A burst jump hydraulic wheel-leg biped robot

Abstract

This invention relates to the field of robotics technology and relates to a burst-jumping hydraulic wheeled bipedal robot. It addresses the problem of existing humanoid robots having excessive mass, hindering the miniaturization and integration of hydraulic power systems, and resulting in weak jumping capabilities. The invention features a torso frame rotatably connected to the top of the pelvic frame via a lumbar joint axis. A lumbar joint hydraulic drive assembly mounted on the torso frame enables lumbar pitching motion. The left and right ends of the pelvic frame are rotatably connected to the upper parts of the thigh support frames, respectively. Two hip joint hydraulic drive assemblies mounted on the front of the thigh support frames enable hip joint movement. The bottom of the two thigh support frames are rotatably connected to the tops of the tibias of the lower legs via two knee joint axes, respectively. Two knee joint hydraulic drive assemblies mounted on the rear of the thigh support frames enable knee joint movement. This invention optimizes the jumping ability of robots.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a bipedal robot with explosive jumping hydraulic wheel-legs. Background Technology

[0002] Bipedal robots have become one of the most internationally recognized areas of robotics research in recent years. Their functionality has also been a focus of attention. Among these capabilities, jumping ability has long been considered one of the key factors enabling robots to overcome complex environments.

[0003] Bipedal robots are a type of mobile robot, mainly classified into wheeled robots, tracked robots, and legged robots according to their mode of locomotion. Wheeled robots have high movement speed and flexible steering, but they are highly demanding in terms of surface conditions; tracked robots have strong off-road capabilities, but their tracked locomotion mechanism is bulky and their operating efficiency is low; legged robots are adaptable to almost all ground environments and can jump to a certain height to avoid ground obstacles, possessing high mobility. Furthermore, most real-world environments are designed for humans, making bipedal robots very convenient in applications. However, their movement efficiency is low and their speed is relatively slow. To combine the advantages of wheeled robots—high efficiency, strong mobility, and high movement speed—while enabling them to overcome certain environmental conditions and complete movement and operations on extreme surfaces, the wheel-legged hybrid mobile robot was developed. It can not only move quickly on flat terrain like a regular wheeled robot, but also adjust its posture according to the terrain. The wheel-legged robot has strong mobility and, ideally, can move on almost all terrains. Humanoid wheeled robots with jumping capabilities are far more efficient at moving forward than bipedal robots. They also have a stronger ability to adapt to complex environments compared to four-wheeled mobile platforms, and can overcome complex terrain by jumping.

[0004] In the driving of bipedal robots, two common methods are motor drive and hydraulic drive. Motor drive offers high precision and convenient speed adjustment, but its thrust is relatively low and motor power is insufficient. Furthermore, the repeated starting and stopping of robot joints is not ideal for motor operation. In addition, its insufficient load capacity is detrimental to robot field operations. Hydraulic drive systems are complex and require an oil source, but they have a large load-bearing capacity. Hydraulic drive has gained increasing attention in the robotics field due to its fast response, high load capacity, high power-to-weight ratio, and strong anti-interference capabilities. Hydraulic drive is beneficial for achieving balance recovery under disturbances such as impacts and overloads, allowing robots to withstand large loads even with a relatively small overall size.

[0005] Hydraulically driven humanoid wheeled robots possess higher power density, and the hydraulic system also offers some cushioning, enabling better jumps. Given the relatively large mass of humanoid robots, designing a robot with energy storage and explosive power is crucial for achieving and enhancing their jumping capabilities. Furthermore, the jumping function of wheeled robots represents a significant combination of the advantages of wheeled and legged locomotion, holding considerable practical value.

[0006] Autonomous power is a necessary condition for hydraulically driven robots to achieve independent and highly maneuverable movements. Miniaturization and integration of hydraulic power systems are among the most difficult technologies in the development of hydraulically driven robots, especially the integration of hydraulic power systems within the robot's confined structural space, which will be a huge challenge.

[0007] To enable humanoid wheeled-legged robots to jump, this invention designs an energy-storing, burst-type hydraulically driven humanoid wheeled-legged robot. The robot as a whole is designed to be lightweight, and the power unit is optimized to achieve the optimal jumping ability of the robot. Summary of the Invention

[0008] The purpose of this invention is to solve the problem that existing humanoid robots are too large, making it impossible to miniaturize and integrate the hydraulic power system, resulting in weak jumping ability. Therefore, this invention provides a bipedal robot with explosive jumping hydraulic wheel legs.

[0009] The technical solution of this invention is:

[0010] A burst-jumping hydraulic wheeled bipedal robot, comprising a torso 1, a pelvis 2, two thighs, two lower legs, and two drive wheels;

[0011] The torso 1 has two lumbar joint bushings arranged coaxially and symmetrically at the bottom of the torso skeleton 1-1. The pelvis 2 is located directly below the torso 1. The pelvis 2 has two sets of symmetrically arranged pelvic bearing supports 2-2 at the top of the pelvic skeleton 2-3. Two lumbar joint bushings are inserted between the two seat plates in each set of pelvic bearing supports 2-2. The two lumbar joint bushings are rotatably connected by two lumbar joint shafts 2-5.

[0012] The pelvic frame 2-3 is provided with a lumbar connecting rod seat 2-1 at the top. The lumbar connecting rod seat 2-1 is located in the middle of the two sets of pelvic bearing supports 2-2. The torso frame 1-1 is provided with a lumbar joint hydraulic drive assembly. The piston rod end of the lumbar joint hydraulic drive assembly is hinged to the lumbar connecting rod seat 2-1 through the lumbar joint connecting rod mechanism. Under the drive of the lumbar joint hydraulic drive assembly, the pitching and flexing movement of the lumbar joint is realized.

[0013] The pelvic skeleton 2-3 has two horizontally and symmetrically arranged hip joint axes at its left and right ends. Each hip joint axis has a leg connecting rod seat 2-9 on its upper part. The pelvic skeleton 2-3 has two thighs on its sides. Each thigh has a thigh support skeleton 3-3 with a hip joint bushing on its upper part. The two hip joint bushings are respectively fitted onto the two hip joint axes. The front side of the two thigh support skeletons 3-3 has two hip joint hydraulic drive components. The piston rod ends of the two hip joint hydraulic drive components are respectively hinged to the two hip joint axes through two hip joint linkage mechanisms. The movement of the hip joint is realized under the drive of the two hip joint hydraulic drive components.

[0014] Two lower legs are located at the bottom of each thigh. Two lateral knee joint bushings are coaxially arranged at the bottom of the thigh support frame 3-3 of each thigh. Two medial knee joint bushings 4-1 are coaxially arranged at the top of the tibia 4-3 of each lower leg. The two medial knee joint bushings 4-1 are hinged together by the knee joint axis. Each tibia 4-3 is provided with a knee joint connecting shaft arranged parallel to and below the knee joint axis. Two knee joint hydraulic drive components are provided on the rear side of each of the two thigh support frames 3-3. The piston rod ends of the two knee joint hydraulic drive components are hinged to the two knee joint connecting shafts through two knee joint connecting mechanisms. The movement of the knee joint is realized under the drive of the two knee joint hydraulic drive components. Two drive wheels are installed at the bottom of each tibia 4-3 of the lower leg.

[0015] Furthermore, the lumbar joint hydraulic drive assembly includes a lumbar joint hydraulic cylinder, a lumbar joint guide rail 1-12, and a lumbar joint slider. The lumbar joint guide rail 1-12 is mounted on the torso frame 1-1, and the lumbar joint slider is slidably mounted on the lumbar joint guide rail 1-12. The piston rod end of the lumbar joint hydraulic cylinder is hinged to the lumbar joint slider through a connector. One end of the lumbar joint connecting rod is hinged to the lumbar joint slider through a connector, and the other end of the lumbar joint connecting rod is hinged to the lumbar connecting rod seat 2-1 through a connector.

[0016] The hip joint hydraulic drive assembly includes a hip joint hydraulic cylinder, a hip joint guide rail, and a hip joint slider 231. The hip joint guide rail is mounted on the thigh support frame 3-3, and the hip joint slider 231 is slidably mounted on the hip joint guide rail. The end of the piston rod 232 of the hip joint hydraulic cylinder is hinged to the hip joint slider 231 through a connector. The hip joint linkage mechanism includes a hip joint two-force bar and a hip joint four-force bar. One end of the hip joint two-force bar is hinged to the hip joint slider 231 through a connector, and the other end of the hip joint two-force bar is hinged to the leg linkage seat 2-9 through a connector.

[0017] The knee joint hydraulic drive assembly includes a knee joint hydraulic cylinder, a knee joint linear guide, and a knee joint slider 341. The knee joint linear guide is mounted on the thigh support frame 3-3. The knee joint slider 341 is slidably mounted on the knee joint linear guide. The end of the piston rod 342 of the knee joint hydraulic cylinder is hinged to the knee joint slider 341 through a connector. The knee joint linkage mechanism includes a knee joint two-force bar and a knee joint four-force bar. One end of the knee joint two-force bar is hinged to the knee joint slider 341 through a connector, and the other end of the knee joint two-force bar is hinged to the knee joint linkage connecting shaft through a connector.

[0018] Furthermore, the torso 1 also includes a battery 1-2, a torso actuator 1-3, an integrated circuit board 1-4, a control switch 1-5, a controller 1-6, a torso accumulator 1-7, an air switch 1-8, a voltage and current conditioning module 1-10, a heat sink 1-11, a hub 1-13, a lumbar joint hydraulic pressure sensor 1-14, and a lumbar joint hydraulic servo valve 123. The controller 1-6 is mounted on the upper end of the torso frame 1-1, and the battery 1-2 is mounted on the back of the torso frame 1-1. There are two torso actuators 1-3, each equipped with... On both sides of the torso frame 1-1, a radiator 1-11 and an integrated circuit board 1-4 are respectively installed below the two torso actuators 1-3. A control switch 1-5 and an air switch 1-8 are respectively installed on both sides of the torso frame 1-1. There are two torso accumulators 1-7, which are respectively installed on the back of the torso frame 1-1. A voltage and current conditioning module 1-10 and a hub board 1-13 are respectively installed on the two torso accumulators 1-7. The lumbar joint oil pressure sensor 1-14 and the lumbar joint hydraulic servo valve 123 are both installed on the lumbar joint hydraulic cylinder.

[0019] Furthermore, the pelvis 2 also includes a hip accumulator 2-4, an inertial measurement unit 2-6, a hip joint hydraulic pressure sensor 2-7, a pressure gauge 2-8, and a hip joint hydraulic servo valve 233. There are two hip accumulators 2-4, both of which are installed at the lower end of the pelvic frame 2-3. The hip joint hydraulic pressure sensor 2-7 and the pressure gauge 2-8 are both installed on the hip accumulators 2-4. The inertial measurement unit 2-6 is installed in the center of the pelvic frame 2-3. The hip joint hydraulic servo valve 233 is located on the front side of the thigh support frame 3-3 and is installed on the hip joint hydraulic cylinder.

[0020] Furthermore, the thigh also includes a thigh actuator 3-2, a hip joint bearing 3-5, an oil-blocking end cap 3-6, a knee joint hydraulic sensor 3-7, a knee joint bearing 3-8, a thigh accumulator 3-10, and a knee joint hydraulic servo valve 343. The thigh support frame 3-3 has an internal hydraulic circuit, with an oil-blocking end cap 3-6 installed at the port of the hydraulic circuit. The thigh actuator 3-2 is installed on one side of the thigh support frame 3-3. The knee joint hydraulic servo valve 343 is located inside the thigh support frame 3-3. Both the knee joint hydraulic servo valve 343 and the knee joint hydraulic sensor 3-7 are mounted on the hip joint hydraulic cylinder. A thigh energy accumulator 3-10 is installed on the inner side of 3-3. There are two hip joint bearings 3-5, which are respectively embedded in two hip joint bushings on the upper part of the thigh support frame 3-3. The upper part of the thigh support frame 3-3 is rotatably connected to two hip joint shafts at the left and right ends of the pelvic frame 2-3 through the two hip joint bearings 3-5. There are two knee joint bearings 3-8, which are respectively embedded in two outer knee joint bushings at the bottom of the thigh support frame 3-3. The bottom of the thigh support frame 3-3 is rotatably connected to the knee joint shaft through the two knee joint bearings 3-8.

[0021] Furthermore, the thigh also includes a front end cover 3-1, a lateral end cover 3-4, and an inner end cover 3-9. The inner end cover 3-9, the lateral end cover 3-4, and the front end cover 3-1 are sequentially installed on both sides and the front of the thigh support frame 3-3.

[0022] Furthermore, the lower leg also includes a knee joint protective shell 4-2 and a knee joint bracket. The tibia 4-3 is a hollow rod-shaped structure, and a knee joint bracket is installed at the top of the tibia 4-3. The knee joint bracket has a U-shaped cross-section. Two coaxially arranged inner knee joint bushings 4-1 are respectively installed on the upper part of the two side wings of the knee joint bracket. The two inner knee joint bushings 4-1 are rotatably connected to the knee joint axis. The knee joint protective shell 4-2 is installed on the front side of the tibia 4-3.

[0023] Furthermore, the drive wheel includes a drive wheel bearing 4-4, a drive wheel hub 4-5, a drive wheel tire 4-6, a bearing end cap 4-7, an ankle joint protective shell 4-11, a motor hub drive shaft 4-15, and an ankle joint drive assembly. The ankle joint protective shell 4-11 is a cylindrical shell, and a vertically arranged tibial connecting shaft is provided at the top of the ankle joint protective shell 4-11. The top end of the tibial connecting shaft is inserted into the inner hole at the lower end of the tibia 4-3. The tibial connecting shaft is connected to the tibia 4-3 by multiple radial connecting screws. An ankle joint drive assembly is installed inside the ankle joint protective shell 4-11. The center of the ankle joint drive assembly is provided with a motor hub drive shaft 4-15. The drive wheel hub 4-5 is rotatably connected to the head end of the motor hub drive shaft 4-15 through the drive wheel bearing 4-4. A bearing end cap 4-7 is provided on the side of the drive wheel bearing 4-4. The bearing end cap 4-7 is connected to the drive wheel hub 4-5 by multiple connecting screws. The drive wheel tire 4-6 is mounted on the drive wheel hub 4-5.

[0024] Furthermore, the ankle joint drive assembly includes a motor rotor housing 4-8, planetary gears 4-9, a motor rotor bearing 4-10, an encoder end cover 4-12, a motor end cover 4-13, and an encoder 4-14. The motor hub drive shaft 4-15 is a stepped gear shaft, coaxially inserted inside the motor rotor housing 4-8. The motor hub drive shaft 4-15 is rotatably connected to the motor rotor housing 4-8 via the motor rotor bearing 4-10. Multiple planetary gears 4-9 are rotatably mounted in a circular array inside the motor rotor housing 4-8. The multiple planetary gears 4-9 all mesh with the gear portion on the motor hub drive shaft 4-15. An ankle joint protective shell 4-11 is fitted inside the outer side of the motor rotor housing 4-8. A motor end cover 4-13 is provided on the outer side of the motor rotor housing 4-8. The motor end cover 4-13 is connected to the ankle joint protective shell 4-11 by multiple connecting screws. An encoder 4-14 is installed at the end of the motor hub drive shaft 4-15. An encoder end cover 4-12 is provided on the outer side of the encoder 4-14. The encoder end cover 4-12 is connected to the motor end cover 4-13 by multiple connecting screws.

[0025] Furthermore, the oil tank and pump are connected to the lumbar joint hydraulic cylinder via one internal oil circuit of the torso frame, and simultaneously connected to two torso accumulators 1-7 at torso 1 via two other internal oil circuits of the torso frame 1-1 through the oil holes of the torso accumulators. The two torso accumulators 1-7 are respectively connected to the hip accumulator 2-4 via rubber hoses through the oil holes of the hip accumulators. The rubber hoses originating from the hip accumulator 2-4 pass through the hip joint rotation center, through the thigh oil hole, and are connected to the internal oil circuit of the thigh frame, and then to the thigh accumulator 3-10 via the internal oil circuit of the thigh frame. The thigh accumulator 3-10 is connected to the knee joint hydraulic cylinder and the hip joint hydraulic cylinder via the internal oil circuit of the thigh frame.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] 1. This invention optimizes the overall quality of the robot, enabling it to consume less material during manufacturing, reducing costs, and making the robot lighter, more maneuverable, and thus more capable of jumping.

[0028] 2. The invention has a simple structure and is easy to install and disassemble; the pipeline wear failure rate is low, and the overall safety and reliability of the machine are high; the hydraulic system also provides a certain buffer for the robot during the jumping process, and at the same time, the energy storage unit of the hydraulic system enables the robot to have stronger explosive force at the moment of jumping.

[0029] 3. This invention analyzes the hydraulic power requirements of hydraulic wheeled robots, formulates a hydraulic power system design method and specific implementation plan. The hydraulic power system makes full use of the robot's structure and organically integrates the hydraulic power system with the robot body through a distributed design method, achieving a high degree of integration of the power system. At the same time, the integrated design method maximizes the power density of the core components of the power system. Attached Figure Description

[0030] Figure 1 This is an isometric view of the explosive jumping hydraulic wheeled bipedal robot of the present invention;

[0031] Figure 2 This is a front view of the explosive jumping hydraulic wheeled bipedal robot of the present invention;

[0032] Figure 3 This is an isometric view of the torso in the explosive jumping hydraulic wheeled bipedal robot of the present invention;

[0033] Figure 4 This is a schematic diagram of the torso structure in the explosive jumping hydraulic wheeled bipedal robot of the present invention;

[0034] Figure 5 This is an isometric view of the pelvis in the explosive jumping hydraulic wheeled bipedal robot of the present invention;

[0035] Figure 6 This is an exploded view of the thigh of the explosive jumping hydraulic wheeled bipedal robot of the present invention;

[0036] Figure 7 This is a side view of the thigh of the explosive jumping hydraulic wheeled bipedal robot of the present invention;

[0037] Figure 8 This is a schematic diagram of the assembled lower leg and drive wheel of the explosive jumping hydraulic wheeled bipedal robot of the present invention;

[0038] Figure 9This is a diagram of the hydraulic system of the torso accumulator, hip accumulator, and thigh accumulator in the explosive jumping hydraulic wheeled bipedal robot of this invention.

[0039] Figure 10 This is a diagram of the hydraulic system in the explosive jumping hydraulic wheeled bipedal robot of this invention.

[0040] In the image: 1. Torso; 2. Pelvis; 3. Right thigh; 4. Right calf; 5. Left thigh; 6. Left calf;

[0041] 1-1. Torso skeleton; 1-2. Battery; 1-3. Torso actuator; 1-4. Integrated circuit board; 1-5. Control switch; 1-6. Controller; 1-7. Torso accumulator; 1-8. Air switch; 1-10. Voltage and current conditioning module; 1-11. Heat sink; 1-12. Lumbar joint guide rail; 1-13. Hub board; 1-14. Lumbar joint hydraulic pressure sensor; 123. Lumbar joint hydraulic servo valve;

[0042] 2-1. Lumbar connecting rod seat; 2-2. Pelvic bearing support; 2-3. Pelvic skeleton; 2-4. Hip accumulator; 2-5. Lumbar joint shaft; 2-6. Inertial measurement unit; 2-7. Hip joint hydraulic pressure sensor; 2-8. Pressure gauge; 2-9. Leg connecting rod seat; 231. Hip joint slider; 232. Piston rod of hip joint hydraulic cylinder; 233. Hip joint hydraulic servo valve;

[0043] 3-1. Thigh front end cap; 3-2. Thigh actuator; 3-3. Thigh support frame; 3-4. Thigh outer end cap; 3-5. Hip joint bearing; 3-6. Oil plug end cap; 3-7. Knee joint hydraulic sensor; 3-8. Knee joint bearing; 3-9. Thigh inner end cap; 3-10. Thigh accumulator; 341. Knee joint slider; 342. Piston rod of knee joint hydraulic cylinder; 343. Knee joint hydraulic servo valve;

[0044] 4-1. Knee joint inner bushing; 4-2. Knee joint protective shell; 4-3. Tibia; 4-4. Drive wheel bearing; 4-5. Drive wheel hub; 4-6. Drive wheel tire; 4-7. Bearing end cover; 4-8. Motor rotor housing; 4-9. Planetary gear; 4-10. Motor rotor bearing; 4-11. Ankle joint protective shell; 4-12. Encoder end cover; 4-13. Motor end cover; 4-14. Encoder; 4-15. Motor hub drive shaft. Detailed Implementation

[0045] Specific implementation method one: Combining Figures 1 to 10 This embodiment describes an explosive jumping hydraulic wheeled bipedal robot, which includes a torso 1, a pelvis 2, two thighs, two lower legs, and two drive wheels.

[0046] The torso 1 has two lumbar joint bushings arranged coaxially and symmetrically at the bottom of the torso skeleton 1-1. The pelvis 2 is located directly below the torso 1. The pelvis 2 has two sets of symmetrically arranged pelvic bearing supports 2-2 at the top of the pelvic skeleton 2-3. Two lumbar joint bushings are inserted between the two seat plates in each set of pelvic bearing supports 2-2. The two lumbar joint bushings are rotatably connected by two lumbar joint shafts 2-5.

[0047] The pelvic frame 2-3 is provided with a lumbar connecting rod seat 2-1 at the top. The lumbar connecting rod seat 2-1 is located in the middle of the two sets of pelvic bearing supports 2-2. The torso frame 1-1 is provided with a lumbar joint hydraulic drive assembly. The piston rod end of the lumbar joint hydraulic drive assembly is hinged to the lumbar connecting rod seat 2-1 through the lumbar joint connecting rod mechanism. Under the drive of the lumbar joint hydraulic drive assembly, the pitching and flexing movement of the lumbar joint is realized.

[0048] The pelvic skeleton 2-3 has two horizontally and symmetrically arranged hip joint axes at its left and right ends. Each hip joint axis has a leg connecting rod seat 2-9 on its upper part. The pelvic skeleton 2-3 has two thighs on its sides. Each thigh has a thigh support skeleton 3-3 with a hip joint bushing on its upper part. The two hip joint bushings are respectively fitted onto the two hip joint axes. The front side of the two thigh support skeletons 3-3 has two hip joint hydraulic drive components. The piston rod ends of the two hip joint hydraulic drive components are respectively hinged to the two hip joint axes through two hip joint linkage mechanisms. The movement of the hip joint is realized under the drive of the two hip joint hydraulic drive components.

[0049] Two lower legs are located at the bottom of each thigh. Two lateral knee joint bushings are coaxially arranged at the bottom of the thigh support frame 3-3 of each thigh. Two medial knee joint bushings 4-1 are coaxially arranged at the top of the tibia 4-3 of each lower leg. The two medial knee joint bushings 4-1 are hinged together by the knee joint axis. Each tibia 4-3 is provided with a knee joint connecting shaft arranged parallel to and below the knee joint axis. Two knee joint hydraulic drive components are provided on the rear side of each of the two thigh support frames 3-3. The piston rod ends of the two knee joint hydraulic drive components are hinged to the two knee joint connecting shafts through two knee joint connecting mechanisms. The movement of the knee joint is realized under the drive of the two knee joint hydraulic drive components. Two drive wheels are installed at the bottom of each tibia 4-3 of the lower leg.

[0050] The robot has two thighs, designated as left thigh 5 and right thigh 3, and two lower legs, designated as left lower leg 6 and right lower leg 4. It does not have arms; the upper body consists only of the torso 1 and pelvis 2. The wheeled legs are low-inertia, low-weight wheeled legs, including the thighs (left thigh 5 and right thigh 3) and the lower legs with wheels (left lower leg 6 and right lower leg 4).

[0051] Specific Implementation Method Two: Combining Figures 1 to 10 This embodiment describes a lumbar joint hydraulic drive assembly comprising a lumbar joint hydraulic cylinder, a lumbar joint guide rail 1-12, and a lumbar joint slider. The lumbar joint guide rail 1-12 is mounted on the torso frame 1-1, and the lumbar joint slider is slidably mounted on the lumbar joint guide rail 1-12. The piston rod end of the lumbar joint hydraulic cylinder is hinged to the lumbar joint slider via a connector. One end of the lumbar joint connecting rod is hinged to the lumbar joint slider via a connector, and the other end of the lumbar joint connecting rod is hinged to the lumbar connecting rod seat 2-1 via a connector.

[0052] The hip joint hydraulic drive assembly includes a hip joint hydraulic cylinder, a hip joint guide rail, and a hip joint slider 231. The hip joint guide rail is mounted on the thigh support frame 3-3, and the hip joint slider 231 is slidably mounted on the hip joint guide rail. The end of the piston rod 232 of the hip joint hydraulic cylinder is hinged to the hip joint slider 231 through a connector. The hip joint linkage mechanism includes a hip joint two-force bar and a hip joint four-force bar. One end of the hip joint two-force bar is hinged to the hip joint slider 231 through a connector, and the other end of the hip joint two-force bar is hinged to the leg linkage seat 2-9 through a connector.

[0053] The knee joint hydraulic drive assembly includes a knee joint hydraulic cylinder, a knee joint linear guide, and a knee joint slider 341. The knee joint linear guide is mounted on the thigh support frame 3-3. The knee joint slider 341 is slidably mounted on the knee joint linear guide. The end of the piston rod 342 of the knee joint hydraulic cylinder is hinged to the knee joint slider 341 through a connector. The knee joint linkage mechanism includes a knee joint two-force bar and a knee joint four-force bar. One end of the knee joint two-force bar is hinged to the knee joint slider 341 through a connector, and the other end of the knee joint two-force bar is hinged to the knee joint linkage connecting shaft through a connector.

[0054] In this configuration, the waist, hip, and knee joints are driven by linear hydraulic cylinders. At the robot's hydraulic joints, an integrated design of the hydraulic cylinder and frame is adopted. Linear guides guide the linear movement of the pistons, avoiding eccentric loads on the hydraulic cylinders and eliminating the need for rubber hoses connecting them. This improves structural compactness and reduces weight. Simultaneously, the integrated design method contributes to structural lightweighting, enabling higher jumping capabilities. Other components and connections are the same as in Specific Implementation Method One.

[0055] In this embodiment, the piston rod 342 of the knee joint hydraulic cylinder is connected at its end to the knee joint slider 341 on the knee joint linear guide rail. The knee joint slider 341 drives the knee joint two-force bar connected to the knee joint four-link to drive the knee joint. The HDU configuration of the hip joint is basically the same as that of the knee joint, while the hip joint two-force bar directly acts on the pelvic skeleton 2-3. This design results in a compact and lightweight thigh structure. The cylinder bodies of both the hip and knee joint hydraulic cylinders also serve as part of the thigh, thus enhancing the rigidity of the thigh.

[0056] In this embodiment, the components for installing the lumbar joint hydraulic cylinder, hip joint hydraulic cylinder, and knee joint hydraulic cylinder are manufactured using additive manufacturing, integrating the hydraulic cylinder, valve body containing the oil circuit, and skeleton into a single unit. Furthermore, various sensors and drive control components are integrated into the integrated part design, achieving cylinder-valve-skeleton integration.

[0057] Specific implementation method three: Combining Figures 1 to 10 This embodiment describes a torso 1 that further includes a battery 1-2, a torso driver 1-3, an integrated circuit board 1-4, a control switch 1-5, a controller 1-6, a torso energy accumulator 1-7, an air switch 1-8, a voltage and current conditioning module 1-10, a heat sink 1-11, a hub 1-13, a lumbar joint hydraulic pressure sensor 1-14, and a lumbar joint hydraulic servo valve 123. The controller 1-6 is mounted on the upper end of the torso frame 1-1, and the battery 1-2 is mounted on the back of the torso frame 1-1. There are two torso drivers 1-3. The torso frame 1-1 is mounted on both sides. A radiator 1-11 and an integrated circuit board 1-4 are mounted below the two torso actuators 1-3, respectively. A control switch 1-5 and an air switch 1-8 are mounted on both sides of the torso frame 1-1. Two torso accumulators 1-7 are mounted on the back of the torso frame 1-1. A voltage / current conditioning module 1-10 and a hub board 1-13 are mounted on each of the two torso accumulators 1-7, respectively. A lumbar joint hydraulic pressure sensor 1-14 and a lumbar joint hydraulic servo valve 123 are both mounted on the lumbar joint hydraulic cylinder. This configuration allows the lumbar joint hydraulic pressure sensor 1-14 and the lumbar joint hydraulic servo valve 123 to monitor the pressure in both chambers (rod chamber and rodless chamber) of the lumbar joint hydraulic cylinder. The torso actuators 1-3 are hydraulic actuators; upper-level control commands drive the hydraulic cylinders of each joint through the hydraulic actuators, thereby causing the joints to move. Other components and connections are the same as in specific embodiments one or two.

[0058] Specific implementation method four: Combination Figures 1 to 10 In this embodiment, the pelvis 2 further includes a hip accumulator 2-4, an inertial measurement unit (IMU) 2-6, a hip joint hydraulic pressure sensor 2-7, a pressure gauge 2-8, and a hip joint hydraulic servo valve 233. There are two hip accumulators 2-4, both mounted at the lower end of the pelvic frame 2-3. The hip joint hydraulic pressure sensor 2-7 and pressure gauge 2-8 are mounted on the hip accumulators 2-4. The inertial measurement unit 2-6 is mounted in the center of the pelvic frame 2-3. The hip joint hydraulic servo valve 233 is located in front of the thigh support frame 3-3 and is mounted on the hip joint hydraulic cylinder. This configuration allows the inertial measurement unit 2-6 (IMU) in the center of the pelvis 2 to measure the robot's pose. Other components and connections are the same as in specific embodiments one, two, or three.

[0059] Specific Implementation Method Five: Combining Figures 1 to 10 This embodiment describes a thigh that further includes a thigh actuator 3-2, a hip joint bearing 3-5, an oil-blocking end cap 3-6, a knee joint hydraulic sensor 3-7, a knee joint bearing 3-8, a thigh accumulator 3-10, and a knee joint hydraulic servo valve 343. The thigh support frame 3-3 has an internal hydraulic circuit, with an oil-blocking end cap 3-6 installed at the port of the hydraulic circuit. The thigh actuator 3-2 is installed on one side of the thigh support frame 3-3. The knee joint hydraulic servo valve 343 is located inside the thigh support frame 3-3. Both the knee joint hydraulic servo valve 343 and the knee joint hydraulic sensor 3-7 are mounted on the hip joint hydraulic cylinder. A thigh energy accumulator 3-10 is installed on the inner side of the leg support frame 3-3. There are two hip joint bearings 3-5, which are respectively embedded in two hip joint bushings on the upper part of the thigh support frame 3-3. The upper part of the thigh support frame 3-3 is rotatably connected to two hip joint shafts at the left and right ends of the pelvic frame 2-3 through the two hip joint bearings 3-5. There are two knee joint bearings 3-8, which are respectively embedded in two outer knee joint bushings at the bottom of the thigh support frame 3-3. The bottom of the thigh support frame 3-3 is rotatably connected to the knee joint shaft through the two knee joint bearings 3-8. In this configuration, the hydraulic cylinders for the hip and knee joints are integrated into the thigh support frame 3-3. The knee joint hydraulic cylinder is located on the posterior side of the thigh, while the knee joint hydraulic servo valve 343, which controls the knee joint hydraulic cylinder, is located on the side of the thigh. Knee joint hydraulic sensors 3-7 are mounted on both sides of the knee joint hydraulic servo valve 343 to monitor the pressure in the two chambers (rod chamber and rodless chamber) of the knee joint hydraulic cylinder. A linear variable differential transformer for measuring piston displacement is coaxially mounted at the end cap of the knee joint hydraulic cylinder. A thigh accumulator 3-10 is located on the posterior side of the thigh. Before jumping, high-pressure oil is stored in the thigh accumulator 3-10 via the power unit. At the moment of jumping, the thigh accumulator 3-10 releases the high-pressure oil to replenish the energy required for the jump, giving the robot a higher jumping ability. The thigh, supported by the thigh support frame 3-3, bears the weight of the entire robot and provides support during jumps. Oil flows inside the thigh support frame 3-3, improving the robot's integration. The knee joint hydraulic sensors 3-7 are used to detect the hydraulic system pressure. The thigh actuator 3-2 is a hydraulic actuator. The upper control commands drive the hydraulic cylinders of each joint through the hydraulic actuator, thereby causing the joints to move. Other components and connections are the same as in specific embodiments one, two, three, or four.

[0060] In this embodiment, the thigh accumulator 3-10 is a piston-type accumulator.

[0061] Specific Implementation Method Six: Combination Figures 1 to 10This embodiment further includes a front thigh cover 3-1, a lateral thigh cover 3-4, and an inner thigh cover 3-9. The inner thigh cover 3-9, the lateral thigh cover 3-4, and the front thigh cover 3-1 are sequentially installed on both sides and the front of the thigh support frame 3-3. This arrangement, by providing covers on both sides and the front of the thigh support frame 3-3, reduces the ingress of dust. Other components and connections are the same as in specific embodiments one, two, three, four, or five.

[0062] Specific implementation method seven: Combination Figures 1 to 10 This embodiment further includes a knee joint protective shell 4-2 and a knee joint support. The tibia 4-3 is a hollow rod-shaped structure, and a knee joint support is installed at the top of the tibia 4-3. The knee joint support has a U-shaped cross-section, and two coaxially arranged inner knee joint bushings 4-1 are respectively installed on the upper part of the two side flanges of the knee joint support. The two inner knee joint bushings 4-1 are rotatably connected to the knee joint axis. The knee joint protective shell 4-2 is installed on the front side of the tibia 4-3. With this configuration, the lower leg uses a carbon fiber tube and a carbon fiber shell, which ensures the strength of the lower leg while improving its lightweight, reducing the moment of inertia of the lower leg, and improving the robot's environmental adaptability. Other components and connections are the same as in specific embodiments one, two, three, four, five, or six.

[0063] Specific implementation method eight: Combination Figures 1 to 10 This embodiment describes a drive wheel comprising a drive wheel bearing 4-4, a drive wheel hub 4-5, a drive wheel tire 4-6, a bearing end cap 4-7, an ankle joint protective shell 4-11, a motor hub drive shaft 4-15, and an ankle joint drive assembly. The ankle joint protective shell 4-11 is a cylindrical shell, and a vertically arranged tibial connecting shaft is provided at the top of the ankle joint protective shell 4-11. The top end of the tibial connecting shaft is inserted into the inner hole at the lower end of the tibia 4-3, and the tibial connecting shaft is connected by multiple radial connecting screws. Connected to the tibia 4-3, an ankle joint drive assembly is installed inside the ankle joint protective shell 4-11. The ankle joint drive assembly has a motor hub drive shaft 4-15 at its center. The drive wheel hub 4-5 is rotatably connected to the head end of the motor hub drive shaft 4-15 via a drive wheel bearing 4-4. A bearing end cap 4-7 is provided on the side of the drive wheel bearing 4-4, and the bearing end cap 4-7 is connected to the drive wheel hub 4-5 via multiple connecting screws. The drive wheel tire 4-6 is mounted on the drive wheel hub 4-5. This configuration, using magnesium alloy for the drive wheel hub 4-5 and a pneumatic tire, minimizes wheel weight and improves the robot's impact resistance. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, or seven.

[0064] Specific Implementation Method Nine: Combining Figures 1 to 10This embodiment describes an ankle joint drive assembly comprising a motor rotor housing 4-8, planetary gears 4-9, a motor rotor bearing 4-10, an encoder end cover 4-12, a motor end cover 4-13, and an encoder 4-14. The motor hub drive shaft 4-15 is a stepped gear shaft, coaxially inserted inside the motor rotor housing 4-8. The motor hub drive shaft 4-15 is rotatably connected to the motor rotor housing 4-8 via the motor rotor bearing 4-10. Multiple planetary gears are rotatably mounted in a circular array inside the motor rotor housing 4-8. The ankle joint is driven by a frameless torque motor connected in series with a planetary reducer. Power is transmitted through the planetary gears 4-9. The multiple planetary gears 4-9 mesh with the gears on the motor hub drive shaft 4-15. An ankle joint protective shell 4-11 is fitted inside the outer side of the motor rotor housing 4-8. A motor end cover 4-13 is located on the outer side of the motor rotor housing 4-8. The motor end cover 4-13 is connected to the ankle joint protective shell 4-11 by multiple connecting screws. An encoder 4-14 is installed at the end of the motor hub drive shaft 4-15. An encoder end cover 4-12 is located on the outer side of the encoder 4-14. The encoder end cover 4-12 is connected to the motor end cover 4-13 by multiple connecting screws. With this configuration, the ankle joint is driven by a frameless torque motor connected in series with a planetary reducer, transmitting power through the planetary gears 4-9. The motor driving the wheels is designed to be located on the outer side of the lower leg and is driven by an external rotor motor connected in series with a planetary reducer. This design improves the power-to-weight ratio and makes the structure more compact. The planetary reducer is built into the center of the motor stator, ensuring coaxiality while saving installation space to the greatest extent. Other components and connections are the same as in specific implementation methods one, two, three, four, five, six, seven, or eight.

[0065] Specific Implementation Method Ten: Combining Figures 1 to 10In this embodiment, the oil tank and pump are connected to the lumbar joint hydraulic cylinder via one internal oil circuit of the torso frame. Simultaneously, they are connected to two torso accumulators 1-7 at torso 1 via two other internal oil circuits of the torso frame 1-1 through the oil holes of the torso accumulators. The two torso accumulators 1-7 are respectively connected to the hip accumulator 2-4 via rubber hoses through the oil holes of the hip accumulators. The rubber hoses originating from the hip accumulator 2-4 pass through the hip joint rotation center, through the thigh oil hole, and are connected to the internal oil circuit of the thigh frame. They are then connected to the thigh accumulator 3-10 via the internal oil circuit of the thigh frame. The thigh accumulator 3-10 is connected to the knee joint hydraulic cylinder and the hip joint hydraulic cylinder via the internal oil circuit of the thigh frame. To minimize the exposure of the rubber hoses and prevent them from interfering with joint movement, the hip joint is designed as a hollow structure. The rubber hoses originating from the hip accumulator 2-4 pass through the hip joint rotation center, connect to the internal oil passages of the thigh support frame 3-3 via oil holes, and are thus integrated into the thigh support frame 3-3. This design enhances the robot's overall aesthetics while reducing wear on the rubber hoses. The thigh support frame 3-3 also integrates the cylinder bodies of the hip and knee joint hydraulic cylinders, which are connected to the internal oil passages. The thigh accumulator 3-10 at the thigh is connected to the knee and hip joint hydraulic cylinders via the internal oil passages of the thigh support frame 3-3, working together with the torso accumulator 1-7 and the hip accumulator 2-4 to provide power for the robot's jumps. Other components and connections are the same as in embodiments one, two, three, four, five, six, seven, eight, or nine.

[0066] In this embodiment, in order to achieve power autonomy, the hydraulic power unit is designed as follows:

[0067] By employing customized core components such as motors and pumps, an integrated design of the motor and pump is achieved, significantly reducing the weight of the power unit. Flow / pressure control methods are designed based on pressure and temperature sensors on the robot, enabling servo control of the power unit. To achieve high integration, the energy storage and cooling systems of the auxiliary systems are designed in a distributed manner, with accumulators and micro-heat sinks distributed in the unused spaces of various robot components. For high-pressure energy storage and distributed cooling of the return oil, the hydraulic power unit is divided into a core power module, an energy management module, a filtration and pressure regulation module, an energy storage and pressure stabilization module, a heat dissipation and cooling module, a system sensing module, and a drive control module.

[0068] Furthermore, a dual-servo motor driven micro plunger pump unit is used as the core power module of the power unit, and the two motor pump units can be controlled independently. The filter and pressure regulating module includes a high-pressure precision filter and a micro cartridge-type relief valve. The high-pressure filter uses a high-precision 3μm filter element, and the relief valve is used to regulate the system's safety pressure. The energy storage and pressure stabilizing module's main function is to stabilize the hydraulic system pressure. The power unit is equipped with accumulators in both the high-pressure and low-pressure circuits. The high-pressure accumulator uses a piston-type accumulator, while the low-pressure accumulator uses a custom-designed rubber bladder.

[0069] Furthermore, the accumulator can maintain system pressure, absorb pulse and impact pressures, and also serve as an auxiliary energy source. To achieve the robot's jumping, a burst-type hydraulic system is required, necessitating that the accumulator store sufficient high-pressure oil before the jump and compensate for the instantaneous flow during the jump. The low-pressure accumulator not only needs to replenish the volume absorbed by the high-pressure accumulator during energy storage but also needs to store the hydraulic oil released by the high-pressure accumulator after the system stops, preventing excessive back pressure in the hydraulic system and causing overpressure leakage in the low-pressure lines. Simultaneously, the robot uses asymmetrical cylinders, and the volume difference in the hydraulic system during piston rod extension and retraction also needs to be compensated by the low-pressure accumulator to prevent pump cavitation or excessively high return oil back pressure.

[0070] Furthermore, the energy accumulators are rationally arranged: two piston-type energy accumulators are placed at the torso (1), mounted on the back of the robot's shoulders; two piston-type energy accumulators are placed at the waist, mounted on the front of the hips. The energy accumulators are integrally molded with the skeleton, saving installation space; a thigh energy accumulator 3-10 (i.e., piston-type energy accumulator) is fixed at the left thigh (5) and right thigh (3), mounted on the inner thigh. The rational arrangement of each energy accumulator on the robot as a whole ensures that the robot has sufficient power at the moment of jumping, while also making the robot more stable during the jump.

[0071] Working principle

[0072] Combination Figures 1 to 10 This invention describes the working principle of a burst-jumping hydraulic wheeled bipedal robot:

[0073] (I) The process of flexion and extension of the lumbar joint:

[0074] The piston rod end of the lumbar joint hydraulic cylinder is connected to the lumbar joint slider on the lumbar joint linear guide rail. The lumbar joint slider drags the lumbar joint connecting rod to drive the lumbar joint.

[0075] (II) The movement process of the hip joint:

[0076] The piston rod 232 of the hip joint hydraulic cylinder is connected to the hip joint slider 231 on the hip joint linear guide. The hip joint slider 231 drives the hip joint two-force bar and the hip joint four-link to drive the hip joint.

[0077] (III) The movement process of the knee joint:

[0078] The piston rod 342 of the knee joint hydraulic cylinder is connected to the knee joint slider 341 on the knee joint linear guide rail. The knee joint slider 341 drives the knee joint two-force bar and the knee joint four-link to drive the knee joint.

[0079] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A burst-jumping hydraulic wheeled bipedal robot, characterized in that: It includes a torso (1), pelvis (2), two thighs, two calves, and two drive wheels; The torso (1) has two lumbar joint bushings arranged coaxially and symmetrically at the bottom of the torso skeleton (1-1). The pelvis (2) is located directly below the torso (1). The pelvis (2) has two sets of symmetrically arranged pelvic bearing supports (2-2) at the top of the pelvic skeleton (2-3). Two lumbar joint bushings are inserted between the two seat plates in each set of pelvic bearing supports (2-2). The two lumbar joint bushings are rotatably connected by two lumbar joint shafts (2-5). The torso (1) also includes a torso energy accumulator (1-7). The torso energy accumulator (1-7) is installed on the back of the torso skeleton (1-1). The pelvic skeleton (2-3) is provided with a lumbar connecting rod seat (2-1) at the top. The lumbar connecting rod seat (2-1) is located in the middle of two sets of pelvic bearing supports (2-2). The trunk skeleton (1-1) is provided with a lumbar joint hydraulic drive assembly. The piston rod end of the lumbar joint hydraulic drive assembly is hinged to the lumbar connecting rod seat (2-1) through the lumbar joint connecting rod mechanism. Under the drive of the lumbar joint hydraulic drive assembly, the lumbar joint pitching motion is realized. The pelvis (2) also includes a hip accumulator (2-4). The hip accumulator (2-4) is installed at the lower end of the pelvic skeleton (2-3). The pelvic skeleton (2-3) has two horizontally and symmetrically arranged hip joint axes at its left and right ends. Each hip joint axis has a leg connecting rod seat (2-9) on its upper part. The pelvic skeleton (2-3) has two thighs on its sides. Each thigh has a thigh support skeleton (3-3) with a hip joint sleeve on its upper part. The two hip joint sleeves are respectively fitted onto the two hip joint axes. The front of the two thigh support skeletons (3-3) has two hip joint hydraulic drive components. The piston rod ends of the two hip joint hydraulic drive components are respectively hinged to the two hip joint axes through two hip joint linkage mechanisms. The movement of the hip joint is realized under the drive of the two hip joint hydraulic drive components. The thigh also includes a thigh accumulator (3-10). The thigh accumulator (3-10) is installed inside the thigh support skeleton (3-3). Two lower legs are provided at the bottom of each thigh. Two lateral knee joint bushings are provided at the bottom of each thigh support frame (3-3). Two medial knee joint bushings (4-1) are provided at the top of each lower leg tibia (4-3). The two medial knee joint bushings (4-1) are hinged through the knee joint axis. Each tibia (4-3) is provided with a knee joint connecting shaft arranged parallel to the knee joint axis and located below the knee joint axis. Two knee joint hydraulic drive components are provided at the rear of each of the two thigh support frames (3-3). The piston rod ends of the two knee joint hydraulic drive components are hinged to the two knee joint connecting shafts through two knee joint connecting rod mechanisms. The movement of the knee joint is realized under the drive of the two knee joint hydraulic drive components. Two drive wheels are installed at the bottom of each of the two lower legs tibias (4-3). The oil tank and pump are connected to the lumbar joint hydraulic cylinder through one internal oil circuit of the torso skeleton. At the same time, they are connected to the two torso accumulators (1-7) at the torso (1) through two internal oil circuits of the torso skeleton (1-1) via the oil holes of the torso accumulators. The two torso accumulators (1-7) are connected to the hip accumulator (2-4) through rubber hoses via the oil holes of the hip accumulators. The rubber hoses from the hip accumulator (2-4) are connected to the internal oil circuit of the thigh skeleton through the rotation center of the hip joint, through the oil hole of the thigh, and then to the thigh accumulator (3-10) through the internal oil circuit of the thigh skeleton. The thigh accumulator (3-10) is connected to the knee joint hydraulic cylinder and the hip joint hydraulic cylinder through the internal oil circuit of the thigh skeleton.

2. The explosive jumping hydraulic wheeled bipedal robot according to claim 1, characterized in that: The lumbar joint hydraulic drive assembly includes a lumbar joint hydraulic cylinder, a lumbar joint guide rail (1-12), and a lumbar joint slider. The lumbar joint guide rail (1-12) is mounted on the torso frame (1-1), and the lumbar joint slider is slidably mounted on the lumbar joint guide rail (1-12). The piston rod end of the lumbar joint hydraulic cylinder is hinged to the lumbar joint slider through a connector. One end of the lumbar joint connecting rod is hinged to the lumbar joint slider through a connector, and the other end of the lumbar joint connecting rod is hinged to the lumbar connecting rod seat (2-1) through a connector. The hip joint hydraulic drive assembly includes a hip joint hydraulic cylinder, a hip joint guide rail, and a hip joint slider (231). The hip joint guide rail is mounted on the thigh support frame (3-3), and the hip joint slider (231) is slidably mounted on the hip joint guide rail. The piston rod (232) of the hip joint hydraulic cylinder is hinged to the hip joint slider (231) through a connector. The hip joint linkage mechanism includes a hip joint two-force bar and a hip joint four-force bar. One end of the hip joint two-force bar is hinged to the hip joint slider (231) through a connector, and the other end of the hip joint two-force bar is hinged to the leg linkage seat (2-9) through a connector. The knee joint hydraulic drive assembly includes a knee joint hydraulic cylinder, a knee joint linear guide, and a knee joint slider (341). The knee joint linear guide is mounted on the thigh support frame (3-3). The knee joint slider (341) is slidably mounted on the knee joint linear guide. The piston rod (342) of the knee joint hydraulic cylinder is hinged to the knee joint slider (341) through a connector. The knee joint linkage mechanism includes a knee joint two-force bar and a knee joint four-force bar. One end of the knee joint two-force bar is hinged to the knee joint slider (341) through a connector, and the other end of the knee joint two-force bar is hinged to the knee joint linkage connecting shaft through a connector.

3. A burst-jumping hydraulic wheeled bipedal robot according to claim 1 or 2, characterized in that: The torso (1) also includes a battery (1-2), a torso driver (1-3), an integrated circuit board (1-4), a control switch (1-5), a controller (1-6), an air switch (1-8), a voltage and current conditioning module (1-10), a heat sink (1-11), a hub board (1-13), a lumbar joint hydraulic pressure sensor (1-14), and a lumbar joint hydraulic servo valve (123). A controller (1-6) is mounted on the upper end of the torso frame (1-1), and a battery (1-2) is mounted on the back of the torso frame (1-1). There are two torso drivers (1-3). The actuators (1-3) are installed on both sides of the torso frame (1-1). A radiator (1-11) and an integrated circuit board (1-4) are installed below the two torso actuators (1-3). A control switch (1-5) and an air switch (1-8) are installed on both sides of the torso frame (1-1). There are two torso accumulators (1-7). A voltage and current conditioning module (1-10) and a hub board (1-13) are installed on the two torso accumulators (1-7). The lumbar joint hydraulic pressure sensor (1-14) and the lumbar joint hydraulic servo valve (123) are both installed on the lumbar joint hydraulic cylinder.

4. The explosive jumping hydraulic wheeled bipedal robot according to claim 3, characterized in that: The pelvis (2) also includes an inertial measurement unit (2-6), a hip joint hydraulic pressure sensor (2-7), a pressure gauge (2-8), and a hip joint hydraulic servo valve (233). There are two hip accumulators (2-4). The hip joint hydraulic pressure sensor (2-7) and the pressure gauge (2-8) are both installed on the hip accumulators (2-4). The inertial measurement unit (2-6) is installed in the center of the pelvic skeleton (2-3). The hip joint hydraulic servo valve (233) is located on the front side of the thigh support skeleton (3-3). The hip joint hydraulic servo valve (233) is installed on the hip joint hydraulic cylinder.

5. The explosive jumping hydraulic wheeled bipedal robot according to claim 4, characterized in that: The thigh also includes a thigh actuator (3-2), a hip joint bearing (3-5), an oil-sealing end cap (3-6), a knee joint hydraulic sensor (3-7), a knee joint bearing (3-8), and a knee joint hydraulic servo valve (343). The thigh support frame (3-3) has an internal hydraulic circuit, with an oil-sealing end cap (3-6) installed at the port of the hydraulic circuit. The thigh actuator (3-2) is installed on one side of the thigh support frame (3-3). The knee joint hydraulic servo valve (343) is located inside the thigh support frame (3-3). Both the knee joint hydraulic servo valve (343) and the knee joint hydraulic sensor (3-7) are mounted on the hip joint hydraulic cylinder. The upper part of the thigh support frame (3-3) has two hip joint bearings (3-5), which are respectively embedded in two hip joint bushings on the upper part of the thigh support frame (3-3). The upper part of the thigh support frame (3-3) is rotatably connected to two hip joint shafts at the left and right ends of the pelvic frame (2-3) through the two hip joint bearings (3-5). The upper part of the thigh support frame (3-3) has two knee joint bearings (3-8), which are respectively embedded in two outer knee joint bushings at the bottom of the thigh support frame (3-3). The bottom of the thigh support frame (3-3) is rotatably connected to the knee joint shaft through the two knee joint bearings (3-8).

6. The explosive jumping hydraulic wheeled bipedal robot according to claim 5, characterized in that: The thigh also includes an anterior thigh cover (3-1), a lateral thigh cover (3-4), and an inner thigh cover (3-9). The inner thigh cover (3-9), the lateral thigh cover (3-4), and the anterior thigh cover (3-1) are installed sequentially on both sides and in front of the thigh support frame (3-3).

7. The explosive jumping hydraulic wheeled bipedal robot according to claim 6, characterized in that: The lower leg also includes a knee joint protective shell (4-2) and a knee joint support. The tibia (4-3) is a hollow rod-shaped structure. A knee joint support is installed at the top of the tibia (4-3). The knee joint support has a U-shaped cross-section. Two coaxially arranged inner knee joint bushings (4-1) are respectively installed on the upper part of the two side wings of the knee joint support. The two inner knee joint bushings (4-1) are rotatably connected to the knee joint axis. A knee joint protective shell (4-2) is installed on the front side of the tibia (4-3).

8. The explosive jumping hydraulic wheeled bipedal robot according to claim 7, characterized in that: The drive wheel includes a drive wheel bearing (4-4), a drive wheel hub (4-5), a drive wheel tire (4-6), a bearing end cap (4-7), an ankle joint protective shell (4-11), a motor hub drive shaft (4-15), and an ankle joint drive assembly. The ankle joint protective shell (4-11) is a cylindrical shell. A vertically arranged tibial connecting shaft is provided at the top of the ankle joint protective shell (4-11). The top end of the tibial connecting shaft is inserted into the inner hole at the lower end of the tibia (4-3). The tibial connecting shaft is connected to the tibia (4-3) by multiple radial connecting screws. An ankle joint protective shell (4-11) has an ankle joint drive assembly installed inside. The ankle joint drive assembly has a motor hub drive shaft (4-15) at its center. The drive wheel hub (4-5) is rotatably connected to the head end of the motor hub drive shaft (4-15) through a drive wheel bearing (4-4). The drive wheel bearing (4-4) has a bearing end cover (4-7) on its side. The bearing end cover (4-7) is connected to the drive wheel hub (4-5) through multiple connecting screws. The drive wheel tire (4-6) is mounted on the drive wheel hub (4-5).

9. A burst-jumping hydraulic wheeled bipedal robot according to claim 8, characterized in that: The ankle joint drive assembly includes a motor rotor housing (4-8), planetary gears (4-9), a motor rotor bearing (4-10), an encoder end cover (4-12), a motor end cover (4-13), and an encoder (4-14). The motor hub drive shaft (4-15) is a stepped gear shaft, coaxially inserted inside the motor rotor housing (4-8). The motor hub drive shaft (4-15) is rotatably connected to the motor rotor housing (4-8) via the motor rotor bearing (4-10). Multiple planetary gears (4-9) are rotatably mounted in a circular array inside the motor rotor housing (4-8). Multiple planetary gears (4-9) mesh with the gears on the motor hub drive shaft (4-15). An ankle joint protective shell (4-11) is fitted inside the outer side of the motor rotor housing (4-8). A motor end cover (4-13) is provided on the outer side of the motor rotor housing (4-8). The motor end cover (4-13) is connected to the ankle joint protective shell (4-11) by multiple connecting screws. An encoder (4-14) is installed at the end of the motor hub drive shaft (4-15). An encoder end cover (4-12) is provided on the outer side of the encoder (4-14). The encoder end cover (4-12) is connected to the motor end cover (4-13) by multiple connecting screws.

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