Hydraulic power autonomous wheel-legged humanoid robot

Abstract

The invention discloses a hydraulic power autonomous wheel-legged humanoid robot, and relates to the technical field of humanoid robots. The problems that an existing humanoid robot is weak in maneuverability and poor in load bearing capacity, a hydraulic driving unit and a power unit are connected through a rubber hose, and the flexibility of joint movement and robot movement is affected are solved. A shoulder part is installed at the top end of a trunk, two electro-hydraulic hybrid drive operation arms are arranged on the two sides of the shoulder part respectively, a big arm connecting part is movably connected with the shoulder part, the big arm connecting part is movably connected with a big arm moving part, a small arm connecting part is movably connected with the big arm moving part, and the small arm connecting part is movably connected with a small arm moving part. The forearm movable part is movably connected with the hydraulic manipulator, the trunk is movably connected with the waist part, two wheel legs are arranged on the two sides of the waist part respectively, and the thighs are movably connected with the waist part and the shanks. The maneuverability, the load bearing capacity and the movement flexibility of the robot are improved.

Description

Technical Field

[0001] The invention relates to the technical field of humanoid robots, and in particular to a hydraulically powered autonomous wheel-legged humanoid robot. Background Art

[0002] The occurrence of various disasters such as the Fukushima nuclear accident in Japan has highlighted the necessity of applying robots in dangerous environments that humans cannot enter. Such disaster scenarios require robots to have the ability to move quickly, adapt to complex terrains, and manipulate nimbly. Humanoid robots have become one of the most internationally concerned robot research directions in recent years.

[0003] Humanoid robots are a type of mobile robots. According to the movement mode, they are mainly wheeled robots, tracked robots and legged robots. Wheeled robots have high moving speed and flexible steering, but they have high requirements for road environment; tracked robots have strong off-road capabilities, but the tracked moving mechanism is bulky and the operation efficiency is not high; legged robots are almost adaptable to various ground environments, and can jump to a certain height to avoid obstacles on the ground. They have high mobility. At the same time, most of the actual environments are designed for humans, which makes humanoid robots very convenient in application. However, their movement efficiency is low and their speed is slow. In order to combine the advantages of wheeled robots such as high efficiency, strong mobility and fast moving speed, and enable them to overcome certain environmental conditions and complete movement and operation on extreme roads, wheel-leg composite mobile robots were born. Not only can they move as fast as ordinary wheeled robots on flat terrain, but they can also adjust their posture according to the terrain. Wheel-leg robots have strong mobility and can move on almost all terrains under ideal conditions.

[0004] In terms of driving humanoid robots, motor drive or hydraulic drive is usually used. Motor drive has high precision and convenient speed regulation, but the thrust is small and the motor power is relatively insufficient; at the same time, the working state of the robot joints that need to start and stop repeatedly is not an ideal working state for the motor; in addition, the lack of load capacity is not conducive to the robot's field operation; the hydraulic drive system is complex and requires an oil source, but it has a large load-bearing capacity. Hydraulic drive has gained more and more attention in the field of robots due to its fast response, large load, high power-to-weight ratio, and strong anti-interference ability. Hydraulic drive is conducive to achieving the balance recovery of the robot under disturbance conditions such as impact and overload. The use of hydraulic drive can enable the robot to withstand a large load while being small in overall size.

[0005] Integrating hydraulic power units to achieve powered autonomy is one of the most complex issues in the development of hydraulic robots. On the one hand, conventional hydraulic power is provided by high-weight, large-volume ground hydraulic pump stations. It is very challenging to miniaturize such a large system and integrate it with a small mobile robot. On the other hand, it is difficult to find commercial parts for hydraulic systems for mobile humanoid robots. However, in order to achieve powered autonomy and complete tasks efficiently, mobile robots must be equipped with miniature hydraulic power units (HPUs).

[0006] At present, hydraulically driven robots generally use rubber hoses to connect the hydraulic drive unit and the power unit in order to transmit the hydraulic power from the power unit to the drive unit. Although the rubber hose connection is simple and effective, the rubber hose passing through the moving joints will cause uncontrollable interference to the robot's movement. In order to minimize the impact of the hose on the joint movement and avoid the wear of the joint on the hose, a certain amount of bending margin is left when installing the hose, which will make the hydraulic hose long and complicated, affecting the flexibility of the robot's movement.

[0007] In summary, existing humanoid robots have the problems of weak mobility, poor load bearing capacity, and the hydraulic drive unit and the power unit are connected by rubber hoses, which affects the joint movement and the flexibility of the robot movement. Summary of the invention

[0008] The purpose of the present invention is to solve the problems of existing humanoid robots, such as weak maneuverability, poor load-bearing capacity, and the use of rubber hoses to connect the hydraulic drive unit and the power unit, which affects the flexibility of joint movement and robot movement, and to provide a hydraulically powered autonomous wheel-legged humanoid robot.

[0009] The technical solution of the present invention is:

[0010] A hydraulically powered autonomous wheel-legged humanoid robot comprises a shoulder, a trunk, a waist, two electro-hydraulic hybrid drive operating arms and two wheel legs. The shoulder, the trunk and the waist are arranged in sequence from top to bottom. The shoulder comprises a shoulder connection part and a shoulder movable part. The shoulder connection part is horizontally mounted on the top of the trunk. The shoulder movable part is rotatably mounted on the shoulder connection part. A shoulder pitch direction freedom driving mechanism is mounted on the trunk. The shoulder pitch direction freedom driving mechanism is connected to the shoulder movable part to drive the pitch direction freedom of the shoulder. Two symmetrically arranged electro-hydraulic hybrid drive operating arms are respectively arranged on the left and right sides of the shoulder. Each electro-hydraulic hybrid drive operating arm includes an arm, a forearm and a hydraulic operator, the arm includes an arm connecting part and an arm movable part, the head end of the arm connecting part is movably connected to the shoulder movable part, the shoulder movable part is equipped with a shoulder roll direction freedom driving mechanism, the shoulder roll direction freedom driving mechanism is connected to the arm connecting part to drive the roll direction freedom of the shoulder, the end of the arm connecting part is movably connected to the head end of the arm movable part, the arm connecting part is equipped with a shoulder yaw direction freedom driving mechanism, the shoulder yaw direction freedom driving mechanism is connected to the arm movable part to drive the yaw direction freedom of the shoulder The forearm includes a forearm connecting part and a forearm movable part, the top of the forearm connecting part is movably connected to the end of the large arm movable part, an elbow joint driving mechanism is installed on the large arm movable part, the elbow joint driving mechanism is connected to the forearm connecting part to drive the elbow joint, the end of the forearm connecting part is movably connected to the head end of the forearm movable part, an elbow yaw direction freedom driving mechanism is installed on the forearm connecting part, the elbow yaw direction freedom driving mechanism is connected to the forearm movable part to drive the elbow joint yaw direction freedom, the end of the forearm movable part is movably connected to the head end of the hydraulic operating hand, and the forearm movable part is equipped with a wrist joint driving mechanism. The present invention relates to a driving mechanism, wherein the wrist joint driving mechanism is connected to the hydraulic operating hand to drive the wrist joint, the bottom end of the torso is movably connected to the top end of the waist, a waist joint driving mechanism is installed on the torso, the waist joint driving mechanism is connected to the waist to drive the waist joint, two symmetrically arranged wheel legs are respectively provided on the left and right sides of the waist, each wheel leg includes a thigh and a calf, the head end of the thigh is movably connected to the side end of the waist, a hip joint driving mechanism is installed on the thigh, the hip joint driving mechanism is connected to the waist to drive the hip joint, the end of the thigh is movably connected to the head end of the calf, a knee joint driving mechanism is installed on the thigh, and the knee joint driving mechanism is connected to the calf to drive the knee joint.

[0011] Further, the shoulder connection part of the shoulder includes a shoulder bracket, two shoulder roll deep groove ball bearings, two shoulder roll bearing seats, two shoulder oil-flowing joints and two shoulder deep groove ball bearings, the shoulder bracket is horizontally mounted on the top of the trunk, the two shoulder roll bearing seats are coaxially symmetrically mounted on the left and right ends of the upper surface of the shoulder bracket, two shoulder roll deep groove ball bearings are respectively mounted in the inner holes of the two shoulder roll bearing seats, two shoulder oil-flowing joints are coaxially symmetrically arranged between the two shoulder roll bearing seats, and two shoulder deep groove ball bearings are respectively mounted in the inner holes of the two shoulder oil-flowing joints;

[0012] The shoulder movable part of the shoulder includes two shoulder movable structures, which are horizontally symmetrically arranged on the left and right sides above the shoulder bracket along the length direction of the shoulder. The outer end of each shoulder movable structure is rotatably mounted on the corresponding shoulder roll bearing seat, and the inner end of each shoulder movable structure is rotatably mounted on the corresponding shoulder oil running joint. Each shoulder movable structure includes a shoulder roll base frame, a shoulder roll guide seat, a shoulder roll linear guide, a shoulder roll two-force rod and a shoulder roll two-force rod connecting pin. A shoulder roll base frame sleeve is provided at one end of the shoulder roll base frame, and the shoulder roll base frame sleeve is inserted into the inner hole of the shoulder roll bearing seat. The shoulder roll base frame sleeve is rotatably connected to the shoulder roll bearing seat through a shoulder roll deep groove ball bearing. The shoulder roll The other end of the ll base frame is provided with two base frame right-angle oil pipes which are integrally formed with the shoulder roll base frame sleeve and symmetrically arranged, the ends of the two base frame right-angle oil pipes are rotatably connected to the upper part of the boom, a horizontally arranged shoulder roll guide rail seat is provided between the shoulder roll bearing seat and the shoulder oil running joint, one end of the shoulder roll guide rail seat is fixedly connected to the shoulder roll base frame sleeve of the shoulder roll base frame, a shoulder roll linear guide rail is provided above the shoulder roll guide rail seat, the slide rail of the shoulder roll linear guide rail is fixedly connected to the shoulder roll guide rail seat, the slider of the shoulder roll linear guide rail is hinged to one end of the shoulder roll two-force rod, the other end of the shoulder roll two-force rod passes through the shoulder roll base frame sleeve of the shoulder roll base frame and is rotatably connected to the upper part of the boom through the shoulder roll two-force rod connecting pin;

[0013] The shoulder roll direction freedom driving mechanism is arranged horizontally above the shoulder bracket, and the shoulder roll direction freedom driving mechanism includes a shoulder roll hydraulic cylinder assembly, two shoulder roll hydraulic piston rods and two shoulder roll servo valves. The two ends of the shoulder roll hydraulic cylinder assembly are rotatably connected with the two shoulder oil-running joints through two shoulder deep groove ball bearings respectively. Two cylinder cavities are arranged inside the shoulder roll hydraulic cylinder assembly. The piston ends of the two shoulder roll hydraulic piston rods are slidably and sealingly inserted in the two cylinder cavities of the shoulder roll hydraulic cylinder assembly respectively. The other ends of the two shoulder roll hydraulic piston rods are hinged to the sliders of the two shoulder roll linear guides through two slider connectors respectively. Two shoulder roll servo valves are installed on the shoulder roll hydraulic cylinder assembly, which drive the roll direction freedom of the left and right shoulders by controlling the extension and retraction of the two shoulder roll hydraulic piston rods in the two cylinder cavities.

[0014] Further, the trunk includes a trunk frame, two waist supports, two groups of trunk-waist connecting ear plates, two trunk oil joints, two trunk accumulators and two trunk-waist connecting pins. Two waist supports symmetrically arranged on the left and right are provided below the trunk frame, the bottom ends of the two waist supports are connected to the top of the waist, a group of trunk-waist connecting ear plates are provided on both sides of each waist support, the waist supports and the trunk-waist connecting ear plates are rotatably connected through the trunk-waist connecting pins, a trunk oil joint is provided on the inner side of each waist support, the lower part of the trunk oil joint is connected to the inner end of the trunk-waist connecting pin, and two trunk accumulators symmetrically arranged on the left and right are provided in the middle part of the trunk frame, and the two trunk accumulators are connected to the upper parts of the two trunk oil joints through two oil circuits respectively;

[0015] The shoulder pitch direction freedom driving mechanism includes two shoulder pitch motors and two shoulder pitch gear sets. The two shoulder pitch motors are symmetrically installed on the upper left and right side plates of the trunk skeleton, respectively. The two shoulder pitch motor shafts are connected to the corresponding two shoulder roll bases through the two shoulder pitch gear sets, respectively. The power is transmitted to the shoulders through the shoulder pitch gear sets to drive the pitch direction freedom of the shoulders.

[0016] Further, the waist includes a waist joint linear guide, a waist joint slider connector, a waist joint two-force rod, a waist joint connecting pin, a waist connecting seat and a waist frame, the waist joint linear guide and the waist joint two-force rod are vertically arranged in sequence from top to bottom in the middle of the rear side of the trunk frame along the height direction, the slide rail of the waist joint linear guide is installed on the rear surface of the trunk frame, the slider of the waist joint linear guide is hinged to the upper end of the waist joint two-force rod through the waist joint slider connector, the waist connecting seat is installed on the top of the waist frame, and the lower end of the waist joint two-force rod is hinged to the waist connecting seat through the waist joint connecting pin;

[0017] The waist joint driving mechanism includes a torso hydraulic cylinder and a torso hydraulic piston rod. The torso hydraulic cylinder is vertically arranged directly above the waist joint linear guide rail. The torso hydraulic cylinder is installed on the rear surface of the torso frame. The piston end of the torso hydraulic piston rod can be slidably and sealedly inserted in the inner cavity of the torso hydraulic cylinder barrel. The other end of the torso hydraulic piston rod is connected to the slider of the waist joint linear guide rail. The waist joint freedom is driven by controlling the extension and contraction of the torso hydraulic piston rod in the inner cavity of the torso hydraulic cylinder barrel.

[0018] Furthermore, the boom connection part of the boom includes a boom base frame, a boom connection frame, two boom-shoulder connection bearings and two boom oil-flowing joints. A boom base frame sleeve is provided at one end of the boom base frame. The boom connection frame is a hollow shaft structure. The boom base frame sleeve is sleeved on the head end of the boom connection frame. The other end of the boom base frame is provided with two boom base frame ear plates which are integrally formed with the boom base frame sleeve and arranged vertically symmetrically. The two boom base frame ear plates are respectively rotatably connected to the two base frame right-angle oil pipes of the shoulder roll base frame through two boom-shoulder connection bearings. Two shoulder roll two-force rod connecting ear plates are provided between the two boom base frame ear plates, which are integrally formed with the top end of the boom base frame sleeve and arranged vertically symmetrically. The two shoulder roll two-force rod connecting ear plates are hinged to the end of the shoulder roll two-force rod through the shoulder roll two-force rod connecting pin shaft. Two coaxially arranged boom oil transfer adapters are provided on both sides of the boom connection frame. One end of the two boom oil transfer joints is respectively connected to the two boom oil transfer adapters, and the other end of the two boom oil transfer joints is respectively connected to the two base frame right-angle oil pipes of the shoulder roll base frame.

[0019] The boom movable part of the boom includes a boom movable shaft, a boom movable bearing, a boom movable frame and two boom movable side plates. The head end of the boom movable frame is provided with a coaxially arranged boom movable shaft, which is inserted into the inner hole at the end of the boom connecting frame. The boom movable shaft is rotatably connected with the boom connecting frame through the boom movable bearing. The end of the boom movable shaft is provided with two boom movable side plates arranged vertically side by side, and the ends of the two boom movable side plates are provided with two coaxially arranged boom-forearm connecting shaft holes;

[0020] The shoulder yaw direction freedom driving mechanism includes a shoulder yaw motor and a shoulder yaw gear set. The shoulder yaw motor is installed on the side wall of the big arm connection frame. The shoulder yaw motor shaft is connected to the big arm movable shaft through the shoulder yaw gear set. The power is transmitted to the movable part of the big arm through the shoulder yaw gear set to drive the yaw direction freedom of the shoulder.

[0021] The elbow joint driving mechanism includes a boom hydraulic cylinder, a boom hydraulic piston rod, an elbow joint driving pin shaft, an elbow joint driving hydraulic servo valve and an elbow joint driving hydraulic sensor. The boom hydraulic cylinder is vertically arranged between two boom movable side plates. The front end of the boom hydraulic cylinder barrel is connected to the end of the boom movable frame. The boom hydraulic cylinder is equipped with an elbow joint driving hydraulic servo valve and an elbow joint driving hydraulic sensor which are connected to the cylinder barrel cavity. The piston end of the boom hydraulic piston rod can be slidably and tightly inserted in the boom hydraulic cylinder barrel cavity. The other end of the boom hydraulic piston rod is rotatably connected to the forearm through the elbow joint driving pin shaft. The elbow joint freedom is driven by controlling the extension and retraction of the boom hydraulic piston rod in the boom hydraulic cylinder barrel cavity.

[0022] Furthermore, the forearm connecting part of the forearm includes a forearm frame, a forearm connecting frame, two forearm-shoulder connecting bearings, two boom-forearm connecting pins and two forearm oil-discharging joints, a forearm frame sleeve is provided at one end of the forearm frame, the forearm connecting frame is a hollow shaft structure, the forearm frame sleeve is sleeved on the head end of the forearm connecting frame, and the other end of the forearm frame is provided with two groups of forearm frame ear plates which are integrally formed with the forearm frame sleeve and vertically symmetrically arranged, the two groups of forearm frame ear plates are rotatably connected to the two boom-forearm connecting shaft holes at the ends of the two boom movable side plates respectively through two boom-forearm connecting pins and two forearm-shoulder connecting bearings, two elbow joint drive connecting ear plates which are integrally formed with the forearm frame sleeve and vertically symmetrically arranged are provided at the middle part above the two groups of forearm frame ear plates, and the two elbow joint drive connecting ear plates are rotatably connected to the end of the boom hydraulic piston rod through the elbow joint drive pins;

[0023] The movable part of the forearm includes a movable shaft of the forearm, a movable bearing of the forearm, a movable frame of the forearm and two movable side plates of the forearm. The first end of the movable frame of the forearm is provided with a coaxially arranged movable shaft of the forearm. The movable shaft of the forearm is inserted into the inner hole at the end of the forearm connecting frame. The movable shaft of the forearm is rotatably connected with the forearm connecting frame through the movable bearing of the forearm. The end of the movable shaft of the forearm is provided with two movable side plates of the forearm arranged vertically side by side. The ends of the two movable side plates of the forearm are provided with two coaxially arranged forearm-hand connecting shaft holes.

[0024] The elbow yaw direction freedom driving mechanism includes an elbow yaw motor and an elbow yaw gear set. The elbow yaw motor is installed on the side wall of the forearm connection frame. The elbow yaw motor shaft is connected to the forearm movable shaft through the elbow yaw gear set. The power is transmitted to the movable part of the forearm through the elbow yaw gear set to drive the elbow yaw direction freedom.

[0025] The wrist joint driving mechanism includes a forearm hydraulic cylinder, a forearm hydraulic piston rod, a wrist joint driving pin shaft, a wrist joint driving hydraulic servo valve and a wrist joint driving hydraulic sensor. The forearm hydraulic cylinder is vertically arranged between two forearm movable side plates. The front end of the forearm hydraulic cylinder barrel is connected to the end of the forearm movable skeleton. The forearm hydraulic cylinder is equipped with a wrist joint driving hydraulic servo valve and a wrist joint driving hydraulic sensor which are connected to the cylinder barrel inner cavity. The piston end of the forearm hydraulic piston rod is slidably and sealingly inserted in the inner cavity of the forearm hydraulic cylinder barrel. The other end of the forearm hydraulic piston rod is rotatably connected to the hydraulic operating hand through the wrist joint driving pin shaft. The wrist joint freedom is driven by controlling the extension and retraction of the forearm hydraulic piston rod in the inner cavity of the forearm hydraulic cylinder barrel.

[0026] Furthermore, the hydraulic manipulator includes a gripper frame, a six-dimensional force sensor, a gripper connecting frame, two gripper frame side plates, two oil-flowing joints, a single-finger assembly, a double-finger assembly, a single-finger driving mechanism and a double-finger driving mechanism. A gripper frame sleeve is provided at one end of the gripper frame, and the gripper frame sleeve is sleeved on the head end of the six-dimensional force sensor. Two groups of gripper frame ear plates are integrally formed with the gripper frame sleeve and vertically symmetrically arranged at the other end of the gripper frame. The two groups of gripper frame ear plates are rotatably connected through two forearm-grip connecting pins, and two wrist joint driving plates are integrally formed with the top end of the arm frame sleeve and vertically symmetrically arranged. The arm is provided with a movable connecting ear plate, two wrist joint driven connecting ear plates are rotatably connected to the end of the hydraulic piston rod of the forearm through the wrist joint driving pin shaft, the end of the six-dimensional force sensor is coaxially connected to the head end of the gripper connecting skeleton, two gripper skeleton side plates are vertically arranged side by side at the end of the gripper connecting skeleton, and a single-finger driving mechanism and a double-finger driving mechanism are respectively arranged on the upper and lower sides between the two gripper skeleton side plates, the single-finger driving mechanism and the double-finger driving mechanism are both rotatably connected to the two gripper skeleton side plates, the power output ends of the single-finger driving mechanism and the double-finger driving mechanism are respectively rotatably connected to the single-finger assembly and the double-finger assembly, and the single-finger driving mechanism and the double-finger driving mechanism are connected through two oil-discharging joints;

[0027] The single-finger driving mechanism includes a single-finger hydraulic cylinder, a single-finger hydraulic piston rod, a single-finger hydraulic servo valve and two single-finger hydraulic cylinder connecting bearings. Two single-finger hydraulic cylinder oil-flow rotating shafts which are integrally formed with the cylinder and arranged coaxially and symmetrically are respectively provided on the left and right sides of the single-finger hydraulic cylinder barrel. The two single-finger hydraulic cylinder oil-flow rotating shafts are rotatably connected to the two hand claw skeleton side plates through the two single-finger hydraulic cylinder connecting bearings respectively. A single-finger hydraulic servo valve which is connected to the inner cavity of the cylinder barrel is installed on the single-finger hydraulic cylinder. The piston end of the single-finger hydraulic piston rod is slidably and sealingly inserted in the inner cavity of the single-finger hydraulic cylinder barrel. The other end of the single-finger hydraulic piston rod is rotatably connected to the single-finger assembly.

[0028] The double-finger driving mechanism includes a double-finger hydraulic cylinder, a double-finger hydraulic piston rod, a double-finger hydraulic servo valve and two double-finger hydraulic cylinder connecting bearings. Two double-finger hydraulic cylinder oil-flow rotating shafts which are integrally formed with the cylinder and arranged coaxially and symmetrically are respectively provided on the left and right sides of the double-finger hydraulic cylinder barrel. The two double-finger hydraulic cylinder oil-flow rotating shafts are rotatably connected to the two hand claw skeleton side plates through two double-finger hydraulic cylinder connecting bearings respectively. A double-finger hydraulic servo valve which is connected to the inner cavity of the cylinder barrel is installed on the double-finger hydraulic cylinder. The piston end of the double-finger hydraulic piston rod is slidably and sealingly inserted in the inner cavity of the double-finger hydraulic cylinder barrel. The other end of the double-finger hydraulic piston rod is rotatably connected to the double-finger assembly.

[0029] The end of the oil-discharging shaft of the single-finger hydraulic cylinder is connected to the end of the oil-discharging shaft of the double-finger hydraulic cylinder through an oil-discharging joint;

[0030] The single-finger assembly includes a single-finger fingertip, two "V"-shaped single-finger finger roots, two single-finger connecting rods and multiple single-finger connecting pins. The two "V"-shaped single-finger finger roots are vertically symmetrically arranged between the ends of the two gripper frame side plates. The middle parts of the two "V"-shaped single-finger finger roots are rotationally connected to the ends of the single-finger hydraulic piston rods through the single-finger connecting pins. One ends of the two "V"-shaped single-finger finger roots are rotationally connected to the two gripper frame side plates through the two single-finger connecting pins respectively. The single-finger fingertip is vertically arranged between the two "V"-shaped single-finger finger roots. The middle part of the single-finger fingertip is rotationally connected to the other ends of the two "V"-shaped single-finger finger roots through the single-finger connecting pins. The two single-finger connecting rods are vertically symmetrically arranged on both sides of the single-finger fingertip. One end of the two single-finger connecting rods is rotationally connected to the head end of the single-finger fingertip through the single-finger connecting pins, and the other ends of the two single-finger connecting rods are rotationally connected to the two gripper frame side plates through the single-finger connecting pins.

[0031] The double-finger assembly includes two double-finger fingertips, two "V"-shaped double-finger root tips, two double-finger side connecting rods and multiple double-finger connecting pins. The two "V"-shaped double-finger root tips are vertically symmetrically arranged between the ends of the two gripper frame side plates. The middle parts of the two "V"-shaped double-finger root tips are rotationally connected to the ends of the double-finger hydraulic piston rods through the double-finger connecting pins. One ends of the two "V"-shaped double-finger root tips are rotationally connected to the two gripper frame side plates through the double-finger connecting pins. The outer sides of the two "V"-shaped double-finger root tips are respectively provided with two double-finger fingertips arranged vertically symmetrically. The middle parts of the two double-finger fingertips are rotationally connected to the other ends of the two "V"-shaped double-finger root tips through two double-finger connecting pins respectively. The outer sides of the two double-finger fingertips are respectively provided with two double-finger side connecting rods arranged vertically symmetrically. One ends of the two double-finger side connecting rods are rotationally connected to the two gripper frame side plates through the double-finger connecting pins respectively, and the other ends of the two double-finger side connecting rods are rotationally connected to the head ends of the two double-finger fingertips through two double-finger connecting pins respectively.

[0032] Furthermore, the thigh includes a thigh frame, two thigh frame side plates, two hip-thigh connection shafts and two hip joint pitch connection parts, one end of the two hip-thigh connection shafts are respectively coaxially installed horizontally at the lower left and right ends of the waist frame, and the sides of the two hip-thigh connection shafts are respectively provided with two hip joint pitch connection parts, the thigh frame is a hollow shaft structure, the two thigh frame side plates are vertically arranged side by side on both sides of the thigh frame, the upper parts of the two thigh frame side plates are mounted on the thigh frame, the hip-thigh connection shaft is rotatably inserted in the inner hole of the thigh frame, and the ends of the two thigh frame side plates are provided with two coaxially arranged thigh-calf connection shaft holes;

[0033] The hip joint driving mechanism comprises a hip joint hydraulic cylinder, a hip joint hydraulic piston rod, a hip joint hydraulic servo valve and a hip joint two-force rod. The hip joint hydraulic cylinder is vertically arranged at the rear side between the two thigh frame side plates. A hip joint hydraulic servo valve connected to the cylinder barrel inner cavity is installed on the hip joint hydraulic cylinder. The piston end seal of the hip joint hydraulic piston rod is slidably installed in the cylinder barrel cavity of the hip joint hydraulic cylinder. The other end of the hip joint hydraulic piston rod is rotatably connected to one end of the hip joint two-force rod, and the other end of the hip joint two-force rod is rotatably connected to the hip joint pitch connecting piece.

[0034] The knee joint driving mechanism includes a knee joint hydraulic cylinder, a knee joint hydraulic piston rod, a knee joint hydraulic servo valve and a knee joint two-force rod. The knee joint hydraulic cylinder is vertically installed on the front side between the two thigh frame side plates. A knee joint hydraulic servo valve connected to the cylinder barrel inner cavity is installed on the knee joint hydraulic cylinder. The piston end seal of the knee joint hydraulic piston rod is slidably installed in the cylinder barrel inner cavity of the knee joint hydraulic cylinder. The other end of the knee joint hydraulic piston rod is rotatably connected to one end of the knee joint two-force rod, and the other end of the knee joint two-force rod is rotatably connected to the calf.

[0035] Compared with the prior art, the present invention has the following effects:

[0036] 1. The present invention optimizes the low inertia and mass of the robot's legs, so that the robot consumes less material during the manufacturing process, reduces costs, and makes the robot more maneuverable.

[0037] 2. Each joint of the present invention adopts a hose-free oil circuit, which does not require the connection of a large number of hydraulic pipelines and electrical lines. It has a simple structure and is easy to install and disassemble. The pipeline wear and failure are greatly reduced, and the safety and reliability of the whole machine are improved. The hydraulic oil flows out from the hydraulic oil circuit inside the joint to supply oil to each hydraulic component, which can provide power and effectively transfer heat to dissipate the heat of the robot.

[0038] 3. The present invention realizes hydraulic power autonomy by integrating a micro hydraulic power unit (HPU), and develops an electro-hydraulic hybrid driven humanoid arm with a heavy-duty gripper, so that the robot can perform certain operation tasks. The present invention is an autonomous hydraulic driven humanoid wheel-legged robot that can operate simple tools. This provides assistance for the application of humanoid wheel-legged robots in disaster relief and rescue operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a front view of a hydraulically powered autonomous wheel-legged humanoid robot of the present invention; Figure 2 It is a side view of a hydraulically powered autonomous wheel-legged humanoid robot of the present invention; Figure 3 It is an axonometric diagram of the shoulder and torso of the wheel-legged humanoid robot of the present invention after being assembled; Figure 4 It is a rear view of the wheel-legged humanoid robot of the present invention after the shoulder and torso are assembled and the shell is removed; Figure 5 It is an axonometric diagram of the upper arm of the wheel-legged humanoid robot of the present invention; Figure 6 It is a schematic diagram of the structure of the wheel-legged humanoid robot of the present invention with the upper arm without the shell; Figure 7 It is an axonometric view of the forearm of the wheel-legged humanoid robot of the present invention; Figure 8 It is a schematic diagram of the structure of the wheel-legged humanoid robot of the present invention with the forearm removed from the shell; Fig. 9 It is a front view of the hydraulic manipulator in the wheel-legged humanoid robot of the present invention; Fig.10 It is a top view of the hydraulic manipulator in the wheel-legged humanoid robot of the present invention;

[0040] Fig.11 It is a side view of the hydraulic manipulator in the wheel-legged humanoid robot of the present invention; Fig.12 It is an axonometric diagram of the hydraulic manipulator in the wheel-legged humanoid robot of the present invention; Fig.13 It is a front view of the hydraulic manipulator in the wheel-legged humanoid robot of the present invention; Fig.14 It is a rear view of the hydraulic manipulator in the wheel-legged humanoid robot of the present invention; Fig.15 It is an axonometric diagram of the thigh of the wheel-legged humanoid robot of the present invention; Fig.16 This is a rear view of the wheel-legged humanoid robot of the present invention with the thigh removed from the shell; Fig.17 It is an axonometric diagram of the lower leg of the wheel-legged humanoid robot of the present invention; Fig.18 It is an exploded view of the lower leg of the wheel-legged humanoid robot of the present invention; Fig.19 It is a schematic diagram of the structure of a micro hydraulic power unit (HPU) in a wheel-legged humanoid robot of the present invention; Fig. 20 It is a schematic diagram of a micro hydraulic power unit (HPU) in the wheel-legged humanoid robot of the present invention.

[0041] In the figure: 1, shoulder; 2, upper arm; 3, lower arm; 4, trunk; 5, waist; 6, thigh; 7, calf; 8, hydraulic operator; 101, shoulder bracket; 102, shoulder roll deep groove ball bearing; 103, shoulder roll bearing seat; 104, shoulder oil joint; 105, shoulder deep groove ball bearing; 106, shoulder roll base frame; 107, shoulder roll guide seat; 108, shoulder roll linear guide; 109, shoulder roll two-force rod; 100, shoulder roll two-force rod connecting pin; 1-1, shoulder roll hydraulic cylinder assembly; 1-2, shoulder roll hydraulic piston rod; 1-3, shoulder roll servo valve; 201, upper arm base frame; 202, upper arm connecting frame; 204, upper arm oil joint; 2 05, movable shaft of big arm; 206, movable frame of big arm; 207, movable side plate of big arm; 2-1, shoulder yaw motor; 2-2, shoulder yaw gear set; 2-3, hydraulic cylinder of big arm; 2-4, hydraulic piston rod of big arm; 2-5, driving pin of elbow joint; 2-6, hydraulic servo valve driven by elbow joint; 2-7, hydraulic sensor driven by elbow joint; 301, frame of small arm; 302, connecting frame of small arm; 304, connecting pin of big arm-small arm; 305, movable shaft of small arm; 306, movable bearing of small arm; 307, movable frame of small arm; 308, movable side plate of small arm; 3-1, elbow yaw motor; 3-2, elbow yaw gear set; 3-3, hydraulic cylinder of small arm; 3-4, hydraulic piston rod of small arm; 3-6, driving pin of wrist joint Dynamic hydraulic servo valve; 3-7, wrist joint drive hydraulic sensor; 401, trunk frame; 402, waist bracket; 403, trunk-waist connection ear plate; 404, trunk oil joint; 405, trunk accumulator; 406, trunk-waist connection pin; 4-1, shoulder pitch motor; 4-2, shoulder pitch gear set; 501, waist joint linear guide; 502, waist joint slider connector; 503, waist joint connection pin; 504, waist connection seat; 505, waist frame; 5-1, trunk hydraulic cylinder; 5-2, trunk hydraulic piston rod; 601, thigh frame; 602, thigh frame side plate; 603, hip-thigh connection shaft; 604, hip joint pitch connector; 6-1, hip joint hydraulic cylinder; 6 -2, hip joint hydraulic piston rod; 6-3, hip joint hydraulic servo valve; 6-4, hip joint two-force rod; 6-5, knee joint hydraulic cylinder; 6-6, knee joint hydraulic piston rod; 6-7, knee joint hydraulic servo valve; 701, calf base frame; 702, tibia; 703, wheel; 704, wheel drive mechanism; 705, wheel transmission mechanism; 706, auxiliary wheel; 707, auxiliary wheel bracket; 7-1, herringbone gear small pulley; 7-2, herringbone gear timing belt; 7-3, herringbone gear large pulley; 7-4, DC servo motor; 7-5, helical gear set; 801, gripper base frame; 802, six-dimensional force sensor; 803, gripper connecting frame; 804, gripper frame side plate; 805, oil-flowing joint; 806, single finger assembly;8061, single finger tip; 8062, "V" shaped single finger root; 8063, single finger connecting rod; 807, double finger assembly; 8071, double finger tip; 8072, "V" shaped double finger root; 8073, double finger side connecting rod; 808, single finger drive mechanism; 8081, single finger hydraulic cylinder; 8082, single finger hydraulic piston rod; 8083, single finger hydraulic servo valve; 8084, single finger hydraulic cylinder connecting bearing; 809, Double-finger drive mechanism; 8091, double-finger hydraulic cylinder; 8092, double-finger hydraulic piston rod; 8093, double-finger hydraulic servo valve; 8094, double-finger hydraulic cylinder connecting bearing; 901, outer rotor motor; 902, gear pump; 903, visual cover; 904, filter; 905, cooler; 906, check valve; 907, high-pressure accumulator; 908, safety valve; 909, pressure sensor; 910, high-pressure valve block. ; DETAILED DESCRIPTION

[0042] Specific implementation method 1: Combination Figures 1 to 20The embodiment of the present invention is described. A hydraulically powered autonomous wheel-legged humanoid robot of the embodiment comprises a shoulder 1, a trunk 4, a waist 5, two electro-hydraulic hybrid drive operating arms and two wheel legs. The shoulder 1, the trunk 4 and the waist 5 are arranged in sequence from top to bottom. The shoulder 1 comprises a shoulder connection part and a shoulder movable part. The shoulder connection part is horizontally mounted on the top of the trunk 4. The shoulder movable part is rotatably mounted on the shoulder connection part. A shoulder pitch direction freedom driving mechanism is mounted on the trunk 4. The shoulder pitch direction freedom driving mechanism is connected to the shoulder movable part to drive the pitch direction freedom of the shoulder 1. The left and right sides of the shoulder 1 are symmetrically arranged. Two electro-hydraulic hybrid drive operating arms, each electro-hydraulic hybrid drive operating arm includes a big arm 2, a small arm 3 and a hydraulic operator 8, the big arm 2 includes a big arm connecting part and a big arm movable part, the head end of the big arm connecting part is movably connected to the shoulder movable part, the shoulder movable part is equipped with a shoulder roll direction freedom driving mechanism, the shoulder roll direction freedom driving mechanism is connected to the big arm connecting part to drive the roll direction freedom of the shoulder 1, the end of the big arm connecting part is movably connected to the head end of the big arm movable part, the big arm connecting part is equipped with a shoulder yaw direction freedom driving mechanism, the shoulder yaw direction freedom driving mechanism is connected to the big arm movable part to drive the shoulder 1 The forearm 3 includes a forearm connecting part and a forearm movable part. The top of the forearm connecting part is movably connected to the end of the upper arm movable part. An elbow joint driving mechanism is installed on the upper arm movable part. The elbow joint driving mechanism is connected to the forearm connecting part to drive the elbow joint. The end of the forearm connecting part is movably connected to the head end of the forearm movable part. The forearm connecting part is installed with an elbow yaw direction freedom driving mechanism. The elbow yaw direction freedom driving mechanism is connected to the forearm movable part to drive the elbow joint yaw direction freedom. The end of the forearm movable part is movably connected to the head end of the hydraulic operating hand 8. The forearm movable part is installed with a wrist joint driving mechanism. The wrist joint driving mechanism is connected to the hydraulic operating hand 8 to drive the wrist joint, the bottom end of the torso 4 is movably connected to the top end of the waist 5, and a waist joint driving mechanism is installed on the torso 4, and the waist joint driving mechanism is connected to the waist 5 to drive the waist joint. Two symmetrically arranged wheel legs are respectively provided on the left and right sides of the waist 5, and each wheel leg includes a thigh 6 and a calf 7. The head end of the thigh 6 is movably connected to the side end of the waist 5, and a hip joint driving mechanism is installed on the thigh 6, and the hip joint driving mechanism is connected to the waist 5 to drive the hip joint. The end of the thigh 6 is movably connected to the head end of the calf 7, and a knee joint driving mechanism is installed on the thigh 6, and the knee joint driving mechanism is connected to the calf 7 to drive the knee joint.

[0043] The invention discloses a hydraulically powered autonomous wheel-legged humanoid robot which can be applied in disaster rescue environments. The structure of the legs is optimized and an electro-hydraulic hybrid drive operating arm is designed, so that the robot has better maneuverability and can operate tools. At the same time, a micro hydraulic power unit (HPU) composed of a gear pump driven by a high-power density servo motor is designed so that the robot can get rid of the constraints of rubber tubes.

[0044] Specific implementation method 2: Combination Figures 1 to 4 To explain this embodiment, the shoulder connection part of the shoulder 1 of this embodiment includes a shoulder bracket 101, two shoulder roll deep groove ball bearings 102, two shoulder roll bearing seats 103, two shoulder oil running joints 104 and two shoulder deep groove ball bearings 105. The shoulder bracket 101 is horizontally mounted on the top of the trunk 4, and the two shoulder roll bearing seats 103 are coaxially symmetrically mounted on the left and right ends of the upper surface of the shoulder bracket 101. Two shoulder roll deep groove ball bearings 102 are respectively mounted in the inner holes of the two shoulder roll bearing seats 103. Two shoulder oil running joints 104 arranged coaxially symmetrically are arranged between the two shoulder roll bearing seats 103. Two shoulder deep groove ball bearings 105 are respectively mounted in the inner holes of the two shoulder oil running joints 104.

[0045] The shoulder movable part of the shoulder 1 includes two shoulder movable structures, which are horizontally symmetrically arranged on the left and right sides above the shoulder bracket 101 along the length direction of the shoulder 1. The outer end of each shoulder movable structure is rotatably mounted on the corresponding shoulder roll bearing seat 103, and the inner end of each shoulder movable structure is rotatably mounted on the corresponding shoulder oil joint 104. Each shoulder movable structure includes a shoulder roll base frame 106, a shoulder roll guide seat 107, a shoulder roll linear guide 108, a shoulder roll two-force rod 109 and a shoulder roll two-force rod connecting pin 100. A shoulder roll base frame sleeve is provided at one end of the shoulder roll base frame 106, and the shoulder roll base frame sleeve is inserted into the inner hole of the shoulder roll bearing seat 103. The shoulder roll base frame sleeve is rotatably connected to the shoulder roll bearing seat 103 through a shoulder roll deep groove ball bearing 102. The shoulder roll base frame 1 06 The other end is provided with two base frame right-angle oil pipes which are integrally formed with the shoulder roll base frame sleeve and symmetrically arranged, the ends of the two base frame right-angle oil pipes are rotatably connected to the upper part of the big arm 2, a horizontally arranged shoulder roll guide rail seat 107 is provided between the shoulder roll bearing seat 103 and the shoulder oil running joint 104, one end of the shoulder roll guide rail seat 107 is fixedly connected to the shoulder roll base frame sleeve of the shoulder roll base frame 106, a shoulder roll linear guide rail 108 is provided above the shoulder roll guide rail seat 107, the slide rail of the shoulder roll linear guide rail 108 is fixedly connected to the shoulder roll guide rail seat 107, the slider of the shoulder roll linear guide rail 108 is hinged to one end of the shoulder roll two-force rod 109, the other end of the shoulder roll two-force rod 109 passes through the shoulder roll base frame sleeve of the shoulder roll base frame 106 and is rotatably connected to the upper part of the big arm 2 through the shoulder roll two-force rod connecting pin 100;

[0046] The shoulder roll direction freedom driving mechanism is arranged horizontally above the shoulder bracket 101, and the shoulder roll direction freedom driving mechanism includes a shoulder roll hydraulic cylinder assembly 1-1, two shoulder roll hydraulic piston rods 1-2 and two shoulder roll servo valves 1-3. The two ends of the shoulder roll hydraulic cylinder assembly 1-1 are rotatably connected to the two shoulder oil-discharging joints 104 through two shoulder deep groove ball bearings 105, respectively. Two cylinder cavities are arranged inside the shoulder roll hydraulic cylinder assembly 1-1, and the piston ends of the two shoulder roll hydraulic piston rods 1-2 are respectively slidably and sealedly inserted in the two cylinder cavities of the shoulder roll hydraulic cylinder assembly 1-1. The other ends of the two shoulder roll hydraulic piston rods 1-2 are respectively hinged to the sliders of the two shoulder roll linear guides 108 through two slider connectors. Two shoulder roll servo valves 1-3 are installed on the shoulder roll hydraulic cylinder assembly 1-1, and the roll direction freedom of the left and right shoulders 1 is driven by controlling the extension and contraction of the two shoulder roll hydraulic piston rods 1-2 in the two cylinder cavities. Other components and connection relationships are the same as those in the first specific implementation method.

[0047] Specific implementation method three: Combination Figures 1 to 4 Describing this embodiment, the trunk 4 of this embodiment includes a trunk skeleton 401, two waist supports 402, two groups of trunk-waist connecting ear plates 403, two trunk oil-flowing joints 404, two trunk accumulators 405 and two trunk-waist connecting pins 406. Two waist supports 402 arranged symmetrically on the left and right are provided below the trunk skeleton 401. The bottom ends of the two waist supports 402 are connected to the top of the waist 5. A group of trunk-waist connecting ear plates 403 are provided on both sides of each waist support 402. The waist supports 402 are rotatably connected to the trunk-waist connecting ear plates 403 through the trunk-waist connecting pins. A trunk oil-flowing joint 404 is provided on the inner side of each waist support 402. The lower part of the trunk oil-flowing joint 404 is connected to the inner end of the trunk-waist connecting pin. Two trunk accumulators 405 arranged symmetrically on the left and right are provided in the middle part of the trunk skeleton 401. The two trunk accumulators 405 are connected to the upper parts of the two trunk oil-flowing joints 404 through two oil circuits respectively.

[0048] The shoulder pitch direction freedom driving mechanism includes two shoulder pitch motors 4-1 and two shoulder pitch gear sets 4-2. The two shoulder pitch motors 4-1 are symmetrically mounted on the upper left and right side plates of the trunk skeleton 401. The two shoulder pitch motors 4-1 shafts are connected to the corresponding two shoulder roll base frames 106 through the two shoulder pitch gear sets 4-2. The power is transmitted to the shoulder 1 through the shoulder pitch gear sets 4-2 to drive the pitch direction freedom of the shoulder 1. Other components and connection relationships are the same as those of the first or second specific implementation.

[0049] The trunk 4 is equipped with a trunk accumulator, a switch group, a temperature transmitter, a current sensor, an industrial router, etc. The trunk 4 is equipped with a trunk oil joint at the bottom to transport hydraulic oil to the legs. The trunk 4 is equipped with a CPU (central processing unit) and a battery.

[0050] Specific implementation method four: Combination Figures 1 to 4 Describing this embodiment, the waist 5 of this embodiment includes a waist joint linear guide 501, a waist joint slider connector 502, a waist joint two-force rod, a waist joint connecting pin 503, a waist connecting seat 504 and a waist frame 505. The waist joint linear guide 501 and the waist joint two-force rod 4-5 are arranged vertically in the middle of the rear side of the trunk frame 401 from top to bottom in the height direction. The slide rail of the waist joint linear guide 501 is installed on the rear surface of the trunk frame 401. The slider of the waist joint linear guide 501 is hinged to the upper end of the waist joint two-force rod through the waist joint slider connector 502. The waist connecting seat 504 is installed on the top of the waist frame 505. The lower end of the waist joint two-force rod is hinged to the waist connecting seat 504 through the waist joint connecting pin 503.

[0051] The waist joint driving mechanism includes a trunk hydraulic cylinder 5-1 and a trunk hydraulic piston rod 5-2, wherein the trunk hydraulic cylinder 5-1 is vertically arranged directly above the waist joint linear guide rail 501, and the trunk hydraulic cylinder 5-1 is installed on the rear surface of the trunk frame 401, and the piston end of the trunk hydraulic piston rod 5-2 is slidably and sealedly inserted into the inner cavity of the cylinder barrel of the trunk hydraulic cylinder 5-1, and the other end of the trunk hydraulic piston rod 5-2 is connected to the slider of the waist joint linear guide rail 501, and the waist joint freedom degree is driven by controlling the extension and contraction of the trunk hydraulic piston rod 5-2 in the inner cavity of the cylinder barrel of the trunk hydraulic cylinder 5-1. The other components and connection relationships are the same as those of the first, second or third specific embodiments.

[0052] The waist 5 is equipped with a micro hydraulic power unit (HPU), an energy storage cylinder and an inertial measurement unit (IMU).

[0053] Specific implementation method five: Combination Figure 5 and Figure 6 The present embodiment is described. The boom connection part of the boom 2 of the present embodiment includes a boom base frame 201, a boom connection frame 202, two boom-shoulder connection bearings and two boom oil-moving joints 204. A boom base frame sleeve is provided at one end of the boom base frame 201. The boom connection frame 202 is a hollow shaft structure. The boom base frame sleeve is sleeved on the head end of the boom connection frame 202. The other end of the boom base frame 201 is provided with two boom base frame ear plates which are integrally formed with the boom base frame sleeve and arranged vertically symmetrically. The two boom base frame ear plates are respectively connected to the two bases of the shoulder roll base frame 106 through two boom-shoulder connection bearings. The frame is rotatably connected with a right-angle oil pipe, and two shoulder roll two-force rod connecting ear plates integrally formed with the top of the arm frame sleeve and arranged vertically symmetrically are provided between the two arm frame ear plates, and the two shoulder roll two-force rod connecting ear plates are hinged to the end of the shoulder roll two-force rod 109 through the shoulder roll two-force rod connecting pin 100, and two coaxially arranged arm oil transfer adapters are provided on both sides of the arm connection skeleton 202, and one end of the two arm oil transfer joints 204 is respectively connected to the two arm oil transfer adapters, and the other end of the two arm oil transfer joints 204 is respectively connected to the two frame right-angle oil pipes of the shoulder roll frame 106;

[0054] The boom movable part of the boom 2 includes a boom movable shaft 205, a boom movable bearing, a boom movable frame 206 and two boom movable side plates 207. The head end of the boom movable frame 206 is provided with a coaxially arranged boom movable shaft 205, which is inserted into the inner hole at the end of the boom connecting frame 202. The boom movable shaft 205 is rotatably connected to the boom connecting frame 202 through the boom movable bearing. The end of the boom movable shaft 205 is provided with two boom movable side plates 207 arranged vertically side by side, and the ends of the two boom movable side plates 207 are provided with two coaxially arranged boom-forearm connecting shaft holes;

[0055] The shoulder yaw direction freedom driving mechanism includes a shoulder yaw motor 2-1 and a shoulder yaw gear set 2-2. The shoulder yaw motor 2-1 is installed on the side wall of the upper arm connection frame 202. The rotating shaft of the shoulder yaw motor 2-1 is connected to the upper arm movable shaft 205 through the shoulder yaw gear set 2-2. The power is transmitted to the upper arm movable part through the shoulder yaw gear set 2-2 to drive the shoulder's yaw direction freedom.

[0056] The elbow joint driving mechanism includes a boom hydraulic cylinder 2-3, a boom hydraulic piston rod 2-4, an elbow joint driving pin 2-5, an elbow joint driving hydraulic servo valve 2-6 and an elbow joint driving hydraulic sensor 2-7. The boom hydraulic cylinder 2-3 is vertically arranged between two boom movable side plates 207. The head end of the boom hydraulic cylinder 2-3 cylinder barrel is connected to the end of the boom movable frame 206. The boom hydraulic cylinder 2-3 is equipped with an elbow joint driving hydraulic servo valve 2-6 and an elbow joint driving hydraulic sensor 2-7 that are connected to the cylinder barrel inner cavity. The piston end of the boom hydraulic piston rod 2-4 can be slidably inserted in the cylinder barrel cavity of the boom hydraulic cylinder 2-3. The other end of the boom hydraulic piston rod 2-4 is rotatably connected to the forearm 3 through the elbow joint driving pin 2-5. The elbow joint freedom is driven by controlling the extension and contraction of the boom hydraulic piston rod 2-4 in the cylinder barrel inner cavity of the boom hydraulic cylinder 2-3. Other components and connection relationships are the same as those of the first, second, third or fourth specific embodiments.

[0057] Specific implementation method six: Combination Figure 7 and Figure 8 The forearm connection part of the forearm 3 of the present embodiment includes a forearm base frame 301, a forearm connection frame 302, two forearm-shoulder connection bearings, two upper arm-forearm connection pins 304 and two forearm oil-discharging joints. A forearm base frame sleeve is provided at one end of the forearm base frame 301, the forearm connection frame 302 is a hollow shaft structure, the forearm base frame sleeve is sleeved on the head end of the forearm connection frame 302, and a forearm base frame sleeve is provided at the other end of the forearm base frame 301, which is integrally formed with the forearm base frame sleeve and arranged vertically symmetrically. Two groups of arm base frame ear plates, the two groups of arm base frame ear plates are rotatably connected to the two arm-arm connecting shaft holes at the ends of the two arm movable side plates 207 through two arm-arm connecting pins 304 and two arm-shoulder connecting bearings, and two elbow joint drive connecting ear plates are integrally formed with the arm base frame sleeve and arranged vertically symmetrically at the middle part above the two groups of arm base frame ear plates, and the two elbow joint drive connecting ear plates are rotatably connected to the end of the arm hydraulic piston rod 2-4 through the elbow joint drive pin 2-5;

[0058] The movable part of the forearm 3 includes a movable shaft 305, a movable bearing 306, a movable frame 307 and two movable side plates 308. The movable shaft 305 is coaxially arranged at the head end of the movable frame 307. The movable shaft 305 is inserted into the inner hole at the end of the forearm connecting frame 302. The movable shaft 305 is rotatably connected to the forearm connecting frame 302 through the movable bearing. Two movable side plates 308 are arranged vertically side by side at the end of the movable shaft 305. Two coaxially arranged forearm-hand connecting shaft holes are provided at the ends of the two movable side plates 308.

[0059] The elbow yaw direction freedom driving mechanism includes an elbow yaw motor 3-1 and an elbow yaw gear set 3-2. The elbow yaw motor 3-1 is installed on the side wall of the forearm connection frame 302. The rotating shaft of the elbow yaw motor 3-1 is connected to the forearm movable shaft 305 through the elbow yaw gear set 3-2. The power is transmitted to the movable part of the forearm through the elbow yaw gear set 3-2 to drive the elbow yaw direction freedom;

[0060] The wrist joint driving mechanism includes a forearm hydraulic cylinder 3-3, a forearm hydraulic piston rod 3-4, a wrist joint driving pin, a wrist joint driving hydraulic servo valve 3-6 and a wrist joint driving hydraulic sensor 3-7. The forearm hydraulic cylinder 3-3 is vertically arranged between two forearm movable side plates 308. The head end of the forearm hydraulic cylinder 3-3 cylinder barrel is connected to the end of the forearm movable skeleton 307. The forearm hydraulic cylinder 3-3 is installed with a wrist joint driving hydraulic servo valve 3-6 and a wrist joint driving hydraulic sensor 3-7 that are connected to the inner cavity of the cylinder barrel. The piston end of the forearm hydraulic piston rod 3-4 is slidably and sealedly inserted in the inner cavity of the forearm hydraulic cylinder 3-3 cylinder barrel. The other end of the forearm hydraulic piston rod 3-4 is rotatably connected to the hydraulic operating hand 8 through the wrist joint driving pin. The wrist joint freedom degree is driven by controlling the extension and contraction of the forearm hydraulic piston rod 3-4 in the inner cavity of the forearm hydraulic cylinder 3-3 cylinder barrel. Other components and connection relationships are the same as those of the specific embodiments one, two, three, four or five.

[0061] Specific implementation method seven: Combination Figures 9 to 14To illustrate the present embodiment, the hydraulic operating hand 8 of the present embodiment includes a gripper frame 801, a six-dimensional force sensor 802, a gripper connecting skeleton 803, two gripper skeleton side plates 804, two oil-flowing joints 805, a single-finger assembly 806, a double-finger assembly 807, a single-finger driving mechanism 808 and a double-finger driving mechanism 809. A gripper frame sleeve is provided at one end of the gripper frame 801, and the gripper frame sleeve is sleeved on the head end of the six-dimensional force sensor 802. Two groups of gripper frame ear plates which are integrally formed with the gripper frame sleeve and vertically symmetrically arranged are provided at the other end of the gripper frame 801. The two groups of gripper frame ear plates are rotatably connected by two forearm-grip connecting pins respectively. Two wrist joint driving connecting ears which are integrally formed with the top end of the upper arm frame sleeve and vertically symmetrically arranged are provided between the two groups of gripper frame ear plates. The two wrist joint drive connecting ear plates are rotatably connected to the end of the forearm hydraulic piston rod 3-4 through the wrist joint drive pin shaft, the end of the six-dimensional force sensor 802 is coaxially connected to the head end of the gripper connecting skeleton 803, and two gripper skeleton side plates 804 are vertically arranged side by side at the end of the gripper connecting skeleton 803. A single-finger driving mechanism 808 and a double-finger driving mechanism 809 are respectively arranged on the upper and lower sides between the two gripper skeleton side plates 804. The single-finger driving mechanism 808 and the double-finger driving mechanism 809 are both rotatably connected to the two gripper skeleton side plates 804, and the power output ends of the single-finger driving mechanism 808 and the double-finger driving mechanism 809 are rotatably connected to the single-finger component 806 and the double-finger component 807 respectively. The single-finger driving mechanism 808 and the double-finger driving mechanism 809 are connected through two oil-moving joints 805;

[0062] The single-finger driving mechanism 808 includes a single-finger hydraulic cylinder 8081, a single-finger hydraulic piston rod 8082, a single-finger hydraulic servo valve 8083 and two single-finger hydraulic cylinder connecting bearings 8084. Two single-finger hydraulic cylinder oil-flow rotating shafts which are integrally formed with the cylinder and arranged coaxially and symmetrically are respectively arranged on the left and right sides of the cylinder barrel of the single-finger hydraulic cylinder 8081. The two single-finger hydraulic cylinder oil-flow rotating shafts are rotatably connected to the two hand claw skeleton side plates 804 through the two single-finger hydraulic cylinder connecting bearings 8084 respectively. A single-finger hydraulic servo valve 8083 which is connected to the inner cavity of the cylinder barrel is installed on the single-finger hydraulic cylinder 8081. The piston end of the single-finger hydraulic piston rod 8082 is slidably and sealingly inserted in the inner cavity of the cylinder barrel of the single-finger hydraulic cylinder 8081. The other end of the single-finger hydraulic piston rod 8082 is rotatably connected to the single-finger assembly 806.

[0063] The double-finger driving mechanism 809 includes a double-finger hydraulic cylinder 8091, a double-finger hydraulic piston rod 8092, a double-finger hydraulic servo valve 8093 and two double-finger hydraulic cylinder connecting bearings 8094. Two double-finger hydraulic cylinder oil-flow rotating shafts which are integrally formed with the cylinder and arranged coaxially and symmetrically are respectively arranged on the left and right sides of the cylinder barrel of the double-finger hydraulic cylinder 8091. The two double-finger hydraulic cylinder oil-flow rotating shafts are rotatably connected to the two hand claw skeleton side plates 804 through two double-finger hydraulic cylinder connecting bearings 8094 respectively. A double-finger hydraulic servo valve 8093 which is connected to the inner cavity of the cylinder barrel is installed on the double-finger hydraulic cylinder 8091. The piston end of the double-finger hydraulic piston rod 8092 is slidably and sealingly inserted in the inner cavity of the cylinder barrel of the double-finger hydraulic cylinder 8091. The other end of the double-finger hydraulic piston rod 8092 is rotatably connected to the double-finger assembly 807.

[0064] The end of the oil-discharging shaft of the single-finger hydraulic cylinder is connected to the end of the oil-discharging shaft of the double-finger hydraulic cylinder through the oil-discharging joint 805;

[0065] The single-finger assembly 806 includes a single-finger fingertip 8061, two "V"-shaped single-finger roots 8062, two single-finger connecting rods 8063 and a plurality of single-finger connecting pins. The two "V"-shaped single-finger roots 8062 are vertically symmetrically arranged between the ends of the two hand claw frame side plates 804. The middle parts of the two "V"-shaped single-finger roots 8062 are rotatably connected to the ends of the single-finger hydraulic piston rod 8082 through the single-finger connecting pins. One end of the two "V"-shaped single-finger roots 8062 is respectively connected to the two hand claw frame side plates 804 through the two single-finger connecting pins. Connection, the single-finger fingertip 8061 is vertically arranged between the two "V"-shaped single-finger roots 8062, the middle part of the single-finger fingertip 8061 is rotatably connected to the other ends of the two "V"-shaped single-finger roots 8062 through a single-finger connecting pin, and two single-finger connecting rods 8063 are vertically symmetrically arranged on both sides of the single-finger fingertip 8061, one end of the two single-finger connecting rods 8063 is rotatably connected to the head end of the single-finger fingertip 8061 through the single-finger connecting pin, and the other end of the two single-finger connecting rods 8063 is rotatably connected to the two gripper frame side plates 804 through the single-finger connecting pin;

[0066] The double-finger assembly 807 includes two double-finger fingertips 8071, two "V"-shaped double-finger finger roots 8072, two double-finger side connecting rods 8073 and a plurality of double-finger connecting pins. The two "V"-shaped double-finger finger roots 8072 are vertically symmetrically arranged between the ends of the two gripper frame side plates 804. The middle parts of the two "V"-shaped double-finger finger roots 8072 are rotatably connected to the ends of the double-finger hydraulic piston rods 8092 through the double-finger connecting pins. One end of the two "V"-shaped double-finger finger roots 8072 is rotatably connected to the two gripper frame side plates 804 through the double-finger connecting pins. Two two-finger fingertips 8071 arranged vertically and symmetrically are respectively arranged on the outside of 072, and the middle parts of the two two-finger fingertips 8071 are respectively connected to the other ends of the two "V"-shaped two-finger root 8072 through two two-finger connecting pins, and two two-finger side connecting rods 8073 arranged vertically and symmetrically are respectively arranged on the outside of the two two-finger fingertips 8071, and one end of the two two-finger side connecting rods 8073 is respectively connected to the two claw skeleton side plates 804 through two-finger connecting pins, and the other ends of the two two-finger side connecting rods 8073 are respectively connected to the head ends of the two two-finger fingertips 8071 through two two-finger connecting pins. With such an arrangement, the hydraulic operating hand 8 is composed of three claws, one of which has two claws moving synchronously on one side and one claw on the other side for auxiliary clamping. The switch of the two claws on one side is controlled by the single-finger hydraulic servo valve 8083. The switch of one claw on the other side is controlled by the double-finger hydraulic servo valve 8093. The other components and connection relationships are the same as those of the specific embodiments one, two, three, four, five or six.

[0067] In order to enable the robot to perform complex manipulation tasks, the robot arm is designed as follows: Each electro-hydraulic hybrid drive manipulator contains 6 degrees of freedom, including 3 degrees of freedom in the shoulder joint, 1 degree of freedom in the elbow joint, and 2 degrees of freedom in the wrist joint. Considering the requirements of load and range of motion, a DC torque motor is used in shoulder 1 and a reducer with a reduction ratio of 85.5 is configured to achieve large load and large range of motion. Hydraulic drive units (HDUs) are installed in the roll direction of the shoulder, elbow and wrist yaw directions for heavy-load operations. Since the two degrees of freedom in the shoulder yaw direction and wrist yaw direction require smaller driving torque, in order to expand the operating space, a DC torque motor (ILM50X14) equipped with an RV reducer (PSR70FHA-39) is used to drive these two joints. The shoulder yaw direction and elbow have the same driving parameters as the wrist yaw direction and wrist pitch direction. In addition, a six-axis force sensor is installed between the end of the arm and the gripper to sense the force or torque information at the end of the arm during operation. In order to make it possible for robots to perform tasks in disaster rescue, the gripper at the end of the arm must have a large load capacity for operating manual tools to complete rescue missions. In order to obtain a large load capacity, a hydraulic drive method is adopted in the design of the robot gripper. The gripper is designed as a three-finger structure, which can easily and effectively grasp the tool and perform the gripping task. The piston of the linear hydraulic cylinder is connected to the four-bar mechanism to drive the opening and closing of the claw. The hydraulic drive unit (HDU) consists of a micro servo hydraulic, a servo valve and a sensor for detecting the position and angle of the claw. The movement angle of the claw's fingers is -90° to 65°, and it is driven by a hydraulic cylinder with a stroke of 30mm. The hydraulic gripper designed by the present invention can clamp objects weighing more than 20kg.

[0068] Specific implementation method eight: Combination Figure 1 , Figure 2 , Fig.15 and Fig.16 To illustrate this embodiment, the thigh 6 of this embodiment includes a thigh skeleton 601, two thigh skeleton side plates 602, two hip-thigh connection shafts 603 and two hip joint pitch connectors 604, one end of the two hip-thigh connection shafts 603 are respectively coaxially installed horizontally at the lower part of the left and right ends of the waist skeleton 505, and the sides of the two hip-thigh connection shafts 603 are respectively provided with two hip joint pitch connectors 604, the thigh skeleton 601 is a hollow shaft structure, the two thigh skeleton side plates 602 are vertically arranged side by side on both sides of the thigh skeleton 601, the upper parts of the two thigh skeleton side plates 602 are sleeved on the thigh skeleton 601, the hip-thigh connection shaft 603 is rotatably inserted in the inner hole of the thigh skeleton 601, and the ends of the two thigh skeleton side plates 602 are provided with two coaxially arranged thigh-calf connection shaft holes;

[0069] The hip joint driving mechanism includes a hip joint hydraulic cylinder 6-1, a hip joint hydraulic piston rod 6-2, a hip joint hydraulic servo valve 6-3 and a hip joint two-force rod 6-4. The hip joint hydraulic cylinder 6-1 is vertically arranged at the rear side between the two thigh frame side plates 602. The hip joint hydraulic servo valve 6-3 connected to the cylinder barrel inner cavity is installed on the hip joint hydraulic cylinder 6-1. The piston end seal of the hip joint hydraulic piston rod 6-2 is slidably installed in the cylinder barrel cavity of the hip joint hydraulic cylinder 6-1. The other end of the hip joint hydraulic piston rod 6-2 is rotatably connected to one end of the hip joint two-force rod 6-4. The other end of the hip joint two-force rod 6-4 is rotatably connected to the hip joint pitch connecting piece 604.

[0070] The knee joint driving mechanism includes a knee joint hydraulic cylinder 6-5, a knee joint hydraulic piston rod 6-6, a knee joint hydraulic servo valve 6-7 and a knee joint two-force rod. The knee joint hydraulic cylinder 6-5 is vertically installed on the front side between the two thigh skeleton side plates 602. The knee joint hydraulic servo valve 6-7 connected to the cylinder barrel cavity is installed on the knee joint hydraulic cylinder 6-5. The piston end of the knee joint hydraulic piston rod 6-6 is sealed and slidably installed in the cylinder barrel cavity of the knee joint hydraulic cylinder 6-5. The other end of the knee joint hydraulic piston rod 6-6 is rotatably connected to one end of the knee joint two-force rod, and the other end of the knee joint two-force rod is rotatably connected to the calf 7. In this way, the thigh 6 has a 3D printed component that integrates a hip joint hydraulic cylinder 6-1 and a knee joint hydraulic cylinder 6-5, which are used to drive the freedom of the hip joint and the knee joint respectively. The hip joint hydraulic piston rod 6-2 on the outside of the thigh 6 is connected to the waist 5 to drive the hip joint; the hip joint hydraulic piston rod 6-2 that controls the knee joint is connected to the corresponding slider and loaded with a hip joint hydraulic sensor to control the movement of the knee joint. The knee joint hydraulic piston rod 6-6 on the inner side of the thigh 6 is connected to the calf 7 for driving the knee joint; the knee joint hydraulic piston rod 6-6 for controlling the hip joint is connected to the corresponding slider and loaded with a knee joint hydraulic sensor for controlling the movement of the knee joint. The hip joint hydraulic servo valve 6-3 for controlling the hip joint and the knee joint hydraulic servo valve 6-7 for controlling the knee joint are installed on one side. The other components and connection relationships are the same as those of the specific embodiments one, two, three, four, five, six or seven.

[0071] Among them, the thigh 6 contains two hydraulic drive units (HDU) for the knee joint and hip joint, and a dual-channel hydraulic servo drive for supporting the upper body and providing driving torque for leg movement. Structurally, the hydraulic cylinders that drive the hip joint and the knee joint and the complex hydraulic oil pipelines are integrated into the hydraulic cylinder assembly at the thigh. The hydraulic cylinder assembly is a 3D printed component that integrates a hydraulic cylinder, a piston assembly, a servo valve, various sensors, etc. The hydraulic hose-free connector with a rotary seal at the hip also uses 3D printing technology. This design greatly improves the integration and reduces weight. This design method that combines additive manufacturing and subtractive manufacturing also reduces manufacturing costs. At the same time, an air-cooled radiator is designed next to the thigh hydraulic drive unit (HDU).

[0072] Specific implementation method nine: Combination Fig.17 and Fig.18Describing this embodiment, the calf 7 of this embodiment includes a calf base frame 701, a tibia 702, a wheel 703, a wheel driving mechanism 704, a wheel transmission mechanism 705, an auxiliary wheel 706 and an auxiliary wheel bracket 707. The side of the calf base frame 701 is provided with two groups of calf-thigh connecting ear plates arranged vertically symmetrically. The two groups of calf-thigh connecting ear plates are rotatably connected to the two thigh-calf connecting shaft holes at the ends of the two thigh skeleton side plates 602 through two calf-thigh connecting pins. There is a connecting pin between the two groups of calf-thigh connecting ear plates. The calf base frame 701 is integrally formed with two knee joint drive connecting ear plates arranged vertically symmetrically, and the two knee joint drive connecting ear plates are rotatably connected to the other end of the knee joint two-force rod through the knee joint drive pin; the calf base frame 701 is a hollow shaft structure, and the bottom of the calf base frame 701 is connected to the top of the vertically arranged tibia 702, and a wheel drive mechanism 704 is installed in the inner hole of the calf base frame 701, and a wheel 703 is rotatably installed at the end of the tibia 702, and the wheel drive mechanism 704 is connected to the rotating shaft of the wheel 703 through a wheel transmission mechanism 705 The power is transmitted to the wheel 703 through the wheel transmission mechanism 705 to realize rotation. An auxiliary wheel 706 is provided on the front side of the calf base frame 701. The auxiliary wheel 706 is rotatably mounted on the auxiliary wheel bracket 707. The auxiliary wheel bracket 707 is mounted on the calf base frame 701; the wheel transmission mechanism 705 includes a herringbone gear small pulley 7-1, a herringbone gear synchronous belt 7-2 and a herringbone gear large pulley 7-3. The herringbone gear small pulley 7-1 is rotatably mounted on the calf base frame 701. The herringbone gear small pulley 7-1 is connected to the wheel driving mechanism 704. The rotating shaft of the large herringbone tooth pulley 7-3 is rotatably mounted at the end of the tibia 702, the large herringbone tooth pulley 7-3 is connected to the small herringbone tooth pulley 7-1 through the herringbone tooth synchronous belt 7-2, the end of the large herringbone tooth pulley 7-3 is installed with a wheel hub, and the wheel hub is installed with a wheel tire; the wheel driving mechanism 704 includes a DC servo motor 7-4 and a bevel gear set 7-5, the DC servo motor 7-4 is inserted into the inner hole of the calf base frame 701, and the rotating shaft of the DC servo motor 7-4 is connected to the rotating shaft of the small herringbone tooth pulley 7-1 through the bevel gear set 7-5. In this way, the motor driving the wheel is designed to be close to the knee joint. The motor transmits power to the wheel 703 through the two-stage reduction transmission of the bevel gear set 7-5 and the synchronous belt mechanism to drive the wheel. The motor adopts a DC brushless servo motor, and the reduction ratio of the DC servo motor 7-4 and the bevel gear set 7-5 is 2.5. An auxiliary wheel 706 is installed at the knee of the calf 7. The auxiliary wheel 706 is a non-driving wheel, which enables the robot to move forward in a kneeling position. When the robot kneels on the ground, it can move in the form of a mobile platform. This design reduces the inertia moment of the calf 7. Since the impact force from the ground directly acts on the wheel 703, the synchronous belt mechanism can protect the motor from impact and improve the environmental adaptability of the robot. Other components and connection relationships are the same as those of the specific embodiments one, two, three, four, five, six, seven or eight.

[0073] Embodiment X: In combination with Fig.19 and Fig. 20 describe this embodiment. The micro hydraulic power unit of this embodiment includes an electric pump power device, a cooler 905, and a pressure regulator and filter module. The electric pump power device includes an outer rotor motor 901, a gear pump 902, and a visual cover plate 903. The outer rotor motor 901 is connected to the rotating shaft of the gear pump 902. The cooler 905 is a "U"-shaped box. The visual cover plate 903 is installed at the rear side of the middle section of the cooler 905. The cooler 905 is horizontally arranged. The gear pump 902 is inserted between the two side sections of the cooler 905. The pressure regulator and filter module includes a filter 904, a check valve 906, a high-pressure accumulator 907, a low-pressure accumulator, a safety valve 908, a pressure sensor 909, and a high-pressure valve block 910. The filter 904 is arranged inside the cooler 905. The oil outlet end of the filter 904 passes through the cooler 905 and the side wall of the gear pump 902 in sequence and is communicated with the inner cavity of the gear pump 902. One end of the check valve 906 is communicated with the inner cavity of the gear pump 902. The other end of the check valve 906 is connected to one end of the high-pressure valve block 910. The other end of the high-pressure valve block 910 is connected to the hydraulic drive unit. The high-pressure accumulator 907 is installed on the high-pressure valve block 910. The bottom of the high-pressure valve block 910 is connected to the high-pressure oil pipeline. One end of the safety valve 908 is connected to the high-pressure valve block 910. The other end of the safety valve 908 is connected to the cooler 905. The bottom of the cooler 905 is connected to the low-pressure oil pipeline. The low-pressure oil pipeline is connected to the hip pelvis. A low-pressure accumulator is arranged inside the cooler 905. The pressure sensor 909 is installed on the cooler 905. Other compositions and connection relationships are the same as those in Embodiments One, Two, Three, Four, Five, Six, Seven, Eight, or Nine.

[0074] The integrated micro hydraulic power unit (HPU) further includes a hydraulic power unit servo controller module, a system sensing module, and an energy management module. The system sensing module senses information such as temperature, pressure, motor speed and current, battery voltage and current, and is connected to the outer rotor motor 901 for outputting control signals. The safety valve 908 is used to set the overflow pressure. The gear pump 902 is driven by the outer rotor motor 901. The gear pump 902 is connected to the high-pressure accumulator 907 and the filter 904 to provide the hydraulic power required by the system. The energy management module is used to supply power to the outer rotor motor 901 and the hydraulic power unit servo controller module.

[0075] In order to realize hydraulic power autonomy, the hydraulic power unit (HPU) is miniaturized and integrated, and the following design is adopted: the gear pump 902 outputs high-pressure oil, which is delivered to the hydraulic drive unit (HDU) through a one-way valve 906. At the same time, a high-pressure accumulator 907 is installed on the high-pressure oil pipeline to eliminate pressure fluctuations. After passing through the filter 904 and the cooler 905, the return oil from the hydraulic drive unit (HDU) is directly connected to the suction port of the gear pump 902. The low-pressure accumulator on the low-pressure oil pipeline acts as an oil tank to compensate for the hydraulic oil volume difference caused by the single-acting hydraulic cylinder. There is a safety valve 908 between the high-pressure oil pipe and the low-pressure oil pipe to set the overflow pressure. The gear pump 902 is driven by an outer rotor motor 901, and the high-pressure oil from the gear pump 902 passes through the high-pressure accumulator 907 and the filter 904 to provide the hydraulic power required by the system. Information on temperature, pressure, motor speed and current, battery voltage and current is transmitted to the micro hydraulic power unit (HPU) servo controller module, which outputs control signals to the outer rotor motor 901.

[0076] In terms of the hydraulic system, a hose-free design method is used to solve the problem of hydraulic power transmission. This makes the robot as a whole more maneuverable and flexible. The rubber hose between the servo valve and the hydraulic cylinder is avoided by the integrated design of the hydraulic cylinder, servo valve and supporting frame. The hydraulic hose-free joint with a rotary seal can solve the problem of the oil pipe passing through the rotary joint. The entire robot hydraulic system contains 19 hose-free joints, including a high-pressure and a low-pressure oil circuit, each of which is sealed with a four-way rotating Glyd ring. The oil delivery part and the bearing part of the joint are designed separately to avoid leakage between the oil seal groove and the bearing due to different axes. This design makes the mechanical structure embedded in all hydraulic pipelines, which is more compact; at the same time, there is no complex and hard rubber hose, the robot is more beautiful and safer; in addition, it is conducive to the robot to establish a precise control model without exposing the hose.

[0077] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hydraulically powered autonomous wheel-legged humanoid robot, characterized in that: The invention comprises a shoulder (1), a trunk (4), a waist (5), two electro-hydraulic hybrid drive operating arms and two wheel legs. The shoulder (1), the trunk (4) and the waist (5) are arranged in sequence from top to bottom. The shoulder (1) comprises a shoulder connection part and a shoulder movable part. The shoulder connection part is horizontally mounted on the top of the trunk (4). The shoulder movable part is rotatably mounted on the shoulder connection part. A shoulder pitch direction freedom driving mechanism is mounted on the trunk (4). The shoulder pitch direction freedom driving mechanism is connected to the shoulder movable part to drive the pitch direction freedom of the shoulder (1). Two symmetrically arranged electro-hydraulic hybrid drive operating arms are respectively arranged on the left and right sides of the shoulder (1). Each electro-hydraulic hybrid drive arm is provided with a plurality of electro-hydraulic hybrid drive arms. The movable operating arm comprises a boom (2), a forearm (3) and a hydraulic operating hand (8), wherein the boom (2) comprises a boom connection part and a boom movable part, wherein the head end of the boom connection part is movably connected to the shoulder movable part, and the shoulder movable part is provided with a shoulder roll direction freedom driving mechanism, wherein the shoulder roll direction freedom driving mechanism is connected to the boom connection part to drive the roll direction freedom of the shoulder (1), wherein the end of the boom connection part is movably connected to the head end of the boom movable part, and the boom connection part is provided with a shoulder yaw direction freedom driving mechanism, wherein the shoulder yaw direction freedom driving mechanism is connected to the boom movable part to drive the yaw direction freedom of the shoulder (1), and the forearm (3) comprises The forearm connecting part and the forearm movable part, the top of the forearm connecting part is movably connected with the end of the upper arm movable part, an elbow joint driving mechanism is installed on the upper arm movable part, the elbow joint driving mechanism is connected to the forearm connecting part to drive the elbow joint, the end of the forearm connecting part is movably connected with the head end of the forearm movable part, an elbow yaw direction freedom driving mechanism is installed on the forearm connecting part, the elbow yaw direction freedom driving mechanism is connected to the forearm movable part to drive the elbow joint yaw direction freedom, the end of the forearm movable part is movably connected with the head end of the hydraulic operating hand (8), the forearm movable part is installed with a wrist joint driving mechanism, the wrist joint driving mechanism is connected to the hydraulic operating hand (8) to drive The invention relates to a movable wrist joint, wherein the bottom end of the trunk (4) is movably connected to the top end of the waist (5), a waist joint driving mechanism is installed on the trunk (4), and the waist joint driving mechanism is connected to the waist (5) to drive the waist joint, and two wheel legs are symmetrically arranged on the left and right sides of the waist (5), and each wheel leg comprises a thigh (6) and a calf (7), and the head end of the thigh (6) is movably connected to the side end of the waist (5), and a hip joint driving mechanism is installed on the thigh (6), and the hip joint driving mechanism is connected to the waist (5) to drive the hip joint, and the end of the thigh (6) is movably connected to the head end of the calf (7), and a knee joint driving mechanism is installed on the thigh (6), and the knee joint driving mechanism is connected to the calf (7) to drive the knee joint.

2. A hydraulic powered autonomous wheel-legged humanoid robot according to claim 1, characterized in that: The shoulder connection part of the shoulder part (1) comprises a shoulder bracket (101), two shoulder roll deep groove ball bearings (102), two shoulder roll bearing seats (103), two shoulder oil running joints (104) and two shoulder deep groove ball bearings (105); the shoulder bracket (101) is horizontally mounted on the top of the trunk (4); the two shoulder roll bearing seats (103) are coaxially symmetrically mounted on the left and right ends of the upper surface of the shoulder bracket (101); two shoulder roll deep groove ball bearings (102) are respectively mounted in the inner holes of the two shoulder roll bearing seats (103); two shoulder oil running joints (104) are coaxially symmetrically arranged between the two shoulder roll bearing seats (103); and two shoulder deep groove ball bearings (105) are respectively mounted in the inner holes of the two shoulder oil running joints (104); The shoulder movable part of the shoulder (1) includes two shoulder movable structures, which are horizontally symmetrically arranged on the left and right sides above the shoulder bracket (101) along the length direction of the shoulder (1). The outer end of each shoulder movable structure is rotatably mounted on the corresponding shoulder roll bearing seat (103), and the inner end of each shoulder movable structure is rotatably mounted on the corresponding shoulder oil-discharging joint (104). Each shoulder movable structure includes a shoulder roll base frame (106), a shoulder roll guide seat (107), a shoulder roll linear guide (108), a shoulder roll two-force rod (109) and a shoulder roll two-force rod connecting pin (100). A shoulder roll base frame sleeve is provided at one end of the shoulder roll base frame (106), and the shoulder roll base frame sleeve is inserted into the inner hole of the shoulder roll bearing seat (103). The shoulder roll base frame sleeve is rotatably connected to the shoulder roll bearing seat (103) through a shoulder roll deep groove ball bearing (102). The shoulder roll base frame (106) ) and the other end is provided with two base right-angle oil pipes which are integrally formed with the shoulder roll base sleeve and symmetrically arranged, and the ends of the two base right-angle oil pipes are rotatably connected to the upper part of the big arm (2), and a horizontally arranged shoulder roll guide rail seat (107) is provided between the shoulder roll bearing seat (103) and the shoulder oil running joint (104), and one end of the shoulder roll guide rail seat (107) is fixedly connected to the shoulder roll base sleeve of the shoulder roll base (106), and a shoulder roll linear guide rail (108) is provided above the shoulder roll guide rail seat (107), and the slide rail of the shoulder roll linear guide rail (108) is fixedly connected to the shoulder roll guide rail seat (107), and the slider of the shoulder roll linear guide rail (108) is hinged to one end of the shoulder roll two-force rod (109), and the other end of the shoulder roll two-force rod (109) passes through the shoulder roll base sleeve of the shoulder roll base (106) and is rotatably connected to the upper part of the big arm (2) through the shoulder roll two-force rod connecting pin (100); The shoulder roll direction freedom driving mechanism is horizontally arranged above the shoulder bracket (101), and the shoulder roll direction freedom driving mechanism comprises a shoulder roll hydraulic cylinder assembly (1-1), two shoulder roll hydraulic piston rods (1-2) and two shoulder roll servo valves (1-3). The two ends of the shoulder roll hydraulic cylinder assembly (1-1) are rotatably connected to the two shoulder oil-discharging joints (104) through two shoulder deep groove ball bearings (105). The shoulder roll hydraulic cylinder assembly (1-1) is provided with two cylinder cavities, and the two shoulder roll hydraulic piston rods are connected to the two shoulder oil-discharging joints (104). The piston ends (1-2) are respectively slidably and sealingly inserted into the two cylinder cavities of the shoulder roll hydraulic cylinder assembly (1-1), and the other ends of the two shoulder roll hydraulic piston rods (1-2) are respectively hinged to the sliders of the two shoulder roll linear guides (108) through two slider connectors. Two shoulder roll servo valves (1-3) are installed on the shoulder roll hydraulic cylinder assembly (1-1), which drive the rolling direction freedom of the left and right shoulders (1) by controlling the extension and contraction of the two shoulder roll hydraulic piston rods (1-2) in the two cylinder cavities.

3. A hydraulic powered autonomous wheel-legged humanoid robot according to claim 2, characterized in that: The trunk (4) comprises a trunk frame (401), two waist supports (402), two sets of trunk-waist connecting ear plates (403), two trunk oil-discharging joints (404), two trunk accumulators (405) and two trunk-waist connecting pins (406). Two waist supports (402) arranged symmetrically on the left and right are provided below the trunk frame (401). The bottom ends of the two waist supports (402) are connected to the top end of the waist (5). A set of trunk-waist connecting ear plates (403) are provided on both sides of each waist support (402). 03), the waist support (402) is rotatably connected to the trunk-waist connecting ear plate (403) through the trunk-waist connecting pin shaft, a trunk oil joint (404) is provided on the inner side of each waist support (402), the lower part of the trunk oil joint (404) is connected to the inner end of the trunk-waist connecting pin shaft, and two trunk accumulators (405) arranged symmetrically on the left and right are provided in the middle part of the trunk frame (401), and the two trunk accumulators (405) are respectively connected to the upper parts of the two trunk oil joints (404) through two oil circuits; The shoulder pitch direction freedom driving mechanism comprises two shoulder pitch motors (4-1) and two shoulder pitch gear sets (4-2). The two shoulder pitch motors (4-1) are symmetrically mounted on the upper left and right side plates of the trunk frame (401), respectively. The rotating shafts of the two shoulder pitch motors (4-1) are respectively connected to the corresponding two shoulder roll base frames (106) through the two shoulder pitch gear sets (4-2), and the power is transmitted to the shoulder (1) through the shoulder pitch gear sets (4-2), thereby driving the pitch direction freedom of the shoulder (1).

4. A hydraulic powered autonomous wheel-legged humanoid robot according to claim 3, characterized in that: The waist (5) comprises a waist joint linear guide rail (501), a waist joint slider connector (502), a waist joint two-force rod, a waist joint connecting pin (503), a waist connecting seat (504) and a waist frame (505). The waist joint linear guide rail (501) and the waist joint two-force rod (4-5) are arranged vertically in sequence from top to bottom in the middle of the rear side of the trunk frame (401) along the height direction. The slide rail of the waist joint linear guide rail (501) is installed on the rear surface of the trunk frame (401). The slider of the waist joint linear guide rail (501) is hinged to the upper end of the waist joint two-force rod through the waist joint slider connector (502). The waist connecting seat (504) is installed on the top of the waist frame (505). The lower end of the waist joint two-force rod is hinged to the waist connecting seat (504) through the waist joint connecting pin (503). The waist joint driving mechanism comprises a trunk hydraulic cylinder (5-1) and a trunk hydraulic piston rod (5-2). The trunk hydraulic cylinder (5-1) is vertically arranged directly above the waist joint linear guide rail (501). The trunk hydraulic cylinder (5-1) is installed on the rear surface of the trunk frame (401). The piston end of the trunk hydraulic piston rod (5-2) is slidably and sealingly inserted into the inner cavity of the cylinder barrel of the trunk hydraulic cylinder (5-1). The other end of the trunk hydraulic piston rod (5-2) is connected to the slider of the waist joint linear guide rail (501). The waist joint freedom degree is driven by controlling the extension and contraction of the trunk hydraulic piston rod (5-2) in the inner cavity of the cylinder barrel of the trunk hydraulic cylinder (5-1).

5. A hydraulic powered autonomous wheel-legged humanoid robot according to claim 2 or 4, characterized in that: The boom connection part of the boom (2) comprises a boom base frame (201), a boom connection frame (202), two boom-shoulder connection bearings and two boom oil-flowing joints (204). A boom base frame sleeve is provided at one end of the boom base frame (201). The boom connection frame (202) is a hollow shaft structure. The boom base frame sleeve is sleeved on the head end of the boom connection frame (202). The other end of the boom base frame (201) is provided with two boom base frame ear plates which are integrally formed with the boom base frame sleeve and arranged vertically symmetrically. The two boom base frame ear plates are respectively connected to the two base frame right-angle oil-flowing joints of the shoulder roll base frame (106) through two boom-shoulder connection bearings. The pipe is rotatably connected, and two shoulder roll two-force rod connecting ear plates are integrally formed with the top of the arm base frame sleeve and arranged vertically symmetrically between the two arm base frame ear plates. The two shoulder roll two-force rod connecting ear plates are hinged to the end of the shoulder roll two-force rod (109) through the shoulder roll two-force rod connecting pin (100). Two coaxially arranged arm oil transfer adapters are provided on both sides of the arm connection frame (202), and one end of the two arm oil transfer joints (204) is respectively connected to the two arm oil transfer adapters, and the other end of the two arm oil transfer joints (204) is respectively connected to the two base frame right-angle oil pipes of the shoulder roll base frame (106); The boom movable part of the boom (2) comprises a boom movable shaft (205), a boom movable bearing, a boom movable frame (206) and two boom movable side plates (207); the head end of the boom movable frame (206) is provided with a coaxially arranged boom movable shaft (205); the boom movable shaft (205) is inserted into the inner hole at the end of the boom connecting frame (202); the boom movable shaft (205) is rotatably connected to the boom connecting frame (202) via the boom movable bearing; the end of the boom movable shaft (205) is provided with two boom movable side plates (207) arranged vertically side by side; the ends of the two boom movable side plates (207) are provided with two coaxially arranged boom-forearm connecting shaft holes; The shoulder yaw direction freedom driving mechanism comprises a shoulder yaw motor (2-1) and a shoulder yaw gear set (2-2); the shoulder yaw motor (2-1) is mounted on the side wall of the upper arm connection frame (202); the rotating shaft of the shoulder yaw motor (2-1) is connected to the upper arm movable shaft (205) through the shoulder yaw gear set (2-2); the power is transmitted to the upper arm movable part through the shoulder yaw gear set (2-2), and the yaw direction freedom of the shoulder is driven; The elbow joint drive mechanism comprises a boom hydraulic cylinder (2-3), a boom hydraulic piston rod (2-4), an elbow joint drive pin shaft (2-5), an elbow joint drive hydraulic servo valve (2-6) and an elbow joint drive hydraulic sensor (2-7); the boom hydraulic cylinder (2-3) is vertically arranged between two boom movable side plates (207); the front end of the boom hydraulic cylinder (2-3) is connected to the end of the boom movable frame (206); and a cylinder inner cavity of the boom hydraulic cylinder (2-3) is installed. The elbow joint driving hydraulic servo valve (2-6) and the elbow joint driving hydraulic sensor (2-7) are connected, and the piston end of the boom hydraulic piston rod (2-4) can be slidably and tightly inserted in the cylinder cavity of the boom hydraulic cylinder (2-3). The other end of the boom hydraulic piston rod (2-4) is rotationally connected to the forearm (3) through the elbow joint driving pin shaft (2-5). The elbow joint freedom degree is driven by controlling the extension and contraction of the boom hydraulic piston rod (2-4) in the cylinder cavity of the boom hydraulic cylinder (2-3).

6. A hydraulic powered autonomous wheel-legged humanoid robot according to claim 5, characterized in that: The forearm connecting part of the forearm (3) comprises a forearm base frame (301), a forearm connecting frame (302), two forearm-shoulder connecting bearings, two upper arm-forearm connecting pins (304) and two forearm oil-discharging joints. One end of the forearm base frame (301) is provided with a forearm base frame sleeve. The forearm connecting frame (302) is a hollow shaft structure. The forearm base frame sleeve is sleeved on the head end of the forearm connecting frame (302). The other end of the forearm base frame (301) is provided with two sets of forearm base frame sleeves which are integrally formed with the forearm base frame sleeve and arranged vertically symmetrically. The two groups of forearm frame ear plates are rotatably connected to the two forearm-arm connecting shaft holes at the ends of the two forearm movable side plates (207) through two forearm-arm connecting pins (304) and two forearm-shoulder connecting bearings respectively; two elbow joint drive connecting ear plates are integrally formed with the forearm frame sleeve and arranged vertically symmetrically at the middle part above the two groups of forearm frame ear plates; the two elbow joint drive connecting ear plates are rotatably connected to the end of the forearm hydraulic piston rod (2-4) through the elbow joint drive pins (2-5); The movable part of the forearm (3) comprises a movable shaft (305), a movable bearing (306), a movable frame (307) and two movable side plates (308). The head end of the movable frame (307) is provided with a coaxially arranged movable shaft (305). The movable shaft (305) is inserted into the inner hole at the end of the forearm connecting frame (302). The movable shaft (305) is rotatably connected to the forearm connecting frame (302) via the movable bearing. The end of the movable shaft (305) is provided with two movable side plates (308) arranged vertically side by side. The ends of the two movable side plates (308) are provided with two coaxially arranged forearm-hand connecting shaft holes. The elbow yaw direction freedom driving mechanism comprises an elbow yaw motor (3-1) and an elbow yaw gear set (3-2); the elbow yaw motor (3-1) is mounted on the side wall of the forearm connection frame (302); the rotating shaft of the elbow yaw motor (3-1) is connected to the forearm movable shaft (305) through the elbow yaw gear set (3-2); power is transmitted to the movable part of the forearm through the elbow yaw gear set (3-2) to drive the elbow yaw direction freedom; The wrist joint driving mechanism comprises a forearm hydraulic cylinder (3-3), a forearm hydraulic piston rod (3-4), a wrist joint driving pin shaft, a wrist joint driving hydraulic servo valve (3-6) and a wrist joint driving hydraulic sensor (3-7). The forearm hydraulic cylinder (3-3) is vertically arranged between two forearm movable side plates (308). The head end of the cylinder barrel of the forearm hydraulic cylinder (3-3) is connected to the end of the forearm movable frame (307). The forearm hydraulic cylinder (3-3) is equipped with a wrist joint driving hydraulic servo valve (3-6) and a wrist joint driving hydraulic sensor (3-7) which are connected to the inner cavity of the cylinder barrel. The piston end of the forearm hydraulic piston rod (3-4) is slidably and sealingly inserted in the inner cavity of the cylinder barrel of the forearm hydraulic cylinder (3-3). The other end of the forearm hydraulic piston rod (3-4) is rotatably connected to the hydraulic operating hand (8) through the wrist joint driving pin shaft. The wrist joint freedom degree is driven by controlling the extension and contraction of the forearm hydraulic piston rod (3-4) in the inner cavity of the cylinder barrel of the forearm hydraulic cylinder (3-3).

7. A hydraulic powered autonomous wheel-legged humanoid robot according to claim 6, characterized in that: The hydraulic operating hand (8) comprises a gripper frame (801), a six-dimensional force sensor (802), a gripper connecting frame (803), two gripper frame side plates (804), two oil-flowing joints (805), a single-finger assembly (806), a double-finger assembly (807), a single-finger driving mechanism (808) and a double-finger driving mechanism (809). A gripper frame sleeve is provided at one end of the gripper frame (801), and the gripper frame sleeve is sleeved on the head end of the six-dimensional force sensor (802). Two groups of gripper frame ear plates are integrally formed with the gripper frame sleeve and arranged vertically symmetrically at the other end of the gripper frame (801). The two groups of gripper frame ear plates are rotatably connected via two forearm-grip connecting pins. Two wrist joint driving connecting ear plates are integrally formed with the top end of the arm frame sleeve and arranged vertically symmetrically between the two groups of gripper frame ear plates. The two wrist joint driving connecting ear plates are integrally formed with the top end of the arm frame sleeve and arranged vertically symmetrically. The plate is rotatably connected to the end of the hydraulic piston rod (3-4) of the forearm through a wrist joint driving pin shaft, the end of the six-dimensional force sensor (802) is coaxially connected to the head end of the gripper connection frame (803), two gripper frame side plates (804) are vertically arranged side by side at the end of the gripper connection frame (803), and a single-finger driving mechanism (808) and a double-finger driving mechanism (809) are respectively provided on the upper and lower sides between the two gripper frame side plates (804), the single-finger driving mechanism (808) and the double-finger driving mechanism (809) are both rotatably connected to the two gripper frame side plates (804), the power output ends of the single-finger driving mechanism (808) and the double-finger driving mechanism (809) are respectively rotatably connected to the single-finger assembly (806) and the double-finger assembly (807), and the single-finger driving mechanism (808) and the double-finger driving mechanism (809) are connected through two oil-discharging joints (805); The single-finger driving mechanism (808) comprises a single-finger hydraulic cylinder (8081), a single-finger hydraulic piston rod (8082), a single-finger hydraulic servo valve (8083) and two single-finger hydraulic cylinder connecting bearings (8084). Two single-finger hydraulic cylinder oil-flow rotating shafts which are integrally formed with the cylinder and arranged coaxially and symmetrically are respectively arranged on the left and right sides of the cylinder barrel of the single-finger hydraulic cylinder (8081). The two single-finger hydraulic cylinder oil-flow rotating shafts are rotatably connected to the two hand claw skeleton side plates (804) through the two single-finger hydraulic cylinder connecting bearings (8084). The single-finger hydraulic cylinder (8081) is provided with a single-finger hydraulic servo valve (8083) which is connected to the inner cavity of the cylinder barrel. The piston end of the single-finger hydraulic piston rod (8082) is slidably and sealingly inserted in the inner cavity of the cylinder barrel of the single-finger hydraulic cylinder (8081). The other end of the single-finger hydraulic piston rod (8082) is rotatably connected to the single-finger assembly (806). The double-finger driving mechanism (809) comprises a double-finger hydraulic cylinder (8091), a double-finger hydraulic piston rod (8092), a double-finger hydraulic servo valve (8093) and two double-finger hydraulic cylinder connecting bearings (8094). Two double-finger hydraulic cylinder oil-flow rotating shafts which are integrally formed with the cylinder and arranged coaxially and symmetrically are respectively arranged on the left and right sides of the cylinder barrel of the double-finger hydraulic cylinder (8091). The two double-finger hydraulic cylinder oil-flow rotating shafts are rotatably connected to the two hand claw frame side plates (804) through the two double-finger hydraulic cylinder connecting bearings (8094). The double-finger hydraulic cylinder (8091) is provided with a double-finger hydraulic servo valve (8093) which is connected to the inner cavity of the cylinder barrel. The piston end of the double-finger hydraulic piston rod (8092) is slidably and sealingly inserted in the inner cavity of the cylinder barrel of the double-finger hydraulic cylinder (8091). The other end of the double-finger hydraulic piston rod (8092) is rotatably connected to the double-finger assembly (807). The end of the oil-discharging shaft of the single-finger hydraulic cylinder is connected to the end of the oil-discharging shaft of the double-finger hydraulic cylinder via an oil-discharging joint (805); The single-finger assembly (806) includes a single-finger fingertip (8061), two "V"-shaped single-finger roots (8062), two single-finger connecting rods (8063) and a plurality of single-finger connecting pins. The two "V"-shaped single-finger roots (8062) are vertically symmetrically arranged between the ends of the two hand claw frame side plates (804). The middle parts of the two "V"-shaped single-finger roots (8062) are rotatably connected to the ends of the single-finger hydraulic piston rods (8082) through the single-finger connecting pins. One end of the two "V"-shaped single-finger roots (8062) is rotatably connected to the two hand claw frame side plates (804) through the two single-finger connecting pins. The single-finger fingertip (8061) is vertically arranged between two "V"-shaped single-finger roots (8062), the middle part of the single-finger fingertip (8061) is rotatably connected to the other ends of the two "V"-shaped single-finger roots (8062) through a single-finger connecting pin, and two single-finger connecting rods (8063) are respectively arranged vertically and symmetrically on both sides of the single-finger fingertip (8061), one end of the two single-finger connecting rods (8063) is rotatably connected to the head end of the single-finger fingertip (8061) through the single-finger connecting pin, and the other end of the two single-finger connecting rods (8063) is rotatably connected to the two hand claw frame side plates (804) through the single-finger connecting pin; The double-finger assembly (807) includes two double-finger tips (8071), two "V"-shaped double-finger roots (8072), two double-finger side connecting rods (8073) and a plurality of double-finger connecting pins. The two "V"-shaped double-finger roots (8072) are vertically symmetrically arranged between the ends of the two hand claw frame side plates (804). The middle parts of the two "V"-shaped double-finger roots (8072) are rotatably connected to the ends of the double-finger hydraulic piston rods (8092) through the double-finger connecting pins. One end of the two "V"-shaped double-finger roots (8072) is rotatably connected to the two hand claw frame side plates (804) through the double-finger connecting pins. The two "V"-shaped double-finger roots (8073) are rotatably connected to the two hand claw frame side plates (804) through the double-finger connecting pins. Two two-finger fingertips (8071) are arranged vertically symmetrically on the outside of the two two-finger fingertips (8072), and the middle parts of the two two-finger fingertips (8071) are rotatably connected to the other ends of the two "V"-shaped two-finger roots (8072) through two two-finger connecting pins, respectively. Two two-finger side connecting rods (8073) are arranged vertically symmetrically on the outside of the two two-finger fingertips (8071), and one ends of the two two-finger side connecting rods (8073) are rotatably connected to the two hand claw frame side plates (804) through the two-finger connecting pins, and the other ends of the two two-finger side connecting rods (8073) are rotatably connected to the head ends of the two two-finger fingertips (8071) through the two two-finger connecting pins.

8. A hydraulic powered autonomous wheel-legged humanoid robot according to claim 1 or 7, characterized in that: The thigh (6) comprises a thigh frame (601), two thigh frame side plates (602), two hip-thigh connection shafts (603) and two hip joint pitch connection parts (604), one end of the two hip-thigh connection shafts (603) are respectively and horizontally coaxially installed at the lower part of the left and right ends of the waist frame (505), and the sides of the two hip-thigh connection shafts (603) are respectively provided with two hip joint pitch connection parts (604), the thigh frame (601) is a hollow shaft structure, the two thigh frame side plates (602) are vertically arranged side by side on both sides of the thigh frame (601), the upper parts of the two thigh frame side plates (602) are sleeved on the thigh frame (601), the hip-thigh connection shaft (603) is rotatably inserted in the inner hole of the thigh frame (601), and the ends of the two thigh frame side plates (602) are provided with two coaxially arranged thigh-calf connection shaft holes; The hip joint driving mechanism comprises a hip joint hydraulic cylinder (6-1), a hip joint hydraulic piston rod (6-2), a hip joint hydraulic servo valve (6-3) and a hip joint two-force rod (6-4); the hip joint hydraulic cylinder (6-1) is vertically arranged on the rear side between the two thigh frame side plates (602); a hip joint hydraulic servo valve (6-3) connected to the cylinder barrel inner cavity is installed on the hip joint hydraulic cylinder (6-1); the piston end seal of the hip joint hydraulic piston rod (6-2) is slidably installed in the cylinder barrel cavity of the hip joint hydraulic cylinder (6-1); the other end of the hip joint hydraulic piston rod (6-2) is rotatably connected to one end of the hip joint two-force rod (6-4); and the other end of the hip joint two-force rod (6-4) is rotatably connected to the hip joint pitch connecting piece (604); The knee joint driving mechanism comprises a knee joint hydraulic cylinder (6-5), a knee joint hydraulic piston rod (6-6), a knee joint hydraulic servo valve (6-7) and a knee joint two-force rod. The knee joint hydraulic cylinder (6-5) is vertically installed on the front side between the two thigh frame side plates (602). A knee joint hydraulic servo valve (6-7) connected to the cylinder barrel inner cavity is installed on the knee joint hydraulic cylinder (6-5). The piston end seal of the knee joint hydraulic piston rod (6-6) is slidably installed in the cylinder barrel inner cavity of the knee joint hydraulic cylinder (6-5). The other end of the knee joint hydraulic piston rod (6-6) is rotatably connected to one end of the knee joint two-force rod, and the other end of the knee joint two-force rod is rotatably connected to the calf (7).

9. A hydraulic powered autonomous wheel-legged humanoid robot according to claim 8, characterized in that: The calf (7) comprises a calf base frame (701), a tibia (702), a wheel (703), a wheel driving mechanism (704), a wheel transmission mechanism (705), an auxiliary wheel (706) and an auxiliary wheel bracket (707); two groups of calf-thigh connecting ear plates are arranged vertically symmetrically on the side of the calf base frame (701); the two groups of calf-thigh connecting ear plates are rotatably connected to two thigh-calf connecting shaft holes at the ends of two thigh skeleton side plates (602) respectively through two calf-thigh connecting pins; two knee joint driving connecting ear plates are formed integrally with the calf base frame (701) and arranged vertically symmetrically between the two groups of calf-thigh connecting ear plates; the two knee joint driving connecting ear plates are rotatably connected to the other end of the knee joint two-force rod through the knee joint driving pins; The calf base frame (701) is a hollow shaft structure. The bottom of the calf base frame (701) is connected to the top of the vertically arranged tibia (702). A wheel driving mechanism (704) is installed in the inner hole of the calf base frame (701). A wheel (703) is rotatably installed at the end of the tibia (702). The wheel driving mechanism (704) is connected to the rotating shaft of the wheel (703) through a wheel transmission mechanism (705). The wheel transmission mechanism (705) transmits power to the wheel (703) to realize rotation. An auxiliary wheel (706) is provided on the front side of the calf base frame (701). The auxiliary wheel (706) is rotatably installed on an auxiliary wheel bracket (707). The auxiliary wheel bracket (707) is installed on the calf base frame (701). The wheel transmission mechanism (705) comprises a small herringbone tooth pulley (7-1), a herringbone tooth synchronous belt (7-2) and a large herringbone tooth pulley (7-3), wherein the rotating shaft of the small herringbone tooth pulley (7-1) is rotatably mounted on the calf base frame (701), the small herringbone tooth pulley (7-1) is connected to the wheel driving mechanism (704), the rotating shaft of the large herringbone tooth pulley (7-3) is rotatably mounted on the end of the tibia (702), the large herringbone tooth pulley (7-3) is connected to the small herringbone tooth pulley (7-1) through the herringbone tooth synchronous belt (7-2), and a wheel hub is mounted at the end of the large herringbone tooth pulley (7-3), and a wheel tire is mounted on the wheel hub; The wheel driving mechanism (704) comprises a DC servo motor (7-4) and a bevel gear set (7-5); the DC servo motor (7-4) is inserted into the inner hole of the calf base frame (701); and the rotating shaft of the DC servo motor (7-4) is connected to the rotating shaft of the herringbone gear small pulley (7-1) through the bevel gear set (7-5).

10. The hydraulic powered autonomous wheel-legged humanoid robot according to claim 9, characterized in that: The micro hydraulic power unit includes an electric pump power device, a cooler (905), and a pressure regulator and filter module. The electric pump power device includes an outer rotor motor (901), a gear pump (902), and a visual cover plate (903). The outer rotor motor (901) is connected to the rotating shaft of the gear pump (902). The cooler (905) is a "U"-shaped box body. The visual cover plate (903) is installed at the rear side of the middle section of the cooler (905). The cooler (905) is horizontally arranged. The gear pump (902) is inserted between the two side sections of the cooler (905). The pressure regulator and filter module includes a filter (904), a check valve (906), a high-pressure accumulator (907), a low-pressure accumulator, a safety valve (908), a pressure sensor (909), and a high-pressure valve block (910). The filter (904) is arranged inside the cooler (905). The oil outlet end of the filter (904) passes through the cooler (905) and the side wall of the gear pump (902) in sequence and is communicated with the inner cavity of the gear pump (902). One end of the check valve (906) is communicated with the inner cavity of the gear pump (902), and the other end of the check valve (906) is connected to one end of the high-pressure valve block (910). The other end of the high-pressure valve block (910) is connected to the hydraulic drive unit. The high-pressure accumulator (907) is installed on the high-pressure valve block (910). The bottom of the high-pressure valve block (910) is connected to the high-pressure oil pipeline. One end of the safety valve (908) is connected to the high-pressure valve block (910), and the other end of the safety valve (908) is connected to the cooler (905). The bottom of the cooler (905) is connected to the low-pressure oil pipeline. A low-pressure accumulator is arranged inside the cooler (905). The pressure sensor (909) is installed on the cooler (905).

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