driven humanoid double-arm system, which relates to the field of robotic manipulators. The present invention solves the problems that the joints of existing purely motor-driven manipulators have insufficient joint driving torque and small load torque; the joints of purely hydraulic-driven manipulators have limited rotation angles, inflexible movement, and mostly have many external hydraulic hoses, the hydraulic pipelines are easily worn, and the disassembly, installation and maintenance are inconvenient. The head end of each shoulder Pitch rotation unit of the present invention is connected to the end of the shoulder Roll swing unit, the tail end of each shoulder Pitch rotation unit is connected to the head end of a big arm Yaw rotation unit, the tail end of each big arm Yaw rotation unit is connected to the head end of a small arm Pitch swing unit, the tail end of the small arm Pitch swing unit is connected to the head end of a small arm Yaw rotation unit, the tail end of each small arm Yaw rotation unit is connected to the head end of a wrist Pitch swing unit, and the tail end of the wrist Pitch swing unit is connected to a wrist joint. The present invention is used to expand the rotation range of the manipulator and improve the joint torque and load capacity.

Description

Technical Field

[0001] The present invention relates to the field of robotic manipulators, and more particularly to an electro-hydraulic hybrid-driven humanoid double-arm system. Background Art

[0002] Currently, the drive joints of robotic manipulators are mainly divided into two types: pure motor drive and pure hydraulic drive. The joints of robotic manipulators driven by pure motors have the advantages of fast response speed, simple drive, and flexible movement. However, their load capacity is not large and their driving torque is not high. Most of the joints of robotic manipulators driven by pure hydraulics use linear cylinders. Due to their advantages such as simple structure, reliable sealing, and high power density, they are widely used. They can be connected to other mechanisms to convert the motion form. Most hydraulic-driven robots use a transmission mechanism of a linear cylinder plus a connecting rod or a rack and pinion to achieve joint movement, and the oil passage at the joint is basically realized by an external oil pipe for transition.

[0003] The drive joints of these robotic manipulators have the following problems: For the joints of robotic manipulators driven by pure motors, the joint driving torque is insufficient and the load torque is small. Since the magnetic materials used in motors have saturation characteristics, their output torque will be limited. For the joints of robotic manipulators driven by pure hydraulics, they have a high power-to-mass ratio and a flexible electro-hydraulic control method. Basically, a linear hydraulic cylinder is connected to a transmission mechanism to drive the joint. The linear cylinder can convert the linear motion into the rotational motion required by the joint through mechanisms such as a connecting rod or a rack and pinion. Such a pure hydraulic robotic manipulator has a limited rotation angle, inflexible movement, and mostly has many external hydraulic oil pipes. The hydraulic pipes are easily worn, and the installation, disassembly, and maintenance are inconvenient.

[0004] In summary, the drive joints of existing robotic manipulators are mainly divided into two types: pure motor drive and pure hydraulic drive. The joints of robotic manipulators driven by pure motors have the problems of insufficient joint driving torque and small load torque. The joints of robotic manipulators driven by pure hydraulics have the problems of limited rotation angle, inflexible movement, mostly many external hydraulic oil pipes, easy wear of the hydraulic pipes, and inconvenient installation, disassembly, and maintenance. Summary of the Invention

[0005] The purpose of the present invention is to solve the problems that the drive joints of existing robotic manipulators are mainly divided into two types: pure motor drive and pure hydraulic drive. The joints of robotic manipulators driven by pure motors have the problems of insufficient joint driving torque and small load torque. The joints of robotic manipulators driven by pure hydraulics have the problems of limited rotation angle, inflexible movement, mostly many external hydraulic oil pipes, easy wear of the hydraulic pipes, and inconvenient installation, disassembly, and maintenance. Furthermore, an electro-hydraulic hybrid-driven humanoid double-arm system is provided.

[0006] The technical solution of the present invention is as follows:

[0007] An electro-hydraulic hybrid-driven humanoid double-arm system, which includes a shoulder Roll swing unit 2 and two single-arm robotic arms symmetrically arranged on both ends of the shoulder Roll swing unit 2. Each single-arm robotic arm includes a shoulder Pitch rotation unit 1, a upper-arm Yaw rotation unit 3, a forearm Pitch swing unit 4, a forearm Yaw rotation unit 5, a wrist Pitch swing unit 6 and a wrist joint;

[0008] The head end of each shoulder Pitch rotation unit 1 is connected to the end of the shoulder Roll swing unit 2, and the tail end of each shoulder Pitch rotation unit 1 is connected to the head end of an upper-arm Yaw rotation unit 3. The shoulder Pitch rotation unit 1 is driven by the driving component inside it to rotate the shoulder at the end of the shoulder Roll swing unit 2, realizing the rotational movement of the shoulder rotary joint; The shoulder Roll swing unit 2 is driven by the driving component inside it to drive the upper-arm Yaw rotation unit 3 to rotate around the end of the shoulder Roll swing unit 2, thereby driving the shoulder side-swing joint to realize the side-opening and closing movement;

[0009] The tail end of each upper-arm Yaw rotation unit 3 is connected to the head end of a forearm Pitch swing unit 4, and the tail end of the forearm Pitch swing unit 4 is connected to the head end of a forearm Yaw rotation unit 5. The upper-arm Yaw rotation unit 3 is driven by the driving component inside it to rotate the upper arm at the end of the upper-arm Yaw rotation unit 3, realizing the rotational movement of the upper-arm rotary joint; The forearm Pitch swing unit 4 is driven by the driving component inside it to drive the forearm Yaw rotation unit 5 to rotate around the end of the forearm Pitch swing unit 4, thereby realizing the bending movement of the forearm bending joint;

[0010] The tail end of each forearm Yaw rotation unit 5 is connected to the head end of a wrist Pitch swing unit 6, and the tail end of the wrist Pitch swing unit 6 is connected to a wrist joint. The forearm Yaw rotation unit 5 is driven by the driving component inside it to rotate the wrist Pitch swing unit 6 at the end of the forearm Yaw rotation unit 5, realizing the longitudinal rotational movement of the forearm rotary joint; The wrist Pitch swing unit 6 is driven by the driving component inside it to drive the wrist to rotate around the end of the wrist Pitch swing unit 6, thereby realizing the bending movement of the wrist bending joint;

[0011] The driving components inside the shoulder side-swing joint, the forearm bending joint and the wrist bending joint are all driven by the combination of a linear hydraulic cylinder and a connecting rod; The driving components inside the shoulder rotary joint, the upper-arm rotary joint and the forearm rotary joint are all driven by the combination of a servo motor and a reducer.

[0012] Furthermore, the shoulder Roll swing unit 2 includes a shoulder bracket 217 and two shoulder Roll swing components. The shoulder bracket 217 is horizontally arranged, and two symmetrically arranged shoulder Roll swing components are provided on the shoulder bracket 217. The end parts of the two shoulder Roll swing components are respectively connected to the two upper arm Yaw rotation units 3.

[0013] Furthermore, each shoulder Roll swing assembly includes a shoulder Ro11 hydraulic cylinder 201, a shoulder Ro11 servo valve 202, a shoulder Pitch oil passage joint 203, a shoulder guide sleeve 204, a shoulder Roll piston rod 205, a shoulder force sensor 206, a shoulder Roll slider connecting member 207, a shoulder Pitch limit rubber 208, a shoulder Roll two-force bar 209, a shoulder Roll base frame 210, a deep groove ball bearing one 211, a shoulder Roll guide rail front bearing seat 212, a shoulder Roll guide rail seat 213, a linear guide rail 214, a deep groove ball bearing two 215, and a shoulder oil guide pipe 216. The shoulder Roll hydraulic cylinder 201 is arranged in parallel above the shoulder bracket 217. The piston at one end of the shoulder Roll piston rod 205 is inserted inside the shoulder Roll hydraulic cylinder 201. The other end of the shoulder Roll piston rod 205 is connected to one end of the shoulder Roll slider connecting member 207 through the shoulder force sensor 206. The other end of the shoulder Roll slider connecting member 207 is connected to one end of the shoulder Roll two-force bar 209. The other end of the shoulder Roll two-force bar 209 is integrally formed with a shoulder Roll front earring, and the shoulder Roll front earring is rotatably connected to the boom Yaw rotation unit 3. The bottom of the shoulder Roll slider connecting member 207 is slidably and sealingly connected to the linear guide rail 214. The linear guide rail 214 is installed on the shoulder Roll guide rail seat 213. One end of the shoulder Roll guide rail seat 213 is rotatably connected to one end of the shoulder Roll hydraulic cylinder 201 through the deep groove ball bearing two 215. The other end of the shoulder Roll guide rail seat 213 is rotatably connected to the shoulder Roll guide rail front bearing seat 212 through the deep groove ball bearing one 211. The shoulder Roll guide rail front bearing seat 212 is installed on the shoulder bracket 217. The inner end of the shoulder Roll guide rail front bearing seat 212 is provided with the shoulder Pitch limit rubber 208, and the shoulder Pitch limit rubber 208 is connected to the shoulder Roll guide rail seat 213 through a connecting member. One end of the shoulder Roll hydraulic cylinder 201 near the shoulder Roll guide rail seat 213 is sleeved with the shoulder Pitch oil passage joint 203. The shoulder Roll servo valve 202 is installed on the shoulder Roll hydraulic cylinder 201, and the shoulder Roll servo valve 202 is connected to the shoulder Pitch oil passage joint 203. Two oil guide jacks are respectively machined on both sides of the shoulder Pitch oil passage joint 203. One end of each of the two shoulder oil guide pipes 216 is respectively inserted into the two oil guide jacks. The other ends of the two shoulder oil guide pipes 216 are respectively installed on the shoulder Roll guide rail seat 213 through the two shoulder guide sleeves 204. One end of the shoulder Roll base frame 210 is integrally formed with a base frame sleeve. The other end of the shoulder Roll guide rail seat 213 is sleeved with the base frame sleeve. The base frame sleeve is sleeved with a shoulder Pitch rotation unit 1, and the shoulder Pitch rotation unit 1 is installed on the shoulder bracket 217. The other end of the shoulder Roll base frame 210 is provided with two symmetrically arranged base frame right-angle oil pipes integrally formed with the base frame sleeve, and the two base frame right-angle oil pipes are rotatably connected to the boom Yaw rotation unit 3.

[0014] Further, the shoulder Pitch rotation unit 1 includes a shoulder speed reducer 101, a shoulder Pitch motor housing 102, a shoulder Pitch motor shaft 103, a deep groove ball bearing III 104, a shoulder Pitch encoder seat 105, a shoulder encoder 106, a shoulder Pitch motor end cover 108, a shoulder torque motor 109, a shoulder Pitch gearbox cover 110, a small spur gear 111, a deep groove ball bearing IV 112, a shoulder Pitch output shaft 113, a shoulder Pitch gear intermediate shaft 114, a deep groove ball bearing V 115, a medium spur gear 116, and a large spur gear 117. The large spur gear 117 is sleeved on the base sleeve of the shoulder Roll guide seat 213. The large spur gear 117 meshes with the medium spur gear 116. The medium spur gear 116 is rotatably mounted on the shoulder Pitch gear intermediate shaft 114 through the deep groove ball bearing V 115. The shoulder Pitch gearbox cover 110 is arranged on the side of the shoulder Pitch gear intermediate shaft 114. The end of the shoulder Pitch gear intermediate shaft 114 is inserted into the shaft hole of the shoulder Pitch gearbox cover 110. The medium spur gear 116 meshes with the small spur gear 111. The small spur gear 111 is sleeved on the shoulder Pitch output shaft 113. One end of the shoulder Pitch output shaft 113 is rotatably mounted in the bearing assembly hole of the shoulder Pitch gearbox cover 110 through the deep groove ball bearing IV 112. The other end of the shoulder Pitch output shaft 113 is connected to the end of the shoulder speed reducer 101. The shoulder speed reducer 101 is sleeved on one end of the shoulder Pitch motor shaft 103. The middle of the shoulder Pitch motor shaft 103 is inserted into the central hole of the shoulder torque motor 109. The other end of the shoulder Pitch motor shaft 103 is rotatably mounted in the bearing assembly hole of the shoulder Pitch motor end cover 108 through the deep groove ball bearing III 104. The shoulder Pitch motor end cover 108 is mounted on the end of the shoulder torque motor 109. The shoulder torque motor 109 and the shoulder speed reducer 101 are sleeved with the shoulder Pitch motor housing 102. Both ends of the shoulder Pitch motor housing 102 are respectively connected to the shoulder Pitch motor end cover 108 and the shoulder Pitch gearbox cover 110. A shoulder Pitch encoder seat 105 is mounted on one end of the shoulder Pitch motor shaft 103 close to the shoulder Pitch motor end cover 108. A shoulder encoder 106 is mounted on one end of the shoulder Pitch motor end cover 108 close to the shoulder Pitch motor shaft 103. The shoulder encoder 106 and the shoulder Pitch encoder seat 105 are arranged opposite to each other.

[0015] Further, the boom Yaw rotation unit 3 includes an arm encoder 301, an arm motor end cover 302, a deep groove ball bearing six 303, an arm torque motor 304, an arm motor shaft 305, an arm speed reducer 306, a speed reducer output shaft 307, a medium helical gear 308, a small helical gear 309, an arm motor angular contact bearing end cover 310, an angular contact bearing one 311, an arm motor gearbox cover 312, a large helical gear 313, an arm motor oil passage joint 314, an angular contact bearing two 315, and an arm motor housing 316. Two parallel support ear plates are integrally formed at the top of the arm motor housing 316, and the two support ear plates are respectively located on both sides of the shoulder Roll front earring at the end of the shoulder Roll two-force bar 209. The two support ear plates are rotatably connected to the shoulder Roll front earring through a pin shaft. Two parallel support sleeves are integrally formed at the top of the arm motor housing 316, and the two support sleeves are respectively rotatably connected to the two base frame right-angle oil pipes at the end of the shoulder Roll base frame 210 through two support bearings. Two oil guide jacks are respectively machined on both sides of the arm motor housing 316. One end of each of the two upper arm oil guide pipes is inserted into the two oil guide jacks, and the other end of each of the two upper arm oil guide pipes is respectively connected to the two base frame right-angle oil pipes at the end of the shoulder Roll base frame 210 through two base frame oil passage joints. Inside the arm motor housing 316, the angular contact bearing two 315 and the arm motor oil passage joint 314 are coaxially installed from top to bottom in sequence. The lower part of the arm motor housing 316 is connected with the arm motor gearbox cover 312 and the arm motor angular contact bearing end cover 310 from top to bottom in sequence. The large helical gear 313 is coaxially installed inside the arm motor gearbox cover 312, and the angular contact bearing one 311 is coaxially installed inside the arm motor angular contact bearing end cover 310. The upper end of the forearm Pitch swing unit 4 is inserted into the inner holes of the large helical gear 313 and the arm motor oil passage joint 314 from bottom to top in sequence. The large helical gear 313 is fixedly connected to the upper end of the forearm Pitch swing unit 4, and the arm motor oil passage joint 314 is rotatably connected to the upper end of the forearm Pitch swing unit 4. The upper end of the forearm Pitch swing unit 4 is respectively rotatably connected to the arm motor angular contact bearing end cover 310 and the arm motor housing 316 through the angular contact bearing one 311 and the angular contact bearing two 315. The large helical gear 313 meshes with the medium helical gear 308. The medium helical gear 308 is installed on the helical gear intermediate shaft through a support bearing. The end of the helical gear intermediate shaft is inserted into the shaft hole of the arm motor gearbox cover 312. The medium helical gear 308 meshes with the small helical gear 309. The small helical gear 309 is installed on the speed reducer output shaft 307. The speed reducer output shaft 307 is installed at the end of the arm speed reducer 306. The arm speed reducer 306 is sleeved on one end of the arm motor shaft 305. The middle part of the arm motor shaft 305 is inserted into the inner hole of the arm torque motor 304. The other end of the arm motor shaft 305 is rotatably connected to the arm motor end cover 302 through the deep groove ball bearing six 303. The arm motor end cover 302 is installed at the end of the arm motor housing 316.An arm encoder 301 is installed at one end of the arm motor end cover 302 close to the arm motor shaft 305, and the arm encoder 301 is arranged opposite to the end of the arm motor shaft 305.

[0016] Further, the structure of the forearm Yaw rotation unit 5 is the same as that of the upper arm Yaw rotation unit 3.

[0017] Further, the forearm Pitch swing unit 4 includes a large arm skeleton 401, an arm Yaw limit block 402, an arm lower oil pipe 403, a displacement sensor clamp 404, a large arm cylinder seat bearing clamp R405, a large arm hydraulic cylinder 406, a displacement sensor 407, a hydraulic cylinder guide sleeve 408, an arm piston rod 409, an arm force sensor 410, a radial spherical joint bearing 411, a large arm front end earring 412, a hydraulic actuator 413, an arm oil passage component 414, an oil pressure sensor 415, a large arm servo valve 416, and a large arm cylinder seat bearing clamp L417. A skeleton connecting column is integrally formed at the top of the large arm skeleton 401. The skeleton connecting column is inserted into the inner hole of the arm motor oil passage joint 314 from bottom to top. The two ends of the skeleton connecting column are respectively rotatably connected to the arm motor angular contact bearing end cover 310 and the arm motor housing 316 through an angular contact bearing one 311 and an angular contact bearing two 315. The arm Yaw limit block 402 is installed at the end of the skeleton connecting column. A U-shaped large arm cylinder seat integrally formed with the skeleton connecting column is provided at the bottom of the large arm skeleton 401. Two symmetric circular arc bearing assembly grooves are respectively machined on the two side plates of the U-shaped large arm cylinder seat. The large arm cylinder seat bearing clamp R405 and the large arm cylinder seat bearing clamp L417 are respectively buckled at the notches of the two circular arc bearing assembly grooves to form a circular bearing assembly hole. The large arm hydraulic cylinder 406 is installed at the notch of the U-shaped large arm cylinder seat. Two hydraulic cylinder oil pipes are integrally formed on both sides of the large arm hydraulic cylinder 406. The two hydraulic cylinder oil pipes are respectively rotatably connected to the two circular bearing assembly holes on the two side plates of the U-shaped large arm cylinder seat through two support bearings. Two oil guide insertion holes are respectively machined on both sides of the U-shaped large arm cylinder seat. One end of each of the two arm lower oil pipes 403 is respectively inserted into the two oil guide insertion holes. The other ends of the two arm lower oil pipes 403 are respectively connected to the two hydraulic cylinder oil pipes through two arm oil passage components 414. Two symmetrically arranged support round holes are respectively machined at the end parts of the two side plates of the U-shaped large arm cylinder seat. The two side plates of the U-shaped large arm cylinder seat are respectively rotatably connected to the two base frame right-angle oil pipes at the end of the shoulder Roll base frame 210 of the forearm Yaw rotation unit 5 through two support bearings. The hydraulic cylinder guide sleeve 408 is installed at the end of the large arm hydraulic cylinder 406. One end of the arm piston rod 409 passes through the hydraulic cylinder guide sleeve 408 from bottom to top and extends into the inner cavity of the large arm hydraulic cylinder 406. The piston at the end of the arm piston rod 409 is slidably and sealingly connected to the inner cavity of the arm piston rod 409. The other end of the arm piston rod 409 is connected to the large arm front end earring 412 through the arm force sensor 410. The radial spherical joint bearing 411 is installed in the inner hole of the large arm front end earring 412. The large arm front end earring 412 is rotatably connected to the two support ear plates at the top of the arm motor housing 316 of the forearm Yaw rotation unit 5 through a pin shaft. The hydraulic actuator 413 is installed on the U-shaped large arm cylinder seat of the large arm skeleton 401. The oil pressure sensor 415 and the large arm servo valve 416 are both installed on the large arm hydraulic cylinder 406.The displacement sensor 407 is installed on the boom hydraulic cylinder 406 through two displacement sensor clamps 404.,

[0018] Furthermore, the wrist Pitch swing unit 6 has the same structure as the forearm Pitch swing unit 4.

[0019] Furthermore, a wrist rubber ball is connected to each wrist joint.

[0020] Further, the oil path of the robotic arm shoulder Roll swing unit 2 is as follows: The hydraulic oil enters the shoulder Roll hydraulic cylinder 201 through the main oil inlet inside the spine, enters the P port of the shoulder Roll servo valve installed on it through the inside of the integrated shoulder Roll servo valve 202, returns oil to the main oil return port inside the spine through the T port of the shoulder Roll servo valve, the A port of the shoulder Roll servo valve enters the rod chamber of the shoulder Roll hydraulic cylinder 201, and the B port of the shoulder Roll servo valve enters the rodless chamber of the shoulder Roll hydraulic cylinder 201 to realize the side swing movement of the robotic arm shoulder; The oil path of the single arm of the robotic arm is as follows: The hydraulic oil enters the shoulder Roll hydraulic cylinder 201 through the main oil inlet inside the spine, is shunted through the inside of the integrated shoulder Roll servo valve 202 and enters the internal oil path 1 of the shoulder Pitch oil passage joint 203, flows into the internal oil path 2 of the shoulder guide pipe 216 and enters the internal oil path 3 of the shoulder Roll guide rail seat 213, passes through the internal oil path 4 of the shoulder Roll base frame 210, enters the internal oil path 5 of the base frame oil passage joint, passes through the internal oil path 6 of the upper arm guide pipe on the arm, enters the internal oil path 7 of the arm motor oil passage joint 314, and then enters the internal oil path 8 of the upper arm skeleton 401, then enters the internal oil path 9 of the lower arm guide pipe 403 on the arm, passes through the internal oil path 10 of the arm oil passage part 414 and enters the internal oil path 11 of the upper arm hydraulic cylinder 406, enters the P port of the upper arm servo valve installed on it through the inside of the integrated upper arm servo valve 416, returns oil to the main oil return port inside the spine through the T port of the upper arm servo valve 416, flows to the internal oil path 12 of the upper arm hydraulic cylinder 406, passes through the internal oil path 13 of the arm oil passage part 414, flows into the internal oil path 14 of the lower arm guide pipe 403 on the arm, and then enters the internal oil path 15 of the upper arm skeleton 401, enters the internal oil path 16 of the arm motor oil passage joint 314, passes through the internal oil path 17 of the upper arm guide pipe on the arm, enters the internal oil path 18 of the base frame oil passage joint, returns oil to the internal oil path 20 of the shoulder Roll guide rail seat 213 through the internal oil path 19 of the shoulder Roll base frame 210, flows into the internal oil path 21 of the shoulder guide pipe 216, enters the internal oil path 22 of the shoulder Pitch oil passage joint 203, returns oil to the inside of the integrated shoulder Roll servo valve 202 on the shoulder Roll hydraulic cylinder 201, returns oil to the main oil return port inside the spine, enters the rod chamber of the hydraulic cylinder through the A port of the shoulder Roll servo valve 202, and the B port of the shoulder Roll servo valve 202 enters the rodless chamber of the hydraulic cylinder to realize the bending movement of the upper arm of the robotic arm; The hydraulic oil passes through the internal oil path 13 of the arm oil passage part 414, flows into the internal oil path 23 of the arm oil passage part 414, enters the same oil path as the upper arm through the hydraulic oil pipe to drive the bending movement of the wrist, and returns oil to the internal oil path 24 of the arm oil passage part 414, and finally returns oil to the main oil return oil path inside the spine.

[0021] The present invention has the following effects compared with the prior art:

[0022] Compared with various existing robotic manipulators, the electro-hydraulic hybrid-driven humanoid double-arm system of the present invention has the following beneficial effects:

[0023] 1. Adopting the electro-hydraulic hybrid drive mode, the joints are driven to rotate by the servo motor + reducer method, greatly improving the joint rotation range; among them, the combination of the hydraulic cylinder and the connecting rod drives the swing of the robotic arm joints, with large joint torque and high load-bearing capacity. The electro-hydraulic hybrid drive can meet the requirements of large rotation range, high load capacity, etc.

[0024] 2. Adopting the internal oil passage and oil passage joint structure, there is no need for a large number of hydraulic pipelines and electrical circuit connections, simplifying the pipelines, with a simple structure, convenient installation and disassembly. At the same time, the wear and tear failures of a large number of pipelines are greatly reduced, improving safety and reliability.

[0025] 3. Adopting a robotic arm with a human-like degree-of-freedom distribution can meet the motion requirements in complex situations, and has the advantages of strong load-bearing capacity, large rotation angle, and flexible movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is the overall structure diagram of the electro-hydraulic hybrid-driven humanoid double-arm system of the present invention;

[0027] Figure 2 is the schematic diagram of the degrees of freedom of the electro-hydraulic hybrid-driven humanoid double-arm system of the present invention;

[0028] Figure 3 is the cross-sectional view of the shoulder Pitch rotation unit 1 of the present invention;

[0029] Figure 4 is the structure diagram of the shoulder Roll swing unit 2 of the present invention;

[0030] Figure 5 is the cross-sectional view of the upper arm Yaw rotation unit 3 or the forearm Yaw rotation unit 5 of the present invention;

[0031] Figure 6 is the exploded view of the forearm Pitch swing unit 4 or the wrist Pitch swing unit 6 of the present invention;

[0032] Figure 7 is the cross-sectional view of the main oil passage of the unilateral shoulder Roll swing unit 2 of the present invention;

[0033] Figure 8 is the cross-sectional view of the main oil passage of the unilateral upper arm Yaw rotation unit 3 and the forearm Pitch swing unit 4 of the present invention.

[0034] In the figure: 1 - shoulder Pitch rotation unit; 2 - shoulder Roll swing unit; 3 - upper arm Yaw rotation unit; 4 - forearm Pitch swing unit; 5 - forearm Yaw rotation unit; 6 - wrist Pitch swing unit;

[0035] 101 - Shoulder reducer; 102 - Shoulder Pitch motor housing; 103 - Shoulder Pitch motor shaft; 104 - Deep groove ball bearing III; 105 - Shoulder Pitch encoder seat; 106 - Shoulder encoder; 108 - Shoulder Pitch motor end cover; 109 - Shoulder torque motor; 110 - Shoulder Pitch gearbox cover; 111 - Small spur gear; 112 - Deep groove ball bearing IV; 113 - Shoulder Pitch output shaft; 114 - Shoulder Pitch gear intermediate shaft; 115 - Deep groove ball bearing V; 116 - Medium spur gear; 117 - Large spur gear;

[0036] 201 - Shoulder Roll hydraulic cylinder; 202 - Shoulder Roll servo valve; 203 - Shoulder Pitch oil passage joint; 204 - Shoulder guide sleeve; 205 - Shoulder Roll piston rod; 206 - Shoulder force sensor; 207 - Shoulder Roll slider connector; 208 - Shoulder Pitch limit rubber; 209 - Shoulder Roll two - force bar; 210 - Shoulder Roll base frame; 211 - Deep groove ball bearing I; 212 - Shoulder Roll front bearing seat of guide rail; 213 - Shoulder Roll guide rail seat; 214 - Linear guide rail; 215 - Deep groove ball bearing II; 216 - Shoulder oil guide pipe; 217 - Shoulder bracket;

[0037] 301 - Arm encoder; 302 - Arm motor end cover; 303 - Deep groove ball bearing VI; 304 - Arm torque motor; 305 - Arm motor shaft; 306 - Arm reducer; 307 - Reducer output shaft; 308 - Medium helical gear; 309 - Small helical gear; 310 - Arm motor angular contact bearing end cover; 311 - Angular contact bearing I; 312 - Arm motor gearbox cover; 313 - Large helical gear; 314 - Arm motor oil passage joint; 315 - Angular contact bearing II; 316 - Arm motor housing;

[0038] 401 - Upper arm skeleton; 402 - Arm Yaw limit block; 403 - Lower arm oil guide pipe; 404 - Displacement sensor clamp; 405 - Upper arm hydraulic cylinder seat bearing clamp R; 406 - Upper arm hydraulic cylinder; 407 - Displacement sensor; 408 - Hydraulic cylinder guide sleeve; 409 - Arm piston rod; 410 - Arm force sensor; 411 - Radial spherical joint bearing; 412 - Upper arm front earring; 413 - Hydraulic actuator; 414 - Arm oil passage part; 415 - Oil pressure sensor; 416 - Upper arm servo valve; 417 - Upper arm hydraulic cylinder seat bearing clamp L. Detailed implementation mode

[0039] Detailed implementation mode one: Combine Figures 1 to 8To describe this embodiment, an electro-hydraulic hybrid-driven humanoid double-arm system of this embodiment includes a shoulder Roll swing unit 2 and two single-arm manipulators symmetrically arranged at both ends of the shoulder Roll swing unit 2. Each single-arm manipulator includes a shoulder Pitch rotation unit 1, a upper arm Yaw rotation unit 3, a forearm Pitch swing unit 4, a forearm Yaw rotation unit 5, a wrist Pitch swing unit 6 and a wrist joint.

[0040] The head end of each shoulder Pitch rotation unit 1 is connected to the end of the shoulder Roll swing unit 2, and the tail end of each shoulder Pitch rotation unit 1 is connected to the head end of an upper arm Yaw rotation unit 3. The shoulder Pitch rotation unit 1 is driven by the driving component inside it to rotate the shoulder at the end of the shoulder Roll swing unit 2, realizing the rotational movement of the shoulder rotation joint; the shoulder Roll swing unit 2 is driven by the driving component inside it to drive the upper arm Yaw rotation unit 3 to rotate around the end of the shoulder Roll swing unit 2, thereby driving the shoulder side swing joint to realize the side opening and closing movement.

[0041] The shoulder Pitch rotation unit 1 is driven by the torque motor inside the shoulder Pitch motor assembly through a reducer to rotate the shoulder on the shoulder bracket bearing, realizing the rotational movement of the shoulder.

[0042] The shoulder Roll swing unit 2, its shoulder hydraulic cylinder drives the connecting rod thereon to push the shoulder joint connecting piece to rotate around the arm joint axis fixed on the shoulder, thereby driving the manipulator to realize the side opening and closing movement.

[0043] The tail end of each upper arm Yaw rotation unit 3 is connected to the head end of a forearm Pitch swing unit 4, and the tail end of the forearm Pitch swing unit 4 is connected to the head end of a forearm Yaw rotation unit 5. The upper arm Yaw rotation unit 3 is driven by the driving component inside it to rotate the upper arm at the end of the upper arm Yaw rotation unit 3, realizing the rotational movement of the upper arm rotation joint; the forearm Pitch swing unit 4 is driven by the driving component inside it to drive the forearm Yaw rotation unit 5 to rotate around the end of the forearm Pitch swing unit 4, thereby realizing the bending movement of the forearm bending joint.

[0044] The upper arm Yaw rotation unit 3 is driven by the torque motor inside the shoulder joint through a reducer to rotate the upper arm, realizing the rotational movement of the upper arm.

[0045] The forearm Pitch swing unit 4 leads oil from the shoulder joint to the piston rod in the upper arm hydraulic cylinder assembly, and then pushes the slider connecting piece on the guide rail, driving the front connecting rod to push the forearm elbow joint connecting piece to rotate around the arm joint axis fixed on the upper arm, realizing the bending movement of the forearm.

[0046] The end of each forearm Yaw rotation unit 5 is connected to the head end of a wrist Pitch swing unit 6. The end of the wrist Pitch swing unit 6 is connected to a wrist joint. The forearm Yaw rotation unit 5 drives the wrist Pitch swing unit 6 to rotate at the end of the forearm Yaw rotation unit 5 by the internal drive assembly, realizing the longitudinal rotation movement of the forearm rotary joint; the wrist Pitch swing unit 6 drives the wrist to rotate around the end of the wrist Pitch swing unit 6 by its internal drive assembly, thus realizing the bending movement of the wrist bending joint.

[0047] The forearm Yaw rotation unit 5 is driven by a torque motor inside the elbow joint through a speed reducer to rotate the forearm around the elbow, realizing the longitudinal rotation movement of the forearm.

[0048] The wrist Pitch swing unit 6 is driven by the oil flowing inside the elbow joint to push the piston rod in the forearm hydraulic cylinder assembly, and then drives the slider connecting piece on the guide rail to drive the big arm two-force rod, pushing the wrist joint connecting piece to rotate around the wrist joint axis fixed on the forearm, realizing the bending movement of the wrist.

[0049] The drive assemblies inside the shoulder side swing joint, forearm bending joint and wrist bending joint are all driven by the combination of a linear hydraulic cylinder and a connecting rod; the drive assemblies inside the shoulder rotary joint, big arm rotary joint and forearm rotary joint are all driven by the combination of a servo motor and a speed reducer.

[0050] The hydraulic hose of the robotic arm of the present invention is connected to the elbow hydraulic cylinder assembly, and then drives the forearm elbow joint connecting piece to rotate around the arm joint axis fixed on the big arm, realizing the bending movement of the forearm.

[0051] The shoulder Roll swing unit of the robotic arm of the present invention is connected to the oil inlet and return oil ports at both ends of the forearm elbow through oil pipes on both sides, enters the arm motor oil passage joint, and then drives the piston rod of the arm hydraulic cylinder to push the connecting rod to drive the elbow joint to move.

[0052] The hydraulic oil of the robotic arm of the present invention flows through the inside of the robot torso skeleton, the inside of the robotic arm and the oil passage joint, which can simplify the number of oil pipes and reduce the wear of the pipeline.

[0053] The front end of the wrist Pitch swing unit of the robotic arm of the present invention is connected to the wrist joint, and a wrist rubber ball is connected thereto.

[0054] The electro-hydraulic hybrid-driven humanoid double-arm system of the present invention uses a servo motor + reducer method to drive joints with a large rotation range, and a hydraulic cylinder and connecting rod combination method to drive joints with a large load torque. The internal oil passage structure within the joint is adopted for the hydraulic power transmission between components. The motor drive has a large rotation range, and the hydraulic drive has characteristics such as large joint torque and high load capacity. Different drive schemes are adopted for different joints of the humanoid robotic arm to achieve the dual goals of a large motion space and a strong load capacity. In order to simplify the design of the robotic arm joints and reduce the external dimensions of the robotic arm, the internal oil passage method within the joint is used to make the structure of the robotic arm more delicate and the mass lighter. The electro-hydraulic hybrid method is used to drive the joint movement to achieve multi-degree-of-freedom large-range movement and large load capacity of the robotic arm.

[0055] Specific Embodiment 2: In combination with Figures 1 to 8 To describe this embodiment, the shoulder Roll swing unit 2 of this embodiment includes a shoulder bracket 217 and two shoulder Roll swing components. The shoulder bracket 217 is horizontally arranged, and two symmetrically arranged shoulder Roll swing components are provided on the shoulder bracket 217. The end parts of the two shoulder Roll swing components are respectively connected to the two upper arm Yaw rotation units 3. The other compositions and connection relationships are the same as those in Specific Embodiment 1.

[0056] Specific Embodiment 3: In combination with Figure 1 and Figure 4To describe this embodiment, each shoulder Roll swing assembly of this embodiment includes a shoulder Roll hydraulic cylinder 201, a shoulder Roll servo valve 202, a shoulder Pitch oil passage joint 203, a shoulder guide sleeve 204, a shoulder Roll piston rod 205, a shoulder force sensor 206, a shoulder Roll slider connecting member 207, a shoulder Pitch limit rubber 208, a shoulder Roll two-force bar 209, a shoulder Roll base frame 210, a deep groove ball bearing one 211, a shoulder Roll guide rail front bearing seat 212, a shoulder Roll guide rail seat 213, a linear guide rail 214, a deep groove ball bearing two 215, and a shoulder oil guide pipe 216. The shoulder Roll hydraulic cylinder 201 is arranged in parallel above the shoulder bracket 217. The piston at one end of the shoulder Roll piston rod 205 is inserted inside the shoulder Roll hydraulic cylinder 201. The other end of the shoulder Roll piston rod 205 is connected to one end of the shoulder Roll slider connecting member 207 through the shoulder force sensor 206. The other end of the shoulder Roll slider connecting member 207 is connected to one end of the shoulder Roll two-force bar 209. The other end of the shoulder Roll two-force bar 209 is integrally formed with a shoulder Roll front earring, and the shoulder Roll front earring is rotatably connected to the boom Yaw rotation unit 3. The bottom of the shoulder Roll slider connecting member 207 is slidably and sealingly connected to the linear guide rail 214. The linear guide rail 214 is installed on the shoulder Roll guide rail seat 213. One end of the shoulder Roll guide rail seat 213 is rotatably connected to one end of the shoulder Roll hydraulic cylinder 201 through the deep groove ball bearing two 215. The other end of the shoulder Roll guide rail seat 213 is rotatably connected to the shoulder Roll guide rail front bearing seat 212 through the deep groove ball bearing one 211. The shoulder Roll guide rail front bearing seat 212 is installed on the shoulder bracket 217. The inner end of the shoulder Roll guide rail front bearing seat 212 is provided with the shoulder Pitch limit rubber 208, and the shoulder Pitch limit rubber 208 is connected to the shoulder Roll guide rail seat 213 through a connecting member. One end of the shoulder Roll hydraulic cylinder 201 close to the shoulder Roll guide rail seat 213 is sleeved with the shoulder Pitch oil passage joint 203. The shoulder Roll servo valve 202 is installed on the shoulder Roll hydraulic cylinder 201, and the shoulder Roll servo valve 202 is connected to the shoulder Pitch oil passage joint 203. Two oil guide jacks are respectively machined on both sides of the shoulder Pitch oil passage joint 203. One end of each of the two shoulder oil guide pipes 216 is respectively inserted into the two oil guide jacks. The other ends of the two shoulder oil guide pipes 216 are respectively installed on the shoulder Roll guide rail seat 213 through the two shoulder guide sleeves 204. One end of the shoulder Roll base frame 210 is integrally formed with a base frame sleeve. The other end of the shoulder Roll guide rail seat 213 is sleeved with the base frame sleeve. The shoulder Pitch rotation unit 1 is sleeved on the base frame sleeve, and the shoulder Pitch rotation unit 1 is installed on the shoulder bracket 217. The other end of the shoulder Ro11 base frame 210 is provided with two symmetrically arranged base frame right-angle oil pipes integrally formed with the base frame sleeve, and the two base frame right-angle oil pipes are rotatably connected to the boom Yaw rotation unit 3.Set in this way, the hydraulic oil of this swing unit enters the linear hydraulic cylinder, which in turn drives the piston rod to push the slider connector on the guide rail, then pushes the front connecting rod, and drives the connecting piece of the small arm elbow joint to rotate around the arm joint axis fixed on the large arm, thereby realizing the side swing movement of the arm. The angle sensor and force sensor connected thereto perform closed-loop feedback; the hydraulic servo controller controls the flow rate of the oil cylinder through the hydraulic servo valve to control the magnitude of the side swing force of the arm. The other components and connection relationships are the same as those in the first or second specific implementation manners.

[0057] Specific implementation manner four: Combine Figure 1 , Figure 4 and Figure 7To describe this embodiment, the shoulder Pitch rotation unit 1 of this embodiment includes a shoulder speed reducer 101, a shoulder Pitch motor housing 102, a shoulder Pitch motor shaft 103, a deep groove ball bearing three 104, a shoulder Pitch encoder seat 105, a shoulder encoder 106, a shoulder Pitch motor end cover 108, a shoulder torque motor 109, a shoulder Pitch gearbox cover 110, a small spur gear 111, a deep groove ball bearing four 112, a shoulder Pitch output shaft 113, a shoulder Pitch gear intermediate shaft 114, a deep groove ball bearing five 115, a medium spur gear 116, and a large spur gear 117. The large spur gear 117 is sleeved on the base sleeve of the shoulder Roll guide seat 213. The large spur gear 117 meshes with the medium spur gear 116. The medium spur gear 116 is rotatably installed on the shoulder Pitch gear intermediate shaft 114 through the deep groove ball bearing five 115. The shoulder Pitch gearbox cover 110 is arranged on the side of the shoulder Pitch gear intermediate shaft 114. The end of the shoulder Pitch gear intermediate shaft 114 is inserted into the shaft hole of the shoulder Pitch gearbox cover 110. The medium spur gear 116 meshes with the small spur gear 111. The small spur gear 111 is sleeved on the shoulder Pitch output shaft 113. One end of the shoulder Pitch output shaft 113 is rotatably installed in the bearing assembly hole of the shoulder Pitch gearbox cover 110 through the deep groove ball bearing four 112. The other end of the shoulder Pitch output shaft 113 is connected to the end of the shoulder speed reducer 101. The shoulder speed reducer 101 is sleeved on one end of the shoulder Pitch motor shaft 103. The middle of the shoulder Pitch motor shaft 103 is inserted into the central hole of the shoulder torque motor 109. The other end of the shoulder Pitch motor shaft 103 is rotatably installed in the bearing assembly hole of the shoulder Pitch motor end cover 108 through the deep groove ball bearing three 104. The shoulder Pitch motor end cover 108 is installed at the end of the shoulder torque motor 109. The shoulder torque motor 109 and the shoulder speed reducer 101 are sleeved with the shoulder Pitch motor housing 102. The two ends of the shoulder Pitch motor housing 102 are respectively connected to the shoulder Pitch motor end cover 108 and the shoulder Pitch gearbox cover 110. A shoulder Pitch encoder seat 105 is installed at one end of the shoulder Pitch motor shaft 103 close to the shoulder Pitch motor end cover 108. A shoulder encoder 106 is installed at one end of the shoulder Pitch motor end cover 108 close to the shoulder Pitch motor shaft 103. The shoulder encoder 106 and the shoulder Pitch encoder seat 105 are arranged opposite to each other. With such a setting, when working, the torque motor is powered on and rotates, decelerates through the gear set, and the end gear drives the shoulder to perform the forward and backward pitching movement of the robotic arm through the shoulder pitch gear intermediate shaft. An encoder is installed on one side of the motor to perform closed-loop feedback control on its speed. The other components and connection relationships are the same as those in the first, second, or third specific embodiments.

[0058] Specific Embodiment Five: In combination with Figure 1 and Figure 2Describing this embodiment, the boom Yaw rotation unit 3 of this embodiment includes an arm encoder 301, an arm motor end cover 302, a deep groove ball bearing six 303, an arm torque motor 304, an arm motor shaft 305, an arm reducer 306, a reducer output shaft 307, a medium helical gear 308, a small helical gear 309, an arm motor angular contact bearing end cover 310, an angular contact bearing one 311, an arm motor gearbox cover 312, a large helical gear 313, an arm motor oil passage joint 314, an angular contact bearing two 315, and an arm motor housing 316. Two parallel support ear plates are integrally formed at the top of the arm motor housing 316, and the two support ear plates are respectively located on both sides of the front shoulder Roll earring at the end of the shoulder Roll two-force bar 209. The two support ear plates are rotatably connected to the front shoulder Roll earring through a pin shaft. Two parallel support sleeves are integrally formed at the top of the arm motor housing 316, and the two support sleeves are respectively rotatably connected to the two base frame right-angle oil pipes at the end of the shoulder Roll base frame 210 through two support bearings. Two oil guide jacks are respectively machined on both sides of the arm motor housing 316. One end of each of the two upper arm oil guide pipes is inserted into the two oil guide jacks respectively, and the other end of each of the two upper arm oil guide pipes is respectively connected to the two base frame right-angle oil pipes at the end of the shoulder Roll base frame 210 through two base frame oil passage joints. Inside the arm motor housing 316, the angular contact bearing two 315 and the arm motor oil passage joint 314 are coaxially installed from top to bottom in sequence. The lower part of the arm motor housing 316 is connected with the arm motor gearbox cover 312 and the arm motor angular contact bearing end cover 310 from top to bottom in sequence. The large helical gear 313 is coaxially installed inside the arm motor gearbox cover 312, and the angular contact bearing one 311 is coaxially installed inside the arm motor angular contact bearing end cover 310. The upper end of the forearm Pitch swing unit 4 is inserted into the inner holes of the large helical gear 313 and the arm motor oil passage joint 314 from bottom to top in sequence. The large helical gear 313 is fixedly connected to the upper end of the forearm Pitch swing unit 4, and the arm motor oil passage joint 314 is rotatably connected to the upper end of the forearm Pitch swing unit 4. The upper end of the forearm Pitch swing unit 4 is respectively rotatably connected to the arm motor angular contact bearing end cover 310 and the arm motor housing 316 through the angular contact bearing one 311 and the angular contact bearing two 315 respectively. The large helical gear 313 meshes with the medium helical gear 308. The medium helical gear 308 is installed on the helical gear intermediate shaft through a support bearing, and the end of the helical gear intermediate shaft is inserted into the shaft hole of the arm motor gearbox cover 312. The medium helical gear 308 meshes with the small helical gear 309. The small helical gear 309 is installed on the reducer output shaft 307. The reducer output shaft 307 is installed at the end of the arm reducer 306. The arm reducer 306 is sleeved on one end of the arm motor shaft 305. The middle part of the arm motor shaft 305 is inserted into the inner hole of the arm torque motor 304. The other end of the arm motor shaft 305 is rotatably connected to the arm motor end cover 302 through the deep groove ball bearing six 303. The arm motor end cover 302 is installed at the end of the arm motor housing 316.An arm encoder 301 is installed at one end of the arm motor end cover 302 close to the arm motor shaft 305, and the arm encoder 301 is arranged opposite to the end of the arm motor shaft 305. With such an arrangement, the torque motor is energized to rotate, driving the gear set for speed reduction, and then driving the shoulder to perform the pitching motion of the robotic arm. An encoder is installed on one side of the motor to perform closed-loop feedback control on its rotational speed. The other components and connection relationships are the same as those in the first, second, third, or fourth specific implementation manners.

[0059] Specific implementation manner six: Combining Figure 1 and Figure 5 to describe this implementation manner, the structure of the forearm Yaw rotation unit 5 in this implementation manner is the same as that of the upper arm Yaw rotation unit 3. The other components and connection relationships are the same as those in the first, second, third, fourth, or fifth specific implementation manners.

[0060] Specific implementation manner seven: Combining Figure 1 and Figure 5Description of this embodiment. The forearm Pitch swing unit 4 of this embodiment includes a large arm skeleton 401, an arm Yaw limit block 402, an arm lower oil guide pipe 403, a displacement sensor clamp 404, a large arm cylinder seat bearing clamp R405, a large arm hydraulic cylinder 406, a displacement sensor 407, a hydraulic cylinder guide sleeve 408, an arm piston rod 409, an arm force sensor 410, a radial spherical joint bearing 411, a large arm front end earring 412, a hydraulic actuator 413, an arm oil passage component 414, an oil pressure sensor 415, a large arm servo valve 416, and a large arm cylinder seat bearing clamp L417. A skeleton connection column is integrally formed at the top of the large arm skeleton 401. The skeleton connection column is inserted into the inner hole of the arm motor oil passage joint 314 from bottom to top. The two ends of the skeleton connection column are respectively rotatably connected to the arm motor angular contact bearing end cover 310 and the arm motor housing 316 through an angular contact bearing one 311 and an angular contact bearing two 315. The arm Yaw limit block 402 is installed at the end of the skeleton connection column. A U-shaped large arm cylinder seat integrally formed with the skeleton connection column is provided at the bottom of the large arm skeleton 401. Two symmetric circular arc bearing assembly grooves are respectively machined on the two side plates of the U-shaped large arm cylinder seat. The large arm cylinder seat bearing clamp R405 and the large arm cylinder seat bearing clamp L417 are respectively buckled at the notches of the two circular arc bearing assembly grooves to form a circular bearing assembly hole. The large arm hydraulic cylinder 406 is installed at the notch of the U-shaped large arm cylinder seat. Two hydraulic cylinder oil guide pipes are integrally formed on both sides of the large arm hydraulic cylinder 406. The two hydraulic cylinder oil guide pipes are respectively rotatably connected to the two circular bearing assembly holes on the two side plates of the U-shaped large arm cylinder seat through two support bearings. Two oil guide insertion holes are respectively machined on both sides of the U-shaped large arm cylinder seat. One end of each of the two arm lower oil guide pipes 403 is respectively inserted into the two oil guide insertion holes. The other ends of the two arm lower oil guide pipes 403 are respectively connected to the two hydraulic cylinder oil guide pipes through two arm oil passage components 414. Two symmetrically arranged support round holes are respectively machined at the end parts of the two side plates of the U-shaped large arm cylinder seat. The two side plates of the U-shaped large arm cylinder seat are respectively rotatably connected to the two base frame right-angle oil pipes at the end of the shoulder Roll base frame 210 of the forearm Yaw rotation unit 5 through two support bearings. A hydraulic cylinder guide sleeve 408 is installed at the end of the large arm hydraulic cylinder 406. One end of the arm piston rod 409 passes through the hydraulic cylinder guide sleeve 408 from bottom to top and extends into the inner cavity of the large arm hydraulic cylinder 406. The piston at the end of the arm piston rod 409 is slidably and sealingly connected to the inner cavity of the arm piston rod 409. The other end of the arm piston rod 409 is connected to the large arm front end earring 412 through the arm force sensor 410. The radial spherical joint bearing 411 is installed in the inner hole of the large arm front end earring 412. The large arm front end earring 412 is rotatably connected to the two support ear plates at the top of the arm motor housing 316 of the forearm Yaw rotation unit 5 through a pin shaft. The hydraulic actuator 413 is installed on the U-shaped large arm cylinder seat of the large arm skeleton 401. The oil pressure sensor 415 and the large arm servo valve 416 are both installed on the large arm hydraulic cylinder 406.The displacement sensor 407 is installed on the boom hydraulic cylinder 406 through two displacement sensor clamps 404. With such an arrangement, hydraulic oil enters the linear hydraulic cylinder, driving the piston rod to push the slider connector on the guide rail, and driving the front connecting rod to push the forearm elbow joint connector to rotate around the arm joint axis fixed on the boom, thereby realizing the bending movement of the arm. The connected displacement sensor and force sensor perform closed-loop feedback; the hydraulic servo controller controls the flow rate of the oil cylinder through the hydraulic servo valve, and further controls the magnitude of the arm force. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth, or sixth specific embodiments.

[0061] Specific Embodiment Eight: In combination with Figure 1 and Figure 6 describe this embodiment. The wrist Pitch swing unit 6 of this embodiment has the same structure as the forearm Pitch swing unit 4. With such an arrangement, both the boom and the forearm include a hydraulic link Pitch swing unit with the same driving form. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, or seventh specific embodiments.

[0062] Specific Embodiment Nine: In combination with Figure 1 and Figure 6 describe this embodiment. A wrist rubber ball is connected to each wrist joint of this embodiment. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh, or eighth specific embodiments.

[0063] Specific Embodiment Ten: In combination with Figure 1For this embodiment, the oil path of the Roll swing unit 2 of the robotic arm shoulder is as follows: Hydraulic oil enters the shoulder Roll hydraulic cylinder 201 through the main oil inlet inside the spine, enters the P port of the shoulder Roll servo valve installed on it through the inside of the integrated shoulder Roll servo valve 202, and returns oil to the main oil return port inside the spine through the T port of the shoulder Roll servo valve. The A port of the shoulder Roll servo valve enters the rod chamber of the shoulder Roll hydraulic cylinder 201, and the B port of the shoulder Roll servo valve enters the rodless chamber of the shoulder Roll hydraulic cylinder 201 to achieve the side swing movement of the robotic arm shoulder; The oil path of the single-arm of the robotic arm is as follows: Hydraulic oil enters the shoulder Roll hydraulic cylinder 201 through the main oil inlet inside the spine, is shunted through the inside of the integrated shoulder Roll servo valve 202 and enters the internal oil path 1 of the shoulder Pitch oil passage joint 203, flows into the internal oil path 2 of the shoulder guide pipe 216 and enters the internal oil path 3 of the shoulder Roll guide rail seat 213, passes through the internal oil path 4 of the shoulder Roll base 210, enters the internal oil path 5 of the base oil passage joint, passes through the internal oil path 6 of the upper arm guide pipe on the arm, enters the internal oil path 7 of the arm motor oil passage joint 314, and then enters the internal oil path 8 of the upper arm skeleton 401, then enters the internal oil path 9 of the lower arm guide pipe 403 of the arm, passes through the internal oil path 10 of the arm oil passage part 414 and enters the internal oil path 11 of the upper arm hydraulic cylinder 406, enters the P port of the upper arm servo valve installed on it through the inside of the integrated upper arm servo valve 416, returns oil to the main oil return port inside the spine through the T port of the upper arm servo valve 416, flows into the internal oil path 12 of the upper arm hydraulic cylinder 406, passes through the internal oil path 13 of the arm oil passage part 414, flows into the internal oil path 14 of the lower arm guide pipe 403 of the arm, and then enters the internal oil path 15 of the upper arm skeleton 401, enters the internal oil path 16 of the arm motor oil passage joint 314, passes through the internal oil path 17 of the upper arm guide pipe on the arm, enters the internal oil path 18 of the base oil passage joint, returns oil to the internal oil path 20 of the shoulder Roll guide rail seat 213 through the internal oil path 19 of the shoulder Roll base 210, flows into the internal oil path 21 of the shoulder guide pipe 216, enters the internal oil path 22 of the shoulder Pitch oil passage joint 203, returns oil to the inside of the integrated shoulder Roll servo valve 202 on the shoulder Roll hydraulic cylinder 201, and returns oil to the main oil return port inside the spine. It enters the rod chamber of the hydraulic cylinder through the A port of the shoulder Roll servo valve 202, and the B port of the shoulder Roll servo valve 202 enters the rodless chamber of the hydraulic cylinder to achieve the bending movement of the upper arm of the robotic arm; Hydraulic oil passes through the internal oil path 13 of the arm oil passage part 414, flows into the internal oil path 23 of the arm oil passage part 414, enters the same oil path as the upper arm through the hydraulic oil pipe to drive the bending movement of the wrist, and returns oil to the internal oil path 24 of the arm oil passage part 414, and finally returns oil to the main oil return oil path inside the spine. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh, eighth, or ninth specific embodiments.

[0064] Working principle

[0065] Combined withFigures 1 to 8 Describe the working principle of a electro-hydraulic hybrid driven humanoid double-arm system of the present invention: The electro-hydraulic hybrid driven humanoid double-arm system of the present invention has symmetrical double arms, with a humanoid degree-of-freedom distribution. Each single arm has 6 driving degrees of freedom, and the 6 degrees of freedom of a single arm include: 3 degrees of freedom at the shoulder, namely the freedom of the shoulder Pitch rotation unit, the freedom of the shoulder Roll swing unit, and the freedom of the upper arm Yaw rotation; 2 degrees of freedom at the elbow: the freedom of the forearm Pitch swing and the freedom of the forearm Yaw rotation, and 1 degree of freedom at the wrist: the freedom of the wrist Pitch swing. Among them, 3 degrees of freedom adopt the combined driving mode of hydraulic cylinders and connecting rods. The side swing of the shoulder, the bending of the forearm and the bending of the wrist are all driven by the combined mode of linear hydraulic cylinders and connecting rods; the other 3 degrees of freedom are driven by the servo motor + reducer driving mode. The shoulder, upper arm and forearm rotation joints are driven by the combined mode of servo motors and reducers, and have a larger motion range than the rotation of the joints driven by linear hydraulic cylinders.

[0066] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An electro-hydraulic hybrid-driven humanoid double-arm system, characterized in that: It includes a shoulder Roll swing unit (2) and two robotic arm single arms symmetrically arranged on both ends of the shoulder Roll swing unit (2). Each robotic arm single arm includes a shoulder Pitch rotation unit (1), a upper arm Yaw rotation unit (3), a forearm Pitch swing unit (4), a forearm Yaw rotation unit (5), a wrist Pitch swing unit (6) and a wrist joint; The head end of each shoulder Pitch rotation unit (1) is connected to the end of the shoulder Roll swing unit (2), and the tail end of each shoulder Pitch rotation unit (1) is connected to the head end of an upper arm Yaw rotation unit (3). The shoulder Pitch rotation unit (1) is driven by the driving component inside it to rotate the shoulder at the end of the shoulder Roll swing unit (2), realizing the rotational movement of the shoulder rotation joint; The shoulder Roll swing unit (2) is driven by the driving component inside it to drive the upper arm Yaw rotation unit (3) to rotate around the end of the shoulder Roll swing unit (2), thereby driving the shoulder side swing joint to realize the side opening and closing movement; The tail end of each upper arm Yaw rotation unit (3) is connected to the head end of a forearm Pitch swing unit (4), and the tail end of the forearm Pitch swing unit (4) is connected to the head end of a forearm Yaw rotation unit (5). The upper arm Yaw rotation unit (3) is driven by the driving component inside it to rotate the upper arm at the end of the upper arm Yaw rotation unit (3), realizing the rotational movement of the upper arm rotation joint; The forearm Pitch swing unit (4) is driven by the driving component inside it to drive the forearm Yaw rotation unit (5) to rotate around the end of the forearm Pitch swing unit (4), thereby realizing the bending movement of the forearm bending joint; The tail end of each forearm Yaw rotation unit (5) is connected to the head end of a wrist Pitch swing unit (6), and the tail end of the wrist Pitch swing unit (6) is connected to a wrist joint. The forearm Yaw rotation unit (5) is driven by the driving component inside it to rotate the wrist Pitch swing unit (6) at the end of the forearm Yaw rotation unit (5), realizing the longitudinal rotational movement of the forearm rotation joint; The wrist Pitch swing unit (6) is driven by the driving component inside it to drive the wrist to rotate around the end of the wrist Pitch swing unit (6), thereby realizing the bending movement of the wrist bending joint; The driving components inside the shoulder Roll swing unit (2), the forearm Pitch swing unit (4) and the wrist Pitch swing unit (6) are all driven by a combination of a linear hydraulic cylinder and a connecting rod; The driving components inside the shoulder Pitch rotation unit (1), the upper arm Yaw rotation unit (3) and the forearm Yaw rotation unit (5) are all driven by a combination of a servo motor and a reducer.

2. The electro-hydraulic hybrid-driven humanoid double-arm system according to claim 1, characterized in that: The shoulder Roll swing unit (2) includes a shoulder bracket (217) and two shoulder Roll swing components. The shoulder bracket (217) is horizontally arranged, and two symmetrically arranged shoulder Roll swing components are provided on the shoulder bracket (217). The end parts of the two shoulder Roll swing components are respectively connected to the two upper arm Yaw rotation units (3).

3. The electro-hydraulic hybrid-driven humanoid double-arm system according to claim 2, characterized in that: Each shoulder Roll swing assembly includes a shoulder Roll hydraulic cylinder (201), a shoulder Roll servo valve (202), a shoulder Pitch oil passage joint (203), a shoulder guide sleeve (204), a shoulder Roll piston rod (205), a shoulder force sensor (206), a shoulder Roll slider connecting member (207), a shoulder Pitch limit rubber (208), a shoulder Roll two-force bar (209), a shoulder Roll base frame (210), a deep groove ball bearing one (211), a shoulder Roll guide rail front bearing seat (212), a shoulder Roll guide rail seat (213), a linear guide rail (214), a deep groove ball bearing two (215), and a shoulder oil guide pipe (216). The shoulder Roll hydraulic cylinder (201) is arranged in parallel above the shoulder bracket (217). The piston at one end of the shoulder Roll piston rod (205) is inserted inside the shoulder Roll hydraulic cylinder (201). The other end of the shoulder Roll piston rod (205) is connected to one end of the shoulder Roll slider connecting member (207) through the shoulder force sensor (206). The other end of the shoulder Roll slider connecting member (207) is connected to one end of the shoulder Roll two-force bar (209). An earring at the front end of the shoulder Roll is integrally formed at the other end of the shoulder Roll two-force bar (209). The earring at the front end of the shoulder Roll is rotatably connected to the boom Yaw rotation unit (3). The bottom of the shoulder Roll slider connecting member (207) is slidably and sealingly connected to the linear guide rail (214). The linear guide rail (214) is installed on the shoulder Roll guide rail seat (213). One end of the shoulder Roll guide rail seat (213) is rotatably connected to one end of the shoulder Roll hydraulic cylinder (201) through the deep groove ball bearing two (215). The other end of the shoulder Roll guide rail seat (213) is rotatably connected to the shoulder Roll guide rail front bearing seat (212) through the deep groove ball bearing one (211). The shoulder Roll guide rail front bearing seat (212) is installed on the shoulder bracket (217). A shoulder Pitch limit rubber (208) is provided at the inner end of the shoulder Roll guide rail front bearing seat (212). The shoulder Pitch limit rubber (208) is connected to the shoulder Roll guide rail seat (213) through a connecting member. A shoulder Pitch oil passage joint (203) is sleeved at one end of the shoulder Roll hydraulic cylinder (201) close to the shoulder Roll guide rail seat (213). A shoulder Roll servo valve (202) is installed on the shoulder Roll hydraulic cylinder (201). The shoulder Roll servo valve (202) is connected to the shoulder Pitch oil passage joint (203). Two oil guide jacks are respectively machined on both sides of the shoulder Pitch oil passage joint (203). One end of each of the two shoulder oil guide pipes (216) is respectively inserted into the two oil guide jacks. The other ends of the two shoulder oil guide pipes (216) are respectively installed on the shoulder Roll guide rail seat (213) through the two shoulder guide sleeves (204). A base frame sleeve is integrally formed at one end of the shoulder Roll base frame (210). The other end of the shoulder Roll guide rail seat (213) is sleeved with the base frame sleeve. The shoulder Pitch rotation unit (1) is sleeved on the base frame sleeve.The shoulder Pitch rotation unit (1) is installed on the shoulder bracket (217). At the other end of the shoulder Roll base frame (210), there are two symmetrically arranged base frame right-angle oil pipes integrally formed with the base frame sleeve, and the two base frame right-angle oil pipes are rotatably connected to the upper arm Yaw rotation unit (3).

4. The electro-hydraulic hybrid-driven humanoid double-arm system according to claim 1 or 3, characterized in that: The shoulder Pitch rotation unit (1) includes a shoulder speed reducer (101), a shoulder Pitch motor housing (102), a shoulder Pitch motor shaft (103), a deep groove ball bearing III (104), a shoulder Pitch encoder seat (105), a shoulder encoder (106), a shoulder Pitch motor end cover (108), a shoulder torque motor (109), a shoulder Pitch gearbox cover (110), a small spur gear (111), a deep groove ball bearing IV (112), a shoulder Pitch output shaft (113), a shoulder Pitch gear intermediate shaft (114), a deep groove ball bearing V (115), a medium spur gear (116), and a large spur gear (117). The large spur gear (117) is sleeved on the base sleeve of the shoulder Roll guide seat (213). The large spur gear (117) meshes with the medium spur gear (116). The medium spur gear (116) is rotatably installed on the shoulder Pitch gear intermediate shaft (114) through the deep groove ball bearing V (115). The shoulder Pitch gearbox cover (110) is arranged on the side of the shoulder Pitch gear intermediate shaft (114). The end of the shoulder Pitch gear intermediate shaft (114) is inserted into the shaft hole of the shoulder Pitch gearbox cover (110). The medium spur gear (116) meshes with the small spur gear (111). The small spur gear (111) is sleeved on the shoulder Pitch output shaft (113). One end of the shoulder Pitch output shaft (113) is rotatably installed in the bearing assembly hole of the shoulder Pitch gearbox cover (110) through the deep groove ball bearing IV (112). The other end of the shoulder Pitch output shaft (113) is connected to the end of the shoulder speed reducer (101). The shoulder speed reducer (101) is sleeved on one end of the shoulder Pitch motor shaft (103). The middle of the shoulder Pitch motor shaft (103) is inserted into the central hole of the shoulder torque motor (109). The other end of the shoulder Pitch motor shaft (103) is rotatably installed in the bearing assembly hole of the shoulder Pitch motor end cover (108) through the deep groove ball bearing III (104). The shoulder Pitch motor end cover (108) is installed at the end of the shoulder torque motor (109). The shoulder torque motor (109) and the shoulder speed reducer (101) are sleeved with the shoulder Pitch motor housing (102). The two ends of the shoulder Pitch motor housing (102) are respectively connected to the shoulder Pitch motor end cover (108) and the shoulder Pitch gearbox cover (110). A shoulder Pitch encoder seat (105) is installed at one end of the shoulder Pitch motor shaft (103) close to the shoulder Pitch motor end cover (108). A shoulder encoder (106) is installed at one end of the shoulder Pitch motor end cover (108) close to the shoulder Pitch motor shaft (103). The shoulder encoder (106) and the shoulder Pitch encoder seat (105) are arranged opposite to each other.

5. The electro-hydraulic hybrid-driven humanoid double-arm system according to claim 4, characterized in that: The boom Yaw rotation unit (3) includes an arm encoder (301), an arm motor end cover (302), a deep groove ball bearing six (303), an arm torque motor (304), an arm motor shaft (305), an arm reducer (306), a reducer output shaft (307), a medium helical gear (308), a small helical gear (309), an arm motor angular contact bearing end cover (310), an angular contact bearing one (311), an arm motor gearbox cover (312), a large helical gear (313), an arm motor oil passage joint (314), an angular contact bearing two (315), and an arm motor housing (316). Two parallel support ear plates are integrally formed at the top of the arm motor housing (316), and the two support ear plates are respectively located on both sides of the shoulder Roll front earring at the end of the shoulder Roll two-force bar (209). The two support ear plates are rotatably connected to the shoulder Roll front earring through a pin shaft. Two parallel support sleeves are integrally formed at the top of the arm motor housing (316), and the two support sleeves are respectively rotatably connected to the two base frame right-angle oil pipes at the end of the shoulder Roll base frame (210) through two support bearings. Two oil guide jacks are respectively machined on both sides of the arm motor housing (316). One end of each of the two upper arm oil guide pipes is inserted into the two oil guide jacks, and the other end of each of the two upper arm oil guide pipes is respectively connected to the two base frame right-angle oil pipes at the end of the shoulder Roll base frame (210) through two base frame oil passage joints. Inside the arm motor housing (316), the angular contact bearing two (315) and the arm motor oil passage joint (314) are coaxially installed from top to bottom in sequence. The lower part of the arm motor housing (316) is connected with the arm motor gearbox cover (312) and the arm motor angular contact bearing end cover (310) from top to bottom in sequence. The large helical gear (313) is coaxially installed inside the arm motor gearbox cover (312), and the angular contact bearing one (311) is coaxially installed inside the arm motor angular contact bearing end cover (310). The upper end of the forearm Pitch swing unit (4) is inserted into the inner holes of the large helical gear (313) and the arm motor oil passage joint (314) from bottom to top in sequence. The large helical gear (313) is fixedly connected to the upper end of the forearm Pitch swing unit (4), and the arm motor oil passage joint (314) is rotatably connected to the upper end of the forearm Pitch swing unit (4). The upper end of the forearm Pitch swing unit (4) is respectively rotatably connected to the arm motor angular contact bearing end cover (310) and the arm motor housing (316) through the angular contact bearing one (311) and the angular contact bearing two (315). The large helical gear (313) meshes with the medium helical gear (308). The medium helical gear (308) is installed on the helical gear intermediate shaft through a support bearing. The end of the helical gear intermediate shaft is inserted into the shaft hole of the arm motor gearbox cover (312). The medium helical gear (308) meshes with the small helical gear (309). The small helical gear (309) is installed on the reducer output shaft (307). The reducer output shaft (307) is installed at the end of the arm reducer (306).The arm reducer (306) is sleeved on one end of the arm motor shaft (305). The middle part of the arm motor shaft (305) is inserted into the inner hole of the arm torque motor (304). The other end of the arm motor shaft (305) is rotatably connected to the arm motor end cover (302) through a deep groove ball bearing six (303). The arm motor end cover (302) is installed at the end of the arm motor housing (316). An arm encoder (301) is installed at one end of the arm motor end cover (302) close to the arm motor shaft (305). The arm encoder (301) is arranged opposite to the end of the arm motor shaft (305).

6. The electro-hydraulic hybrid-driven humanoid double-arm system according to claim 5, characterized in that: The structure of the forearm Yaw rotation unit (5) is the same as that of the upper arm Yaw rotation unit (3).

7. The electro-hydraulic hybrid-driven humanoid double-arm system according to claim 1 or 6, characterized in that: The forearm Pitch swing unit (4) includes a large arm skeleton (401), an arm Yaw limit block (402), an arm lower oil pipe (403), a displacement sensor clamp (404), a large arm cylinder seat bearing clamp R (405), a large arm hydraulic cylinder (406), a displacement sensor (407), a hydraulic cylinder guide sleeve (408), an arm piston rod (409), an arm force sensor (410), a radial spherical joint bearing (411), a large arm front end earring (412), a hydraulic actuator (413), an arm oil passage component (414), an oil pressure sensor (415), a large arm servo valve (416), and a large arm cylinder seat bearing clamp L (417). A skeleton connection column is integrally formed at the top of the large arm skeleton (401). The skeleton connection column is inserted into the inner hole of the arm motor oil passage joint (314) from bottom to top. The two ends of the skeleton connection column are respectively rotatably connected to the arm motor angular contact bearing end cover (310) and the arm motor housing (316) through an angular contact bearing one (311) and an angular contact bearing two (315). The arm Yaw limit block (402) is installed at the end of the skeleton connection column. A U-shaped large arm cylinder seat integrally formed with the skeleton connection column is provided at the bottom of the large arm skeleton (401). Two symmetrically arranged circular arc bearing assembly grooves are respectively machined on the two side plates of the U-shaped large arm cylinder seat. The large arm cylinder seat bearing clamp R (405) and the large arm cylinder seat bearing clamp L (417) are respectively buckled at the notches of the two circular arc bearing assembly grooves to form a circular bearing assembly hole. The large arm hydraulic cylinder (406) is installed at the notch of the U-shaped large arm cylinder seat. Two hydraulic cylinder oil pipes are integrally formed on both sides of the large arm hydraulic cylinder (406). The two hydraulic cylinder oil pipes are respectively rotatably connected to the two circular bearing assembly holes on the two side plates of the U-shaped large arm cylinder seat through two support bearings. Two oil guide insertion holes are respectively machined on both sides of the U-shaped large arm cylinder seat. One end of each of the two arm lower oil pipes (403) is respectively inserted into the two oil guide insertion holes. The other ends of the two arm lower oil pipes (403) are respectively connected to the two hydraulic cylinder oil pipes through two arm oil passage components (414). Two symmetrically arranged support round holes are respectively machined at the end parts of the two side plates of the U-shaped large arm cylinder seat. The two side plates of the U-shaped large arm cylinder seat are respectively rotatably connected to the two base frame right-angle oil pipes at the end of the shoulder Roll base frame (210) of the forearm Yaw rotation unit (5) through two support bearings. The hydraulic cylinder guide sleeve (408) is installed at the end of the large arm hydraulic cylinder (406). One end of the arm piston rod (409) passes through the hydraulic cylinder guide sleeve (408) from bottom to top and extends into the inner cavity of the large arm hydraulic cylinder (406). The piston at the end of the arm piston rod (409) is slidably and sealingly connected to the inner cavity of the arm piston rod (409). The other end of the arm piston rod (409) is connected to the large arm front end earring (412) through the arm force sensor (410). The radial spherical joint bearing (411) is installed in the inner hole of the large arm front end earring (412).The front-end earring (412) of the boom is rotatably connected to the two support ear plates at the top of the arm motor housing (316) of the forearm Yaw rotation unit (5) through a pin shaft. The hydraulic actuator (413) is installed on the U-shaped boom cylinder seat of the boom skeleton (401). The oil pressure sensor (415) and the boom servo valve (416) are both installed on the boom hydraulic cylinder (406). The displacement sensor (407) is installed on the boom hydraulic cylinder (406) through two displacement sensor clamps (404).

8. The electro-hydraulic hybrid-driven humanoid double-arm system according to claim 7, characterized in that: The structure of the wrist Pitch swing unit (6) is the same as that of the forearm Pitch swing unit (4).

9. The electro-hydraulic hybrid-driven humanoid double-arm system according to claim 1 or 8, characterized in that: A wrist rubber ball is connected to each wrist joint.

10. The electro-hydraulic hybrid-driven humanoid double-arm system according to claim 9, characterized in that: The oil path of the robotic arm shoulder Roll swing unit (2) is as follows: hydraulic oil enters the shoulder Roll hydraulic cylinder (201) through the main oil inlet inside the spine, enters the P port of the shoulder Roll servo valve installed on it through the inside of the integrated shoulder Roll servo valve (202), returns oil to the main oil return port inside the spine through the T port of the shoulder Roll servo valve, the A port of the shoulder Roll servo valve enters the rodless cavity of the shoulder Roll hydraulic cylinder (201), and the B port of the shoulder Roll servo valve enters the rodless cavity of the shoulder Roll hydraulic cylinder (201) to achieve the side swing movement of the robotic arm shoulder; the oil path of the single arm of the robotic arm is: hydraulic oil enters the shoulder Roll hydraulic cylinder (201) through the main oil inlet inside the spine, is shunted through the inside of the integrated shoulder Roll servo valve (202) and enters the internal oil path 1 of the shoulder Pitch oil passage joint (203), flows into the internal oil path 2 of the shoulder guide oil pipe (216) and enters the internal oil path 3 of the shoulder Roll guide rail seat (213), passes through the internal oil path 4 of the shoulder Roll base frame (210), enters the internal oil path 5 of the base frame oil passage joint, enters the internal oil path 7 of the arm motor oil passage joint (314) through the internal oil path 6 of the upper arm guide oil pipe, and then enters the internal oil path 8 of the upper arm skeleton (401), then enters the internal oil path 9 of the lower arm guide oil pipe (403), enters the internal oil path 11 of the upper arm hydraulic cylinder (406) through the internal oil path 10 of the arm oil passage component (414), enters the P port of the upper arm servo valve (416) installed on it through the inside of the integrated upper arm servo valve (416), returns oil to the main oil return port inside the spine through the T port of the upper arm servo valve (416), flows to the internal oil path 12 of the upper arm hydraulic cylinder (406), passes through the internal oil path 13 of the arm oil passage component (414), flows into the internal oil path 14 of the lower arm guide oil pipe (403), and then enters the internal oil path 15 of the upper arm skeleton (401), enters the internal oil path 16 of the arm motor oil passage joint (314), enters the internal oil path 17 of the upper arm guide oil pipe, enters the internal oil path 18 of the base frame oil passage joint, returns oil to the internal oil path 20 of the shoulder Roll guide rail seat (213) through the internal oil path 19 of the shoulder Roll base frame (210), flows into the internal oil path 21 of the shoulder guide oil pipe (216), enters the internal oil path 22 of the shoulder Pitch oil passage joint (203), returns oil to the inside of the integrated shoulder Roll servo valve (202) on the shoulder Roll hydraulic cylinder (201), returns oil to the main oil return port inside the spine, enters the rodless cavity of the hydraulic cylinder through the A port of the shoulder Roll servo valve (202), and the B port of the shoulder Roll servo valve (202) enters the rodless cavity of the hydraulic cylinder to achieve the bending movement of the upper arm of the robotic arm; the hydraulic oil passes through the internal oil path 13 of the arm oil passage component (414), flows into the internal oil path 23 of the arm oil passage component (414), passes through the hydraulic oil pipe and enters the same oil path as the upper arm to drive the bending movement of the wrist, and returns oil to the internal oil path 24 of the arm oil passage component (414), and finally returns oil to the main oil return oil path inside the spine.

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