Hydraulic wheel-legged robot and hydraulic drive system thereof
By designing a hydraulic wheeled-legged robot that combines wheeled and legged motion, integrates a hydraulic drive system, and utilizes selective laser melting technology, the robot's shortcomings in adaptability to complex terrain and movement speed have been solved, achieving high mobility and high load-bearing capacity.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZHEJIANG LAB
- Filing Date
- 2023-12-25
- Publication Date
- 2026-06-23
AI Technical Summary
Existing wheeled and legged robots have shortcomings in adaptability to complex terrain and movement speed. Traditional motor-driven robots have insufficient power and are difficult to maintain, while hydraulically driven robots have complex structures and their external hydraulic hoses are prone to wear.
Design a hydraulic wheeled robot that uses a hydraulic drive system integrating hydraulic cylinders and servo valves, combining wheeled and legged motion. The hydraulic system is integrated using selective laser melting technology to reduce the number of exposed tubes, and environmental adaptability is improved by using magnetorheological fluid dampers and direct-drive wheels.
It achieves high survivability and mobility in complex environments, reduces robot mass and inertia, improves structural simplicity and reliability, and enhances joint load-bearing capacity and environmental adaptability.
Smart Images
Figure CN117775136B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of humanoid robots, and in particular relates to a hydraulic wheeled robot and its hydraulic drive system. Background Technology
[0002] Wheeled robots and legged robots are two major forms of locomotion in the field of robotics. Legged robots are highly adaptable and are considered an effective solution for rugged, complex terrain and discontinuous surfaces such as steps. While legged robots can flexibly adapt to various complex terrains, their stable control is more difficult, and their walking speed on flat ground is slow. Traditional wheeled or tracked robots have strong mobility on flat, continuous ground, but their ability to traverse complex, discontinuous terrain is weak. The goal of wheeled-legged hybrid robots is to combine the advantages of both wheeled and legged robots—the high mobility of wheeled locomotion and the strong adaptability of legged locomotion—so that they possess both the ability to move quickly on flat ground and strong adaptability to rugged terrain. Wheeled-legged humanoid robots replace the feet at the ends of humanoid robot legs with wheels, allowing the robot to move quickly on flat ground using wheels, and to achieve stable passage on rugged terrain by adjusting the posture of the legs and upper body.
[0003] This type of robot has the potential to be applied in search and rescue, polar exploration, and other applications. Therefore, the power density requirements for the robot's drive system are increasing, and the shortcomings of traditional motor-driven robots are becoming increasingly apparent: 1) the motor power is relatively insufficient; 2) the repeated starting and stopping of the robot's limb joints is not an ideal working condition for the motor; 3) insufficient load capacity is not conducive to robot field operations. Furthermore, most currently used hydraulically driven robots have complex structures and external oil channels, resulting in numerous external hydraulic hoses that are prone to wear and difficult to maintain. A large number of external hydraulic hoses can also interfere with the robot's joint movements and affect its aesthetics. Summary of the Invention
[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a hydraulic wheeled-legged robot and its hydraulic drive system, combining the efficiency of wheeled robots with the versatility of legged robots. By adding wheels to the ends of the legs, they can move quickly on flat terrain like wheeled robots and adjust their posture to adapt to rugged environments. This wheel-leg combination solves the problems of slow movement in legged robots and the inability of wheeled robots to adapt to uneven terrain. It significantly improves the robot's survivability and mobility in complex environments. Through hydraulically driven joint movement, the robot achieves high load capacity and movement capabilities.
[0005] The objective of this invention is achieved through the following technical solution: a hydraulic wheeled robot, comprising a head and torso, with mechanical arms symmetrically and rotatably connected to both sides of the head and torso, and a hip and pelvis rotatably connected to the lower end; thighs symmetrically and rotatably connected to both sides of the hip and pelvis; lower legs rotatably connected to the thighs; and drive wheels connected to the lower legs.
[0006] The hip and pelvis include two parallel lumbar joint hydraulic cylinder assemblies, meaning the hydraulic cylinders in the two lumbar joint hydraulic cylinder assemblies are parallel; when the two parallel hydraulic cylinders produce the same position trajectory, the waist achieves pitching motion; when they produce opposite position trajectories, the waist achieves a superposition of pitching and lateral swinging motions.
[0007] Furthermore, the head and torso include a head and a torso; the torso includes a spine; a scapula is provided on the spine; a robotic arm is connected to each side of the scapula; a Shoulder Roll hydraulic cylinder unit assembly is provided on each side of the spine; the Shoulder Roll hydraulic cylinder unit assembly is used to drive the robotic arm to achieve lateral swinging motion.
[0008] Furthermore, the robotic arm includes a shoulder joint, an upper arm, and a forearm connected in sequence. The upper arm and forearm are rotatably connected, and the shoulder joint is rotatably connected to the head and torso. A torque motor is installed inside the shoulder joint to drive the robotic arm to swing back and forth. An elbow joint hydraulic cylinder assembly is installed inside the upper arm to drive the forearm to bend.
[0009] Furthermore, the hip pelvis includes a sliding pelvic bone skeleton, with both ends of the sliding pelvic bone skeleton rotatably connected to the thighs. Hip roll hydraulic cylinder assemblies are respectively provided on both sides of the sliding pelvic bone skeleton, and the hip roll hydraulic cylinder assemblies are used to drive the thighs to achieve lateral swinging motion.
[0010] Furthermore, the thigh includes a thigh frame, a lateral thigh plate, and a medial thigh plate, the lateral thigh plate and the medial thigh plate being fixed to both sides of the thigh frame; the thigh frame is provided with a thigh hydraulic cylinder hip assembly and a thigh hydraulic cylinder knee assembly; the thigh hydraulic cylinder hip assembly is used to drive the thigh to achieve forward and backward bending movements; the thigh hydraulic cylinder knee assembly is used to drive the lower leg to achieve bending movements.
[0011] Furthermore, the lower leg includes a lower leg skeleton; the lower leg skeleton is provided with a magnetorheological fluid damper assembly, which, together with a spring, absorbs impact and recovers energy during jumping.
[0012] Furthermore, the drive wheel includes a wheel, a small tail end cap, a large tail end cap, a hollow motor shaft, a first angular contact bearing, a motor housing, a frameless torque motor (TBM), a magnetic encoder, a large head end cap, a second angular contact bearing, bolts, and a small head end cap. One end of the hollow motor shaft is fixed to the wheel. The hollow motor shaft is sequentially fitted with the first angular contact shaft, the frameless torque motor, the magnetic encoder, and the second angular contact bearing. The frameless torque motor is built into the motor housing. The outer rings of the first angular contact shaft and the second angular contact bearing are fixed to the large tail end cap and the large head end cap, respectively. The small tail end cap is bolted to the large tail end cap, and the small head end cap is bolted to the large head end cap.
[0013] Furthermore, it also includes a battery, a navigation system, and a controller. The battery powers the entire robot system and provides power to the drive wheels; the navigation system provides the robot with environmental positioning information; and the controller controls the robot's movement.
[0014] The present invention also provides a hydraulic power system based on the above-mentioned hydraulic wheeled robot, which integrates the hydraulic oil circuit between the hydraulic cylinder and the servo valve into the oil basin skeleton and the thigh skeleton, so that the outer surface of the oil basin skeleton and the thigh skeleton forms a number of oil ports, which are connected to form an internal hydraulic oil circuit; the number of oil ports of the oil basin skeleton and the thigh skeleton are respectively connected to the rod-side and rodless-side ports of the hydraulic cylinder on the oil basin skeleton and the thigh skeleton, as well as the A port, B port, oil inlet and oil return port of the servo valve.
[0015] Furthermore, the scapula is provided with a shoulder valve block, which is provided with a shoulder valve block oil inlet, a first shoulder valve block oil outlet, a second shoulder valve block oil outlet, a third shoulder valve block oil outlet, a fourth shoulder valve block oil outlet, a fifth shoulder valve block oil outlet, a sixth shoulder valve block oil outlet, a shoulder valve block return port, a seventh shoulder valve block oil outlet, an eighth shoulder valve block oil outlet, a ninth shoulder valve block oil outlet, a tenth shoulder valve block oil outlet, an eleventh shoulder valve block oil outlet, and a twelfth shoulder valve block oil outlet. The oil outlet of the valve block; the oil inlet of the shoulder valve block, the oil outlet of the first shoulder valve block, the oil outlet of the second shoulder valve block, the oil outlet of the third shoulder valve block, the oil outlet of the fourth shoulder valve block, the oil outlet of the fifth shoulder valve block, and the oil outlet of the sixth shoulder valve block are interconnected; the oil return port of the shoulder valve block, the oil outlet of the seventh shoulder valve block, the oil outlet of the eighth shoulder valve block, the oil outlet of the ninth shoulder valve block, the oil outlet of the tenth shoulder valve block, the oil outlet of the eleventh shoulder valve block, and the oil outlet of the twelfth shoulder valve block are interconnected.
[0016] The oil-flowing pelvic frame is equipped with an oil inlet, an oil outlet, a first pelvic oil outlet, a second pelvic oil outlet, a third pelvic oil outlet, a fourth pelvic oil outlet, a fifth pelvic oil outlet, a sixth pelvic oil outlet, a seventh pelvic oil outlet, an eighth pelvic oil outlet, a ninth pelvic oil outlet, a tenth pelvic oil outlet, an eleventh pelvic oil outlet, a twelfth pelvic oil outlet, a thirteenth pelvic oil outlet, a fourteenth pelvic oil outlet, a fifteenth pelvic oil outlet, a sixteenth pelvic oil outlet, a seventeenth pelvic oil outlet, an eighteenth pelvic oil outlet, a nineteenth pelvic oil outlet, a twentieth pelvic oil outlet, a twenty-first pelvic oil outlet, a twenty-second pelvic oil outlet, a twenty-third pelvic oil outlet, and a twenty-fourth pelvic oil outlet; the oil inlet, the third pelvic oil outlet, the eleventh pelvic oil outlet, the twentieth pelvic oil outlet, the twenty-first pelvic oil outlet, the twenty-second pelvic oil outlet, the twenty-third pelvic oil outlet, and the ... twentieth pelvic oil outlet, the twentieth pelvic oil outlet, the twentieth pelvic oil outlet, the twentieth pelvic oil outlet, the twentieth pelvic oil outlet, the twentieth pelvic The pelvic oil inlet, the seventeenth pelvic oil inlet, and the twenty-second pelvic oil inlet are interconnected; the seventh pelvic oil inlet is interconnected with the ninth pelvic oil inlet; the fourth pelvic oil inlet is interconnected with the sixth pelvic oil inlet; the fifth pelvic oil inlet is interconnected with the tenth pelvic oil inlet; the pelvic return oil inlet, the second pelvic oil inlet, the eighth pelvic oil inlet, the fifteenth pelvic oil inlet, and the nineteenth pelvic oil inlet are interconnected; the twelfth pelvic oil inlet is interconnected with the thirteenth pelvic oil inlet; the fourteenth pelvic oil inlet is interconnected with the sixteenth pelvic oil inlet; the eighteenth pelvic oil inlet is interconnected with the twentieth pelvic oil inlet; the twenty-first pelvic oil inlet is interconnected with the twenty-third pelvic oil inlet; and the first pelvic oil inlet is interconnected with the twenty-fourth pelvic oil inlet.
[0017] The thigh skeleton is provided with a thigh skeleton oil inlet, a thigh skeleton oil return outlet, a first thigh skeleton oil inlet, a second thigh skeleton oil inlet, a third thigh skeleton oil inlet, a fourth thigh skeleton oil inlet, a fifth thigh skeleton oil inlet, a sixth thigh skeleton oil inlet, a seventh thigh skeleton oil inlet, an eighth thigh skeleton oil inlet, a ninth thigh skeleton oil inlet, a tenth thigh skeleton oil inlet, an eleventh thigh skeleton oil inlet, and a twelfth thigh skeleton oil inlet; the thigh skeleton oil inlet, the third thigh skeleton oil inlet, and the eighth thigh skeleton oil inlet are interconnected; the first thigh skeleton oil inlet and the second thigh skeleton oil inlet are interconnected; the seventh thigh skeleton oil inlet and the twelfth thigh skeleton oil inlet are interconnected; the fourth thigh skeleton oil inlet and the sixth thigh skeleton oil inlet are interconnected; the ninth thigh skeleton oil inlet and the eleventh thigh skeleton oil inlet are interconnected; the fifth thigh skeleton oil inlet, the tenth thigh skeleton oil inlet, and the thigh skeleton oil return outlet are interconnected.
[0018] The second shoulder valve block outlet is connected to the pelvic inlet via a hydraulic pipe; the first and fifth shoulder valve block outlets are connected to the thigh skeleton inlets of the left and right thighs via hydraulic pipes, respectively; the fourth and third shoulder valve block outlets are connected to the inlets of the left and right ShoulderRoll hydraulic cylinder unit assemblies via hydraulic pipes, respectively; the sixth shoulder valve block outlet is connected to the inlets of the left and right elbow joint hydraulic cylinder assemblies via hydraulic pipes; the eighth shoulder valve block outlet is connected to the pelvic return port via a hydraulic pipe; the seventh and twelfth shoulder valve block outlets are connected to the thigh skeleton return ports of the left and right thighs via hydraulic pipes, respectively; the ninth and tenth shoulder valve block outlets are connected to the return ports of the left and right ShoulderRoll hydraulic cylinder unit assemblies via hydraulic pipes, respectively; and the eleventh shoulder valve block outlet is connected to the return ports of the left and right elbow joint hydraulic cylinder assemblies via hydraulic pipes.
[0019] The lumbar joint hydraulic cylinder assembly, hip roll hydraulic cylinder assembly, thigh hydraulic cylinder hip assembly, and thigh hydraulic cylinder knee assembly are all equipped with corresponding hydraulic servo valves.
[0020] The eleventh, seventeenth, third, and twenty-second pelvic bone oil ports are respectively connected to the hydraulic servo valve inlets of the left hip roll hydraulic cylinder assembly, the right hip roll hydraulic cylinder assembly, the left lumbar joint hydraulic cylinder assembly, and the right lumbar joint hydraulic cylinder assembly; the eighth, fifteenth, second, and tenth pelvic bone oil ports are respectively connected to the hydraulic servo valve return ports of the left hip roll hydraulic cylinder assembly, the right hip roll hydraulic cylinder assembly, the left lumbar joint hydraulic cylinder assembly, and the right lumbar joint hydraulic cylinder assembly.
[0021] The 24th pelvic bone oil port and the 4th pelvic bone oil port are respectively connected to the hydraulic servo valve A port and B port corresponding to the left lumbar joint hydraulic cylinder assembly, and the 1st pelvic bone oil port and the 6th pelvic bone oil port are respectively connected to the hydraulic cylinder A chamber and B chamber in the left lumbar joint hydraulic cylinder assembly.
[0022] The 21st and 20th pelvic bone oil ports are respectively connected to the hydraulic servo valves A and B corresponding to the right lumbar joint hydraulic cylinder assembly, and the 23rd and 18th pelvic bone oil ports are respectively connected to the hydraulic cylinder A and B chambers in the right lumbar joint hydraulic cylinder assembly.
[0023] The ninth and tenth pelvic bone oil ports are respectively connected to the hydraulic servo valves A and B corresponding to the left hip_roll hydraulic cylinder assembly, and the fifth and seventh pelvic bone oil ports are respectively connected to the hydraulic cylinder A and B chambers in the left hip_roll hydraulic cylinder assembly.
[0024] The sixteenth and thirteenth pelvic bone oil ports are respectively connected to the hydraulic servo valves A and B corresponding to the right-side hip_roll hydraulic cylinder assembly, and the fourteenth and twelfth pelvic bone oil ports are respectively connected to the hydraulic cylinder A and B chambers in the right-side hip_roll hydraulic cylinder assembly.
[0025] The second thigh skeleton oil port and the seventh thigh skeleton oil port are respectively connected to the hydraulic servo valve inlet of the thigh hydraulic cylinder knee assembly and the thigh hydraulic cylinder hip assembly.
[0026] The fifth thigh skeleton oil port and the ninth thigh skeleton oil port are respectively connected to the hydraulic servo valve return ports corresponding to the thigh hydraulic cylinder knee assembly and the thigh hydraulic cylinder hip assembly.
[0027] The third and fourth thigh skeleton oil ports are respectively connected to the hydraulic servo valves A and B corresponding to the thigh hydraulic cylinder knee assembly, and the first and sixth thigh skeleton oil ports are respectively connected to the hydraulic cylinder A and B chambers in the thigh hydraulic cylinder knee assembly.
[0028] The tenth thigh skeleton oil port and the eighth thigh skeleton oil port are respectively connected to the hydraulic servo valve A port and B port corresponding to the thigh hydraulic cylinder HIP assembly, and the thigh skeleton oil port and the twelfth thigh skeleton oil port are respectively connected to the hydraulic cylinder A chamber and B chamber in the thigh hydraulic cylinder HIP assembly.
[0029] The beneficial effects of this invention are:
[0030] 1. WLR optimizes the configuration of each drive and integrates them with the structure to maximize mobility, achieving a greater range of motion while reducing the mass and inertia of the legs;
[0031] 2. WLR integrates its hydraulic system using Selective Laser Melting (SLM) technology. Embedding the hydraulic circuit within the mechanical structure offers significant advantages, reducing the number of exposed pipes. This simplifies the robot's structure, making installation and disassembly relatively convenient. Simultaneously, it greatly reduces pipeline wear and failures, improving overall safety and reliability. WLR's legs and pelvis utilize SLM technology to save weight and space, resulting in a high strength-to-weight ratio, a large workspace, and a very compact robot. By reducing mass and inertia, the robot achieves high mobility.
[0032] 3. The WLR waist uses a dual parallel hydraulic cylinder drive system to complete the pitching and rolling compound motion of the waist.
[0033] 4. WLR uses a combination of hydraulic cylinders and linkages to drive the robot's limb joints to swing. Compared with the traditional servo motor + reducer method to drive joint swing, the movement is smoother, the joint torque is large, and the load-bearing capacity is high, which can meet the needs of wheeled humanoid robots for impact resistance and complex terrain movement.
[0034] 5. WLR's magnetorheological fluid-based damper and direct-drive wheels ensure strong environmental adaptability. Attached Figure Description
[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0036] Figure 1 This is a general structural diagram of the present invention;
[0037] Figure 2 This is an exploded view of the head and torso of the present invention;
[0038] Figure 3 This is an exploded view of the robotic arm components of the present invention;
[0039] Figure 4 This is an exploded view of the hip and pelvic bone structure of the present invention.
[0040] Figure 5 This is an exploded view of the thigh components of the present invention;
[0041] Figure 6 This is an exploded view of the lower leg components of the present invention;
[0042] Figure 7 This is an exploded view of the drive wheel assembly of the present invention;
[0043] Figure 8 This is a schematic diagram of the shoulder valve block and its internal oil circuit of the present invention;
[0044] Figure 9 This is a schematic diagram of the oil basin skeleton and its internal oil passage of the present invention;
[0045] Figure 10 This is a schematic diagram of the thigh skeleton and its internal oil passages of the present invention;
[0046] Figure 11 This is a schematic diagram of the lumbar joint drive of the present invention. Detailed Implementation
[0047] The present invention will now be described in detail with reference to the accompanying drawings. Unless otherwise specified, the features of the following embodiments and implementations can be combined with each other.
[0048] like Figure 1 As shown, a hydraulic wheeled leg robot of the present invention includes a head-to-body structure 1, on both sides of which mechanical arms 2 are symmetrically and rotatably connected, and at the lower end of which a hip pelvis 3 is rotatably connected; on both sides of the hip pelvis 3, thighs 4 are symmetrically and rotatably connected; the thighs 4 are rotatably connected to lower legs 5; and the lower legs 5 are connected to drive wheels 6; as shown... Figure 4 As shown, the hip pelvis 3 includes two parallel lumbar joint hydraulic cylinder assemblies 310, that is, the hydraulic cylinders in the two lumbar joint hydraulic cylinder assemblies 310 are parallel; the two lumbar joint hydraulic cylinder assemblies 310 are used to drive the waist to achieve pitching and lateral movements (the hydraulic cylinder output shafts of the two lumbar joint hydraulic cylinder assemblies 310 are hinged to the torso 1 through a connecting rod, specifically hinged to the end of the spine 113). When the two parallel hydraulic cylinders produce the same position trajectory, the waist achieves pitching movement; when they produce opposite position trajectories, the waist achieves the superposition of pitching and lateral movements.
[0049] like Figure 11 As shown, in one embodiment, the pelvic bone frame (303) is provided with a slide rail. The output shafts of two parallel hydraulic cylinders are respectively hinged to the lumbar joint connector 316. The lumbar joint connector 316 is hinged to the waist-two-force bar 309. The waist-two-force bar 309 is hinged to the spine 113. A slider 3161 is fixed on the lumbar joint connector 316. The slider is located on the slide rail of the pelvic bone frame 303. The output shaft of the hydraulic cylinder in the lumbar joint hydraulic cylinder assembly 310 pushes the slider 3161 to move on the slide rail of the pelvic bone frame 303, which drives the waist-two-force bar 309 to pull the torso to move. When the two parallel hydraulic cylinders produce the same position trajectory, the waist realizes the pitching movement; when they produce opposite position trajectories, the waist realizes the superposition of pitching and lateral movement.
[0050] like Figure 2 As shown, the head-to-body structure 1 includes a head 108 and a torso; the torso includes a spine 113; a scapula 105 is provided on the spine 113; a robotic arm 2 is connected to both sides of the scapula 105; a Shoulder Roll hydraulic cylinder unit assembly 103 is provided on both sides of the spine 113; the Shoulder Roll hydraulic cylinder unit assembly 103 is used to drive the robotic arm 2 to achieve lateral swinging motion.
[0051] In one embodiment, the scapula 105 is rotatably connected to the robotic arm 2 via a bearing. Specifically, the bearing includes an arm joint shaft 109, two first grooved ball bearings 110, a shoulder joint connector 111, and two arm bearing end caps 112. The shoulder joint connector 111 is rotatably but not translationally fitted in the middle of the arm joint shaft 109. The two ends of the arm joint shaft 109 are respectively fixedly fitted with grooved ball bearings 110. The outer ring of the grooved ball bearing 110 is fixed to one end of the scapula 105. The output shaft of the hydraulic cylinder in the Shoulder Roll hydraulic cylinder unit assembly 103 is hinged to the shoulder joint connector 111. The robotic arms 2 on both sides are connected in this way. The hydraulic cylinder pushes the shoulder joint connector 111 to rotate around the arm joint shaft 109, thereby realizing the lateral swinging motion of the robotic arm 2.
[0052] like Figure 3 As shown, the robotic arm 2 includes a shoulder joint 201, an upper arm 213, and a forearm 206 connected in sequence. The upper arm 213 and the forearm 206 are rotatably connected, and the shoulder joint 201 is rotatably connected to the head and torso 1. A torque motor is installed inside the shoulder joint 201, which is used to drive the robotic arm 2 to swing back and forth. An elbow joint hydraulic cylinder assembly 211 is installed inside the upper arm 213, which is used to drive the forearm 206 to bend.
[0053] In one embodiment, the shoulder joint 201 is fixedly connected to the shoulder joint connector 111. The torque motor inside the shoulder joint 201 drives the robotic arm 2 to rotate around the shoulder joint connector 111 via a reducer, thereby realizing the forward and backward swinging of the robotic arm. The elbow joint hydraulic cylinder assembly 211 is fixed inside the upper arm 213 via the Elbow-cylinder seat shaft 202. The upper arm 213 and the forearm 206 are connected by bearings, specifically including the forearm joint shaft (not shown in the diagram), two second sliding ball bearings 204, the forearm-elbow joint connector 209, and two forearm bearing end caps 20. 5; The forearm elbow joint connector 209 is rotatable but not translationally mounted in the middle of the forearm joint axis. Second sliding ball bearings 204 are fixedly mounted on both ends of the forearm joint axis. The outer ring of the second sliding ball bearings 204 is fixed to the end of the upper arm 213. The output shaft of the hydraulic cylinder in the elbow joint hydraulic cylinder assembly 211 is hinged to the forearm elbow joint connector 209. Both the left and right robotic arms 2 are connected in this manner. The hydraulic cylinder pushes the forearm elbow joint connector 209 to rotate around the forearm joint axis. The forearm elbow joint connector 209 is connected to the forearm 206 as shown in the image. Figure 3 As shown, one end of the forearm 206 is fixedly sleeved in the forearm elbow joint connector 209 to realize the bending movement of the forearm 206.
[0054] like Figure 4As shown, the hip pelvis 3 includes a sliding pelvic bone frame 303, with the thighs 4 rotatably connected to both ends of the sliding pelvic bone frame 303. Hip roll hydraulic cylinder assemblies 304 are respectively provided on both sides of the sliding pelvic bone frame 303. The hip roll hydraulic cylinder assemblies 304 are used to drive the thighs 4 to achieve lateral swinging motion.
[0055] In one embodiment, the hydraulic cylinder output shafts in the left and right hip-roll hydraulic cylinder assemblies 304 are respectively hinged to the left hip joint assembly 311 and the right hip joint assembly 302. The hydraulic cylinder output shafts in the hip-roll hydraulic cylinder assembly 304 push the hip joint assembly (which includes the left hip joint assembly 311 and the right hip joint assembly 302) to swing the thigh laterally around the hip-roll axis connected to the pelvic skeleton.
[0056] like Figure 5 As shown, the thigh 4 includes a thigh frame 403, a lateral thigh plate 404, and a medial thigh plate 410. The lateral thigh plate 404 and the medial thigh plate 410 are fixed to both sides of the thigh frame 403. The thigh frame 403 is provided with a thigh hydraulic cylinder hip assembly 402 and a thigh hydraulic cylinder knee assembly 407. The thigh hydraulic cylinder hip assembly 402 is used to drive the thigh 4 to achieve forward and backward bending movements. The thigh hydraulic cylinder knee assembly 407 is used to drive the lower leg 5 to achieve bending movements.
[0057] In one embodiment, the hip joint frame 303 is rotatably connected to the left hip joint assembly 311 and the right hip joint assembly 302 at both ends. Both the left hip joint assembly 311 and the right hip joint assembly 302 consist of a hip joint connector and two bearings. The inner ring of the bearing is fixed to the hip joint connector, and the outer rings of the two bearings are respectively connected to the upper holes of the lateral thigh plate 404 and the medial thigh plate 410 and fixed by the hip-pitch bearing end cap 406. The left hip joint assembly 311 and the right hip joint assembly 302 are hinged to the left and right sides respectively. The hip-two-force bar assembly 409 on the thigh 4 is hinged to the thigh connector (not shown in the figure). The thigh connector is hinged to the output shaft of the hydraulic cylinder in the thigh hydraulic cylinder hip assembly 402. The thigh frame 403 is provided with a first slide rail. The thigh connector is fixed with a slider, which is located on the first slide rail of the thigh frame. The output shaft of the hydraulic cylinder in the thigh hydraulic cylinder hip assembly 402 pushes the slider connector on the guide rail to drive the hip two-force bar, causing the thigh to rotate around the hip right joint assembly 302, thereby realizing the pitching and rolling motion of the thigh 4.
[0058] In one embodiment, a thigh four-bar linkage 416 is provided at the end of the thigh 4. The thigh four-bar linkage 416 is hinged to a knee four-bar assembly 505. The knee four-bar assembly 505 is hinged to a calf frame 504. The outer thigh plate 404 and the inner thigh plate 410 are hinged to a knee shaft 506. A third deep groove ball bearing 507 is fixedly fitted at both ends of the knee shaft 506. The outer rings of the third deep groove ball bearings 507 at both ends are fixed to the end holes of the outer thigh plate 404 and the inner thigh plate 410, respectively. The hydraulic cylinder output shaft of the thigh hydraulic cylinder knee assembly 407 is hinged to the calf connector (not shown in the figure), and the calf connector is hinged to the knee four-bar linkage 505. The thigh frame 403 is provided with a second slide rail, and the calf connector is fixed with a slider, which is located on the second slide rail of the thigh frame. The hydraulic cylinder output shaft of the thigh hydraulic cylinder knee assembly 407 pushes the slider to move on the second slide rail, which drives the knee two-force bar to make the calf rotate around the knee axis 506, thereby realizing the bending movement of the calf 5.
[0059] like Figure 6 As shown, the lower leg 5 includes a lower leg skeleton 504; the lower leg skeleton 504 is provided with a magnetorheological fluid damper assembly 502, the end of the magnetorheological fluid damper assembly 502 is fitted with a spring 501 and fixed to the motor housing, the magnetorheological fluid damper assembly 502 cooperates with the spring 501 to absorb impact and recover energy during jumping.
[0060] The lower part of the lower leg 5 is equipped with a magnetorheological fluid elastic damper 502, which has a good shock absorption function. To achieve stable wheel-leg movement on rugged and complex terrain, the magnetorheological fluid damper 502 and direct drive wheel 6 are used to realize flexible legs. The WLR has two legs, but with wheels instead of feet. The spring 501 and magnetorheological fluid damper assembly 502 on the lower leg can absorb impact and recover energy during jump. The highly adaptable lower leg 5 can offset the impact of landing after jumping.
[0061] like Figure 7As shown, the drive wheel 6 includes a wheel 601, a small tail end cap 602, a large tail end cap 603, a hollow motor shaft 604, a first angular contact bearing 605, a motor housing 606, a frameless torque motor 607 (TBM129 motor), a magnetic encoder 608, a large head end cap 609, a second angular contact bearing 610, bolts 611, and a small head end cap 612; one end of the hollow motor shaft 604 is fixed to the wheel 601, and the hollow motor shaft 604 is sequentially fixed... The device includes a first angular contact bearing 605, a frameless torque motor 607, a magnetic encoder 608, and a second angular contact bearing 610. The frameless torque motor 607 is built into the motor housing 606. The outer rings of the first angular contact bearing 605 and the second angular contact bearing 610 are fixed to the tail end cap 603 and the head end cap 609, respectively. The tail end cap 602 is bolted to the tail end cap 603, and the head end cap 612 is bolted to the head end cap 609.
[0062] A motor driver 510 is installed on the lower leg frame 504. The frameless torque motor 607 is driven to rotate by the motor driver 510 through electrical connection, so as to perform rapid forward and backward movement of the robot.
[0063] It also includes a battery 101, a navigation system 115, and a controller. In one embodiment, a battery bracket is installed on the rear side of the spine 113, and the battery bracket is used to install the battery 101. The navigation system 115 is installed inside the spine 113, and the navigation system 115 is an SBG micro-inertial integrated navigation system. The pelvic skeleton 303 is provided with a controller bracket 314, and the controller bracket 314 is used to install the controller. The battery 101 is used to power the entire robot system and provide power to the drive wheels. The navigation system is used to provide environmental positioning information to the robot. The controller is used to control the robot's movement.
[0064] like Figures 2-6 As shown, the torso shell 104 is used to wrap the torso; the front arm shell 203 and the back arm shell 212 are combined to wrap the upper arm 213; the front pelvic shell 315 and the back pelvic cover are combined to wrap the hip pelvis 3; the front thigh cover 414, the inner thigh shell 412, the side thigh shell 401 and the back thigh shell 405 are combined to wrap the thigh 4; and the front calf shell 511 and the back calf shell 503 are combined to wrap the calf 5.
[0065] Among them, the Shoulder Roll hydraulic cylinder unit assembly 103, the elbow joint hydraulic cylinder assembly 211, the two waist joint hydraulic cylinder assemblies 310, the hip roll hydraulic cylinder assembly 304, the thigh hydraulic cylinder hip assembly 402, and the thigh hydraulic cylinder knee assembly 407 all include hydraulic cylinders and displacement sensors (the displacement sensors are fixed on the hydraulic cylinders); the elbow joint hydraulic cylinder assembly 211 also includes a force sensor; the hydraulic cylinders in the Shoulder Roll hydraulic cylinder unit assembly 103 and the elbow joint hydraulic cylinder assembly 211 are integrated with the hydraulic servo valves.
[0066] The present invention also provides a hydraulic drive system based on the above-mentioned hydraulic wheeled robot, wherein the hydraulic oil circuit between the hydraulic cylinder and the servo valve is integrated into the oil basin skeleton 303 and the thigh skeleton 403, so that the outer surface of the oil basin skeleton 303 and the thigh skeleton 403 forms a plurality of oil ports, which are connected to form an internal hydraulic oil circuit; the plurality of oil ports of the oil basin skeleton 303 and the thigh skeleton 403 are respectively connected to the rod-side and rodless-side ports of the hydraulic cylinders on the oil basin skeleton 303 and the thigh skeleton 403, as well as the A port, B port, oil inlet and oil return port of the servo valve.
[0067] To reduce the interference of hydraulic hoses on joint movement, the hydraulic lines between the hydraulic cylinders and servo valves are integrated into the mechanical structure, achieving both a reduction in the number of hydraulic hoses and an improvement in the reliability of the hydraulic system. Two thighs and a pelvis are manufactured using 3D printing, and the hydraulic lines are integrally molded with the robot's skeleton structure, improving structural compactness and reducing the robot's weight. Except for necessary pipe joint connections, the number of hydraulic lines can be significantly reduced. Simultaneously, to maximize the dynamic response capability of the hydraulic drive unit, the distance between the servo valve and the cylinder can be shortened. Therefore, two methods are adopted: one is to use a cylinder-valve integrated drive unit, and the other is to fix the hydraulic cylinders and hydraulic servo valves of the knee and hip joint pitch hydraulic drive unit to the thigh skeleton 403, with the oil circuit arranged between the hydraulic cylinders and hydraulic servo valves.
[0068] Specifically, such as Figure 8-10As shown, the scapula 105 is provided with a shoulder valve block 106, which is provided with a shoulder valve block oil inlet 1-01, a first shoulder valve block oil outlet 1-03, a second shoulder valve block oil outlet 1-04, a third shoulder valve block oil outlet 1-09, a fourth shoulder valve block oil outlet 1-08, a fifth shoulder valve block oil outlet 1-14, a sixth shoulder valve block oil outlet 1-11, a shoulder valve block oil return port 1-02, a seventh shoulder valve block oil outlet 1-05, an eighth shoulder valve block oil outlet 1-06, a ninth shoulder valve block oil outlet 1-07, a tenth shoulder valve block oil outlet 1-10, an eleventh shoulder valve block oil outlet 1-12, and a twelfth shoulder valve. Oil outlets 1-13 are provided; the oil inlet 1-01, the first shoulder valve block oil outlet 1-03, the second shoulder valve block oil outlet 1-04, the third shoulder valve block oil outlet 1-09, the fourth shoulder valve block oil outlet 1-08, the fifth shoulder valve block oil outlet 1-14, and the sixth shoulder valve block oil outlet 1-11 are interconnected; the oil return port 1-02, the seventh shoulder valve block oil outlet 1-05, the eighth shoulder valve block oil outlet 1-06, the ninth shoulder valve block oil outlet 1-07, the tenth shoulder valve block oil outlet 1-10, the eleventh shoulder valve block oil outlet 1-12, and the twelfth shoulder valve block oil outlet 1-13 are interconnected.
[0069] The oil-flowing pelvic frame 303 is provided with an oil inlet 2-08, an oil return outlet 2-14, a first pelvic oil inlet 2-01, a second pelvic oil inlet 2-02, a third pelvic oil inlet 2-03, a fourth pelvic oil inlet 2-04, a fifth pelvic oil inlet 2-05, a sixth pelvic oil inlet 2-06, a seventh pelvic oil inlet 2-07, an eighth pelvic oil inlet 2-09, a ninth pelvic oil inlet 2-10, a tenth pelvic oil inlet 2-11, an eleventh pelvic oil inlet 2-12, and a twelfth pelvic oil inlet 2-13. 3. The 13th pelvic bone oil inlet 2-15, the 14th pelvic bone oil inlet 2-16, the 15th pelvic bone oil inlet 2-17, the 16th pelvic bone oil inlet 2-18, the 17th pelvic bone oil inlet 2-19, the 18th pelvic bone oil inlet 2-20, the 19th pelvic bone oil inlet 2-21, the 20th pelvic bone oil inlet 2-22, the 21st pelvic bone oil inlet 2-23, the 22nd pelvic bone oil inlet 2-24, the 23rd pelvic bone oil inlet 2-25, and the 24th pelvic bone oil inlet 2-26; the pelvic bone oil inlet 2-08, the 3rd pelvic bone oil inlet The pelvic bone oil inlets 2-03, 2-12, 2-19, and 2-24 are interconnected; the 7th pelvic bone oil inlet 2-07 is connected to the 9th pelvic bone oil inlet 2-10; the 4th pelvic bone oil inlet 2-04 is connected to the 6th pelvic bone oil inlet 2-06; the 5th pelvic bone oil inlet 2-05 is connected to the 10th pelvic bone oil inlet 2-11; the pelvic bone oil return inlet 2-14, 2-02, 8th pelvic bone oil inlet 2-09, and 15th pelvic bone oil return inlet 2-14 are interconnected. Oil port 2-17 and oil port 2-21 of the nineteenth pelvis are interconnected; oil port 2-13 of the twelfth pelvis is interconnected with oil port 2-15 of the thirteenth pelvis; oil port 2-16 of the fourteenth pelvis is interconnected with oil port 2-18 of the sixteenth pelvis; oil port 2-20 of the eighteenth pelvis is interconnected with oil port 2-22 of the twentieth pelvis; oil port 2-23 of the twenty-first pelvis is interconnected with oil port 2-25 of the twenty-third pelvis; oil port 2-01 of the first pelvis is interconnected with oil port 2-26 of the twenty-fourth pelvis.
[0070] The thigh skeleton 403 is provided with a thigh skeleton oil inlet 3-14, a thigh skeleton oil return outlet 3-12, a first thigh skeleton oil inlet 3-01, a second thigh skeleton oil inlet 3-02, a third thigh skeleton oil inlet 3-03, a fourth thigh skeleton oil inlet 3-04, a fifth thigh skeleton oil inlet 3-05, a sixth thigh skeleton oil inlet 3-06, a seventh thigh skeleton oil inlet 3-07, an eighth thigh skeleton oil inlet 3-08, a ninth thigh skeleton oil inlet 3-09, a tenth thigh skeleton oil inlet 3-10, an eleventh thigh skeleton oil inlet 3-11, and a twelfth thigh skeleton oil inlet 3-13; The thigh skeleton oil inlet 3-14, the first thigh skeleton oil inlet 3-01, the second thigh skeleton oil inlet 3-02, the third thigh skeleton oil inlet 3-03, the seventh thigh skeleton oil inlet 3-07, the eighth thigh skeleton oil inlet 3-08, and the twelfth thigh skeleton oil inlet 3-13 are interconnected; the thigh skeleton oil return inlet 3-12, the fourth thigh skeleton oil inlet 3-04, the fifth thigh skeleton oil inlet 3-05, the sixth thigh skeleton oil inlet 3-06, the ninth thigh skeleton oil inlet 3-09, the tenth thigh skeleton oil inlet 3-10, and the eleventh thigh skeleton oil inlet 3-11 are interconnected.
[0071] The second shoulder valve block oil outlet 1-04 is connected to the pelvic bone oil inlet 2-08 via a hydraulic oil pipe; the first shoulder valve block oil outlet 1-03 and the fifth shoulder valve block oil outlet 1-14 are respectively connected to the thigh bone inlets 3-14 of the left and right thighs via hydraulic oil pipes; the fourth shoulder valve block oil outlet 1-08 and the third shoulder valve block oil outlet 1-09 are respectively connected to the left and right shoulders via hydraulic oil pipes. The oil inlet of the Roll hydraulic cylinder unit assembly 103; the oil outlet 1-11 of the sixth shoulder valve block is connected to the oil inlet of the left and right elbow joint hydraulic cylinder assembly 211 through a hydraulic oil pipe; the oil outlet 1-06 of the eighth shoulder valve block is connected to the pelvic return oil port 2-14 through a hydraulic oil pipe; the oil outlet 1-05 of the seventh shoulder valve block and the oil outlet 1-13 of the twelfth shoulder valve block are connected to the thigh skeleton return oil port 3-12 of the left and right thighs through hydraulic oil pipes respectively; the oil outlet 1-07 of the ninth shoulder valve block and the oil outlet 1-10 of the tenth shoulder valve block are connected to the return oil ports of the left and right shoulder Roll hydraulic cylinder unit assembly 103 through hydraulic oil pipes respectively; the oil outlet 1-12 of the eleventh shoulder valve block is connected to the return oil port of the left and right elbow joint hydraulic cylinder assembly 211 through a hydraulic oil pipe.
[0072] The lumbar joint hydraulic cylinder assembly 310, hip roll hydraulic cylinder assembly 304, thigh hydraulic cylinder hip assembly 402, and thigh hydraulic cylinder knee assembly 407 are all equipped with corresponding hydraulic servo valves.
[0073] The eleventh pelvic bone oil port 2-12, the seventeenth pelvic bone oil port 2-19, the third pelvic bone oil port 2-03, and the twenty-second pelvic bone oil port 2-24 are respectively connected to the hydraulic servo valve inlets of the left hip roll hydraulic cylinder assembly 304, the right hip roll hydraulic cylinder assembly 304, the left lumbar joint hydraulic cylinder assembly 310, and the right lumbar joint hydraulic cylinder assembly 310; the eighth pelvic bone oil port 2-09, the fifteenth pelvic bone oil port 2-17, the second pelvic bone oil port 2-02, and the tenth pelvic bone oil port 2-11 are respectively connected to the hydraulic servo valve return ports of the left hip roll hydraulic cylinder assembly 304, the right hip roll hydraulic cylinder assembly 304, the left lumbar joint hydraulic cylinder assembly 310, and the right lumbar joint hydraulic cylinder assembly 310.
[0074] The 24th pelvic oil port 2-26 and the 4th pelvic oil port 2-04 are respectively connected to the hydraulic servo valve A port and B port of the left lumbar joint hydraulic cylinder assembly 310, and the first pelvic oil port 2-01 and the 6th pelvic oil port 2-06 are respectively connected to the hydraulic cylinder A chamber and B chamber of the left lumbar joint hydraulic cylinder assembly 310.
[0075] The 21st pelvic bone oil port 2-23 and the 20th pelvic bone oil port 2-22 are respectively connected to the hydraulic servo valve A port and B port of the right lumbar joint hydraulic cylinder assembly 310, and the 23rd pelvic bone oil port 2-25 and the 18th pelvic bone oil port 2-20 are respectively connected to the hydraulic cylinder A chamber and B chamber of the right lumbar joint hydraulic cylinder assembly 310.
[0076] The ninth pelvic bone oil port 2-10 and the tenth pelvic bone oil port 2-11 are respectively connected to the hydraulic servo valve A port and B port corresponding to the left hip_roll hydraulic cylinder assembly 304, and the fifth pelvic bone oil port 2-05 and the seventh pelvic bone oil port 2-07 are respectively connected to the hydraulic cylinder A chamber and B chamber in the left hip_roll hydraulic cylinder assembly 304.
[0077] The sixteenth pelvic bone oil port 2-18 and the thirteenth pelvic bone oil port 2-15 are respectively connected to the hydraulic servo valve A port and B port corresponding to the right hip_roll hydraulic cylinder assembly 304, and the fourteenth pelvic bone oil port 2-16 and the twelfth pelvic bone oil port 2-13 are respectively connected to the hydraulic cylinder A chamber and B chamber in the right hip_roll hydraulic cylinder assembly 304.
[0078] The second thigh skeleton oil port 3-02 and the seventh thigh skeleton oil port 3-07 are respectively connected to the hydraulic servo valve inlet corresponding to the thigh hydraulic cylinder knee assembly 407 and the thigh hydraulic cylinder hip assembly 402.
[0079] The fifth thigh skeleton oil port 3-05 and the ninth thigh skeleton oil port 3-09 are respectively connected to the hydraulic servo valve return ports corresponding to the thigh hydraulic cylinder knee assembly 407 and the thigh hydraulic cylinder hip assembly 402.
[0080] The third thigh skeleton oil port 3-03 and the fourth thigh skeleton oil port 3-04 are respectively connected to the hydraulic servo valve A port and B port corresponding to the thigh hydraulic cylinder knee assembly 407, and the first thigh skeleton oil port 3-01 and the sixth thigh skeleton oil port 3-06 are respectively connected to the hydraulic cylinder A chamber and B chamber in the thigh hydraulic cylinder knee assembly 407.
[0081] The tenth thigh skeleton oil port 3-10 and the eighth thigh skeleton oil port 3-08 are respectively connected to the hydraulic servo valve A port and B port corresponding to the thigh hydraulic cylinder HIP assembly 402, and the thigh skeleton oil port 3-11 and the twelfth thigh skeleton oil port 3-13 are respectively connected to the hydraulic cylinder A chamber and B chamber in the thigh hydraulic cylinder HIP assembly 402.
[0082] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only.
[0083] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.
Claims
1. A hydraulic wheeled robot, characterized in that, The device includes a head and torso (1), on both sides of which a mechanical arm (2) is symmetrically and rotatably connected, and at the lower end of which a hip pelvis (3) is rotatably connected; on both sides of the hip pelvis (3) a thigh (4) is symmetrically and rotatably connected; the thigh (4) is rotatably connected to a lower leg (5); the lower leg (5) is connected to a drive wheel (6). The hip pelvis (3) includes two parallel lumbar joint hydraulic cylinder assemblies (310), that is, the hydraulic cylinders in the two lumbar joint hydraulic cylinder assemblies (310) are parallel; when the two parallel hydraulic cylinders produce the same position trajectory, the waist achieves pitching motion; when they produce opposite position trajectories, the waist achieves the superposition of pitching motion and lateral swinging motion. The hip pelvis (3) includes a pelvic bone skeleton (303), the two ends of which are rotatably connected to the thigh (4). The pelvic bone skeleton (303) is provided with a hip roll hydraulic cylinder assembly (304) on both sides. The hip roll hydraulic cylinder assembly (304) is used to drive the thigh (4) to achieve lateral swinging motion. The lower leg (5) includes a lower leg skeleton (504); the lower leg skeleton (504) is provided with a magnetorheological fluid damper assembly (502), which is combined with a spring (501) to absorb impact and recover energy during jumping.
2. The hydraulic wheeled robot according to claim 1, characterized in that, The head and trunk (1) includes a head (108) and a trunk; the trunk includes a spine (113); a scapula (105) is provided on the spine (113); a robotic arm (2) is connected to both sides of the scapula (105); a Shoulder Roll hydraulic cylinder unit assembly (103) is provided on both sides of the spine (113); the Shoulder Roll hydraulic cylinder unit assembly (103) is used to drive the robotic arm (2) to achieve lateral swinging motion.
3. A hydraulic wheeled robot according to claim 1, characterized in that, The robotic arm (2) includes a shoulder joint (201), an upper arm (213), and a forearm (206) connected in sequence. The upper arm (213) and the forearm (206) are rotatably connected, and the shoulder joint (201) is rotatably connected to the head and torso (1). A torque motor is installed inside the shoulder joint (201), which is used to drive the robotic arm (2) to swing back and forth. An elbow joint hydraulic cylinder assembly (211) is installed inside the upper arm (213), which is used to drive the forearm (206) to bend.
4. A hydraulic wheeled robot according to claim 1, characterized in that, The thigh (4) includes a thigh frame (403), a lateral thigh plate (404), and a medial thigh plate (410), the lateral thigh plate (404) and the medial thigh plate (410) being fixed to both sides of the thigh frame (403); the thigh frame (403) is provided with a thigh hydraulic cylinder hip assembly (402) and a thigh hydraulic cylinder knee assembly (407); the thigh hydraulic cylinder hip assembly (402) is used to drive the thigh (4) to achieve forward and backward bending movements; the thigh hydraulic cylinder knee assembly (407) is used to drive the lower leg (5) to achieve bending movements.
5. A hydraulic wheeled robot according to claim 1, characterized in that, The drive wheel (6) includes a wheel (601), a small tail end cap (602), a large tail end cap (603), a hollow motor shaft (604), a first angular contact bearing (605), a motor housing (606), a frameless torque motor (607), a magnetic encoder (608), a large head end cap (609), a second angular contact bearing (610), bolts (611), and a small head end cap (612). One end of the hollow motor shaft (604) is fixed to the wheel (601), and the hollow motor shaft (604) is sequentially fitted with a first angular contact bearing. An angular contact bearing (605), a frameless torque motor (607), a magnetic encoder (608), and a second angular contact bearing (610) are included. The frameless torque motor (607) is built into the motor housing (606). The outer rings of the first angular contact bearing (605) and the second angular contact bearing (610) are fixed to the tail end cap (603) and the head end cap (609) respectively. The tail end cap (602) is bolted to the tail end cap (603), and the head end cap (612) is bolted to the head end cap (609).
6. A hydraulic wheeled robot according to claim 1, characterized in that, It also includes a battery (101), a navigation system (115), and a controller. The battery (101) is used to power the entire robot system and provide power to the drive wheels; the navigation system is used to provide the robot with environmental positioning information; and the controller is used to control the robot's movement.
7. A hydraulic drive system for a hydraulic wheeled robot according to any one of claims 1-6, characterized in that, The hydraulic circuit between the hydraulic cylinder and the servo valve is integrated into the oil basin frame (303) and the thigh frame (403), so that the outer surface of the oil basin frame (303) and the thigh frame (403) forms a number of oil ports, which are connected to form an internal hydraulic circuit. The number of oil ports of the oil basin frame (303) and the thigh frame (403) are respectively connected to the rod-side and rodless-side ports of the hydraulic cylinder on the oil basin frame (303) and the thigh frame (403), as well as the A port, B port, oil inlet port and oil return port of the servo valve.
8. The hydraulic drive system according to claim 7, characterized in that, The scapula (105) is provided with a shoulder valve block (106), which is provided with a shoulder valve block inlet (1-01), a first shoulder valve block outlet (1-03), a second shoulder valve block outlet (1-04), a third shoulder valve block outlet (1-09), a fourth shoulder valve block outlet (1-08), a fifth shoulder valve block outlet (1-14), a sixth shoulder valve block outlet (1-11), a shoulder valve block return port (1-02), a seventh shoulder valve block outlet (1-05), an eighth shoulder valve block outlet (1-06), a ninth shoulder valve block outlet (1-07), a tenth shoulder valve block outlet (1-10), an eleventh shoulder valve block outlet (1-12), and a twelfth shoulder valve block. Oil outlet (1-13); the oil inlet (1-01), the first shoulder valve block oil outlet (1-03), the second shoulder valve block oil outlet (1-04), the third shoulder valve block oil outlet (1-09), the fourth shoulder valve block oil outlet (1-08), the fifth shoulder valve block oil outlet (1-14), and the sixth shoulder valve block oil outlet (1-11) are interconnected, and the oil return port (1-02), the seventh shoulder valve block oil outlet (1-05), the eighth shoulder valve block oil outlet (1-06), the ninth shoulder valve block oil outlet (1-07), the tenth shoulder valve block oil outlet (1-10), the eleventh shoulder valve block oil outlet (1-12), and the twelfth shoulder valve block oil outlet (1-13) are interconnected; The oil-returning pelvic bone frame (303) is provided with a pelvic bone oil inlet (2-08), a pelvic bone oil return outlet (2-14), a first pelvic bone oil inlet (2-01), a second pelvic bone oil inlet (2-02), a third pelvic bone oil inlet (2-03), a fourth pelvic bone oil inlet (2-04), a fifth pelvic bone oil inlet (2-05), a sixth pelvic bone oil inlet (2-06), a seventh pelvic bone oil inlet (2-07), an eighth pelvic bone oil inlet (2-09), a ninth pelvic bone oil inlet (2-10), a tenth pelvic bone oil inlet (2-11), an eleventh pelvic bone oil inlet (2-12), and a twelfth pelvic bone oil inlet (2-13). -13), Thirteenth pelvic bone oil inlet (2-15), Fourteenth pelvic bone oil inlet (2-16), Fifteenth pelvic bone oil inlet (2-17), Sixteenth pelvic bone oil inlet (2-18), Seventeenth pelvic bone oil inlet (2-19), Eighteenth pelvic bone oil inlet (2-20), Nineteenth pelvic bone oil inlet (2-21), Twentieth pelvic bone oil inlet (2-22), Twenty-first pelvic bone oil inlet (2-23), Twenty-second pelvic bone oil inlet (2-24), Twenty-third pelvic bone oil inlet (2-25), and Twenty-fourth pelvic bone oil inlet (2-26); the pelvic bone oil inlet (2-08), Third The pelvic bone oil inlet (2-03), eleventh pelvic bone oil inlet (2-12), seventeenth pelvic bone oil inlet (2-19), and twenty-second pelvic bone oil inlet (2-24) are interconnected; the seventh pelvic bone oil inlet (2-07) is connected to the ninth pelvic bone oil inlet (2-10); the fourth pelvic bone oil inlet (2-04) is connected to the sixth pelvic bone oil inlet (2-06); the fifth pelvic bone oil inlet (2-05) is connected to the tenth pelvic bone oil inlet (2-11); the pelvic bone return oil inlet (2-14), second pelvic bone oil inlet (2-02), eighth pelvic bone oil inlet (2-09), and fifteenth pelvic bone oil inlet (2-24) are interconnected. The pelvic oil inlet (2-17) and the nineteenth pelvic oil inlet (2-21) are interconnected; the twelfth pelvic oil inlet (2-13) is interconnected with the thirteenth pelvic oil inlet (2-15); the fourteenth pelvic oil inlet (2-16) is interconnected with the sixteenth pelvic oil inlet (2-18); the eighteenth pelvic oil inlet (2-20) is interconnected with the twentieth pelvic oil inlet (2-22); the twenty-first pelvic oil inlet (2-23) is interconnected with the twenty-third pelvic oil inlet (2-25); the first pelvic oil inlet (2-01) is interconnected with the twenty-fourth pelvic oil inlet (2-26). The thigh skeleton (403) is provided with a thigh skeleton oil inlet (3-14), a thigh skeleton oil return port (3-12), a first thigh skeleton oil port (3-01), a second thigh skeleton oil port (3-02), a third thigh skeleton oil port (3-03), a fourth thigh skeleton oil port (3-04), a fifth thigh skeleton oil port (3-05), a sixth thigh skeleton oil port (3-06), a seventh thigh skeleton oil port (3-07), an eighth thigh skeleton oil port (3-08), a ninth thigh skeleton oil port (3-09), a tenth thigh skeleton oil port (3-10), an eleventh thigh skeleton oil port (3-11), and a twelfth thigh skeleton oil port (3-13); the thigh skeleton oil inlet... The first thigh bone oil port (3-14), the third thigh bone oil port (3-03), and the eighth thigh bone oil port (3-08) are interconnected; the first thigh bone oil port (3-01) and the second thigh bone oil port (3-02) are interconnected; the seventh thigh bone oil port (3-07) and the twelfth thigh bone oil port (3-13) are interconnected; the fourth thigh bone oil port (3-04) and the sixth thigh bone oil port (3-06) are interconnected; the ninth thigh bone oil port (3-09) and the eleventh thigh bone oil port (3-11) are interconnected; and the fifth thigh bone oil port (3-05), the tenth thigh bone oil port (3-10), and the thigh bone return oil port (3-12) are interconnected. The second shoulder valve block outlet (1-04) is connected to the pelvic inlet (2-08) via a hydraulic hose; the first shoulder valve block outlet (1-03) and the fifth shoulder valve block outlet (1-14) are respectively connected to the thigh bone inlets (3-14) of the left and right thighs via hydraulic hoses; the fourth shoulder valve block outlet (1-08) and the third shoulder valve block outlet (1-09) are respectively connected to the left and right shoulders via hydraulic hoses. The oil inlet of the Roll hydraulic cylinder unit assembly (103); the oil outlet of the sixth shoulder valve block (1-11) is connected to the oil inlet of the left and right elbow joint hydraulic cylinder assembly (211) through a hydraulic oil pipe; the oil outlet of the eighth shoulder valve block (1-06) is connected to the pelvic return oil port (2-14) through a hydraulic oil pipe; the oil outlet of the seventh shoulder valve block (1-05) and the oil outlet of the twelfth shoulder valve block (1-13) are respectively connected to the thigh skeleton return oil port (3-12) of the left and right thighs through hydraulic oil pipes; the oil outlet of the ninth shoulder valve block (1-07) and the oil outlet of the tenth shoulder valve block (1-10) are respectively connected to the return oil ports of the left and right shoulder Roll hydraulic cylinder unit assemblies (103) through hydraulic oil pipes; the oil outlet of the eleventh shoulder valve block (1-12) is connected to the return oil port of the left and right elbow joint hydraulic cylinder assembly (211) through a hydraulic oil pipe; The lumbar joint hydraulic cylinder assembly 310, hip roll hydraulic cylinder assembly 304, thigh hydraulic cylinder hip assembly 402, and thigh hydraulic cylinder knee assembly 407 are all equipped with corresponding hydraulic servo valves. The eleventh pelvic bone oil port (2-12), the seventeenth pelvic bone oil port (2-19), the third pelvic bone oil port (2-03), and the twenty-second pelvic bone oil port (2-24) are respectively connected to the hydraulic servo valve inlets of the left hip roll hydraulic cylinder assembly (304), the right hip roll hydraulic cylinder assembly (304), the left lumbar joint hydraulic cylinder assembly (310), and the right lumbar joint hydraulic cylinder assembly (310); the eighth pelvic bone oil port (2-09), the fifteenth pelvic bone oil port (2-17), the second pelvic bone oil port (2-02), and the tenth pelvic bone oil port (2-11) are respectively connected to the hydraulic servo valve return ports of the left hip roll hydraulic cylinder assembly (304), the right hip roll hydraulic cylinder assembly (304), the left lumbar joint hydraulic cylinder assembly (310), and the right lumbar joint hydraulic cylinder assembly (310). The 24th pelvic oil port (2-26) and the 4th pelvic oil port (2-04) are respectively connected to the hydraulic servo valves A and B of the left lumbar joint hydraulic cylinder assembly (310), and the first pelvic oil port (2-01) and the 6th pelvic oil port (2-06) are respectively connected to the hydraulic cylinder A and B chambers of the left lumbar joint hydraulic cylinder assembly (310). The 21st pelvic bone oil port (2-23) and the 20th pelvic bone oil port (2-22) are respectively connected to the hydraulic servo valves A and B of the right lumbar joint hydraulic cylinder assembly (310), and the 23rd pelvic bone oil port (2-25) and the 18th pelvic bone oil port (2-20) are respectively connected to the hydraulic cylinder A and B chambers of the right lumbar joint hydraulic cylinder assembly (310). The ninth pelvic bone oil port (2-10) and the tenth pelvic bone oil port (2-11) are respectively connected to the hydraulic servo valves A and B of the left hip roll hydraulic cylinder assembly (304), and the fifth pelvic bone oil port (2-05) and the seventh pelvic bone oil port (2-07) are respectively connected to the hydraulic cylinder A and B chambers of the left hip roll hydraulic cylinder assembly (304). The sixteenth pelvic bone oil port (2-18) and the thirteenth pelvic bone oil port (2-15) are respectively connected to the hydraulic servo valves A and B of the right-side hip-roll hydraulic cylinder assembly (304), and the fourteenth pelvic bone oil port (2-16) and the twelfth pelvic bone oil port (2-13) are respectively connected to the hydraulic cylinder A and B chambers of the right-side hip-roll hydraulic cylinder assembly (304); The second thigh skeleton oil port (3-02) and the seventh thigh skeleton oil port (3-07) are respectively connected to the hydraulic servo valve inlet of the thigh hydraulic cylinder knee assembly (407) and the thigh hydraulic cylinder hip assembly (402); The fifth thigh skeleton oil port (3-05) and the ninth thigh skeleton oil port (3-09) are respectively connected to the hydraulic servo valve return ports corresponding to the thigh hydraulic cylinder knee assembly (407) and the thigh hydraulic cylinder hip assembly (402); The third thigh skeleton oil port (3-03) and the fourth thigh skeleton oil port (3-04) are respectively connected to the hydraulic servo valve A port and B port of the thigh hydraulic cylinder knee assembly (407), and the first thigh skeleton oil port (3-01) and the sixth thigh skeleton oil port (3-06) are respectively connected to the hydraulic cylinder A chamber and B chamber of the thigh hydraulic cylinder knee assembly (407). The tenth thigh skeleton oil port (3-10) and the eighth thigh skeleton oil port (3-08) are respectively connected to the hydraulic servo valves A and B ports of the thigh hydraulic cylinder hip assembly (402), and the thigh skeleton oil port (3-11) and the twelfth thigh skeleton oil port (3-13) are respectively connected to the hydraulic cylinder A chamber and B chamber of the thigh hydraulic cylinder hip assembly (402).