A hydraulically powered autonomous wheel-legged humanoid robot

Abstract

A hydraulically powered autonomous wheel-legged humanoid robot relates to the technical field of humanoid robots. The present invention solves 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. The shoulder of the present invention is installed at the top of the trunk, and two electro-hydraulic hybrid drive operating arms are provided on both sides of the shoulder. The upper arm connecting part is movably connected to the shoulder, the upper arm connecting part is movably connected to the upper arm movable part, the forearm connecting part is movably connected to the upper arm movable part, the forearm connecting part is movably connected to the forearm movable part, the forearm movable part is movably connected to the hydraulic operating hand, the trunk is movably connected to the waist, two wheel legs are provided on both sides of the waist, the thigh is movably connected to the waist, and the thigh is movably connected to the calf. The present invention is used to improve the maneuverability, load-bearing capacity and flexibility of movement of the robot.

Description

Technical Field

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

[0002] Disasters such as the Fukushima nuclear accident in Japan have highlighted the need for robots to operate in hazardous environments inaccessible to humans. These disaster scenarios require robots capable of rapid movement, adaptability to complex terrain, and dexterity. Humanoid robots have become one of the most internationally acclaimed areas of robotics research in recent years.

[0003] Humanoid robots are a type of mobile robot. They are categorized by their mobility method into wheeled robots, tracked robots, and legged robots. Wheeled robots offer high speeds and flexible steering, but they have high requirements for surface conditions. Tracked robots possess strong off-road capabilities, but their tracks are bulky and inefficient. Legged robots are adaptable to nearly any surface environment and can leap to a certain height to avoid obstacles, offering high maneuverability. Furthermore, most real-world environments are designed for humans, making humanoid robots very convenient for use. However, their locomotion efficiency is low and their speed is relatively slow. To combine the advantages of wheeled robots—high efficiency, maneuverability, and speed—while enabling them to overcome certain environmental conditions and perform tasks on extreme surfaces, wheel-leg hybrid mobile robots were developed. They can not only move as quickly as conventional wheeled robots on flat terrain, but can also adjust their posture to suit the terrain. Wheel-legged robots possess high maneuverability and, ideally, can move on nearly any terrain.

[0004] Humanoid robots are typically driven by either electric motors or hydraulic drives. Electric motors offer high precision and easy speed regulation, but they also have low thrust and relatively insufficient motor power. Furthermore, the robot's joints require repeated starting and stopping, which is not ideal for motors. Furthermore, their insufficient load capacity hinders field operations. Hydraulic drive systems are complex and require an oil source, but they offer a high load capacity. Hydraulic drive is gaining increasing attention in the robotics field due to its fast response, high payload, high power-to-weight ratio, and strong anti-interference capabilities. Hydraulic drive facilitates the robot's ability to recover from disturbances such as impact and overload. It allows the robot to withstand large loads while maintaining a relatively small overall size.

[0005] Integrating a hydraulic power unit to achieve powered autonomy is one of the most complex issues in the development of hydraulic robots. On the one hand, hydraulic power is traditionally provided by heavy, bulky ground-based hydraulic pump stations. Miniaturizing such a large system and integrating it with a small mobile robot is extremely challenging. On the other hand, commercial components for hydraulic systems designed for mobile humanoid robots are difficult to find. However, to achieve powered autonomy and efficiently complete tasks, mobile robots must be equipped with a miniature hydraulic power unit (HPU).

[0006] Hydraulically driven robots currently use rubber hoses to connect the hydraulic drive unit and power unit, transmitting hydraulic power from the power unit to the drive unit. While this connection is simple and effective, the passage of rubber hoses through moving joints can cause uncontrolled interference with the robot's motion. To minimize the impact of the hoses on joint motion and prevent wear on the hoses from the joints, a certain amount of bending allowance is required during hose installation. This results in long and complex hydraulic hoses, which hinder the robot's flexibility.

[0007] In summary, existing humanoid robots have problems such as weak maneuverability, poor load-bearing capacity, and the hydraulic drive unit and power unit are connected by rubber hoses, which affects the joint movement and 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 torso, a waist, two electro-hydraulic hybrid drive operating arms, and two wheel legs. The shoulder, torso, and waist are arranged in sequence from top to bottom. The shoulder comprises a shoulder connection portion and a shoulder movable portion. The shoulder connection portion is horizontally mounted on the top of the torso. The shoulder movable portion is rotatably mounted on the shoulder connection portion. A shoulder pitch direction freedom drive mechanism is mounted on the torso. The shoulder pitch direction freedom drive mechanism is connected to the shoulder movable portion to drive the pitch direction freedom of the shoulder. Two symmetrically arranged electro-hydraulic hybrid drive operating arms are provided on the left and right sides of the shoulder. Each electro-hydraulic hybrid drive operating arm includes an arm, an arm 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. The forearm movable part is equipped with a wrist joint driving mechanism. The 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, the torso is provided with a waist joint driving mechanism, the waist joint driving mechanism is connected to the waist to drive the waist joint, the left and right sides of the waist are respectively provided with two symmetrically arranged wheel legs, 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, the thigh is provided with a knee joint driving mechanism, the knee joint driving mechanism is connected to the calf to drive the knee joint.

[0011] Furthermore, 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 joints and two shoulder deep groove ball bearings. The shoulder bracket is horizontally installed at the top of the trunk, and the two shoulder roll bearing seats are coaxially symmetrically installed at the left and right ends of the upper surface of the shoulder bracket. Two shoulder roll deep groove ball bearings are respectively installed in the inner holes of the two shoulder roll bearing seats. Two coaxially symmetrical shoulder oil joints are provided between the two shoulder roll bearing seats, and two shoulder deep groove ball bearings are respectively installed in the inner holes of the two shoulder oil 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 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 is provided with two base right-angle oil pipes that are integrally formed with the shoulder roll base sleeve and symmetrically arranged. The ends of the two base 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 sleeve of the shoulder roll base. 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 second force rod. The other end of the shoulder roll second force rod passes through the shoulder roll base sleeve of the shoulder roll base and is rotatably connected to the upper part of the boom through the shoulder roll second force rod connecting pin.

[0013] The shoulder roll directional freedom driving mechanism is arranged horizontally above the shoulder bracket. The shoulder roll directional 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 to the two shoulder oil-discharging joints through two shoulder deep groove ball bearings respectively. Two cylinder cavities are provided inside the shoulder roll hydraulic cylinder assembly. The piston ends of the two shoulder roll hydraulic piston rods are slidably and sealedly inserted into 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 directional freedom of the left and right shoulders by controlling the extension and contraction of the two shoulder roll hydraulic piston rods in the two cylinder cavities.

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

[0015] The shoulder pitch direction freedom drive 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 torso skeleton. The two shoulder pitch motor shafts are connected to the corresponding two shoulder roll bases through two shoulder pitch gear sets. The power is transmitted to the shoulders through the shoulder pitch gear sets to drive the pitch direction freedom of the shoulders.

[0016] Furthermore, 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 at the top of the waist frame. 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 into 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 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 that 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 pipes of the shoulder roll base frame through two boom-shoulder connection bearings. Between the two boom base frame ear plates, there are provided two shoulder roll two-force rod connecting ear plates that 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. 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, the boom movable shaft is inserted into the inner hole at the end of the boom connecting frame, the boom movable shaft is rotatably connected to 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-arm connecting shaft holes;

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

[0021] The elbow joint drive mechanism includes a boom hydraulic cylinder, a boom hydraulic piston rod, an elbow joint drive pin, an elbow joint drive hydraulic servo valve and an elbow joint drive hydraulic sensor. The boom hydraulic cylinder is vertically arranged between the two boom movable side plates, and 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 drive hydraulic servo valve and an elbow joint drive hydraulic sensor that 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 drive pin. The elbow joint freedom is driven by controlling the extension and contraction of the boom hydraulic piston rod in the inner cavity of the boom hydraulic cylinder barrel.

[0022] The two arms are connected to each other via two hinged holes, each having a hinged hole and a hinged hole, each having two hinged holes, each having a hinged hole, a hinged hole for holding the two arms in a direction of rotation and a hinged hole for holding the two arms in a direction of rotation.

[0023] The movable part of the forearm includes a movable forearm shaft, a movable forearm bearing, a movable forearm frame and two movable side plates of the forearm. The head end of the movable forearm frame is provided with a coaxially arranged movable forearm shaft, which is inserted into the inner hole of the end of the forearm connecting frame. The movable forearm shaft is rotatably connected to the forearm connecting frame through the movable forearm bearing. The end of the movable forearm shaft 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 drive 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 elbow yaw gear set transmits power to the movable part of the forearm to drive the elbow yaw direction freedom.

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

[0026] Furthermore, the hydraulic operating hand 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 drive mechanism and a double-finger drive 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. The other end of the gripper frame is provided with two groups of gripper frame ear plates that are integrally formed with the gripper frame sleeve and arranged vertically symmetrically. The two groups of gripper frame ear plates are rotatably connected by two forearm-grip connecting pins respectively. Two wrist joint drive plates that are integrally formed with the top of the arm frame sleeve and arranged vertically symmetrically 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 hydraulic piston rod of the forearm through the wrist joint drive pin shaft. The end of the six-dimensional force sensor is coaxially connected to the head end of the gripper connection frame. The two gripper frame side plates are vertically arranged side by side at the end of the gripper connection frame. A single-finger drive mechanism and a double-finger drive mechanism are respectively provided on the upper and lower sides between the two gripper frame side plates. The single-finger drive mechanism and the double-finger drive mechanism are both rotatably connected to the two gripper frame side plates. The power output ends of the single-finger drive mechanism and the double-finger drive mechanism are rotatably connected to the single-finger assembly and the double-finger assembly respectively. The single-finger drive mechanism and the double-finger drive 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-transmitting rotating shafts integrally formed with the cylinder and coaxially symmetrically arranged are respectively provided on the left and right sides of the single-finger hydraulic cylinder barrel. The two single-finger hydraulic cylinder oil-transmitting rotating shafts are rotatably connected to the two hand claw skeleton side plates through two single-finger hydraulic cylinder connecting bearings respectively. A single-finger hydraulic servo valve connected to the cylinder barrel cavity is installed on the single-finger hydraulic cylinder. The piston end of the single-finger hydraulic piston rod is slidably and sealedly inserted in the cylinder barrel cavity of the single-finger hydraulic cylinder. 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-transmitting rotating shafts integrally formed with the cylinder and coaxially symmetrically arranged are respectively provided on the left and right sides of the double-finger hydraulic cylinder barrel. The two double-finger hydraulic cylinder oil-transmitting rotating shafts are rotatably connected to the two hand claw skeleton side plates through two double-finger hydraulic cylinder connecting bearings. A double-finger hydraulic servo valve connected to the cylinder barrel cavity is installed on the double-finger hydraulic cylinder. The piston end of the double-finger hydraulic piston rod is slidably and sealedly 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 roots, two single-finger connecting rods and multiple single-finger connecting pins. The two "V"-shaped single-finger roots are vertically symmetrically arranged between the ends of the two hand claw skeleton side plates, and the middle parts of the two "V"-shaped single-finger roots are rotatably connected to the end of the single-finger hydraulic piston rod through the single-finger connecting pins. One ends of the two "V"-shaped single-finger roots are rotatably connected to the two hand claw skeleton side plates through two single-finger connecting pins respectively. The single-finger fingertip is vertically arranged between the two "V"-shaped single-finger roots, and the middle part of the single-finger fingertip is rotatably connected to the other end of the two "V"-shaped single-finger roots through the single-finger connecting pin. The two single-finger connecting rods are vertically symmetrically arranged on both sides of the single-finger fingertip, and one end of the two single-finger connecting rods is rotatably connected to the head end of the single-finger fingertip through the single-finger connecting pin, and the other end of the two single-finger connecting rods is rotatably connected to the two hand claw skeleton side plates through the single-finger connecting pin;

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

[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 mounted horizontally on 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 sleeved on the thigh frame, the hip-thigh connection shaft is rotatably inserted into 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 drive mechanism includes 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. The hip joint hydraulic cylinder is equipped with a hip joint hydraulic servo valve that is connected to the cylinder barrel cavity. 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 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 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 a large number of hydraulic pipelines and electrical circuit connections, has a simple structure, and is easy to install and disassemble; pipeline wear and failure are greatly reduced, and the safety and reliability of the entire 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 can also effectively transfer heat to dissipate the heat of the robot.

[0038] 3. This invention achieves hydraulic autonomy by integrating a micro-hydraulic power unit (HPU) and developing an electro-hydraulic hybrid-driven humanoid arm with a heavy-duty gripper, enabling the robot to perform certain manipulative tasks. This invention is an autonomous hydraulically driven humanoid wheel-legged robot capable of operating simple tools. This facilitates the application of humanoid wheel-legged robots in disaster relief operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a front view of a hydraulically powered autonomous wheel-legged humanoid robot according to 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 This is an axonometric diagram of the assembled shoulder and torso of the wheel-legged humanoid robot of the present invention; Figure 4 This 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 This is an axonometric diagram of the upper arm of the wheel-legged humanoid robot of the present invention; Figure 6 This is a schematic structural diagram of the wheel-legged humanoid robot of the present invention with the upper arm having its shell removed; Figure 7 It is an axonometric view of the forearm of the wheel-legged humanoid robot of the present invention; Figure 8 This is a schematic structural diagram of the wheel-legged humanoid robot of the present invention with the forearm removed from the shell; Figure 9 This is a front view of the hydraulic manipulator in the wheel-legged humanoid robot of the present invention; Figure 10 1. It is a top view of the hydraulic manipulator of the wheel-legged humanoid robot of the present invention;

[0040] Figure 11 It is a side view of the hydraulic manipulator of the wheel-legged humanoid robot of the present invention; Figure 12 This is an axonometric diagram of the hydraulic manipulator in the wheel-legged humanoid robot of the present invention; Figure 13 This is a front view of the hydraulic manipulator of the wheel-legged humanoid robot of the present invention; Figure 14 This is a rear view of the hydraulic manipulator in the wheel-legged humanoid robot of the present invention; Figure 15 This is an axonometric view of the thigh of the wheel-legged humanoid robot of the present invention; Figure 16 This is a rear view of the wheel-legged humanoid robot of the present invention with the thigh removed from the shell; Figure 17 This is an axonometric view of the lower leg of the wheel-legged humanoid robot of the present invention; Figure 18 This is an exploded view of the lower leg of the wheel-legged humanoid robot of the present invention; Figure 19 This is a schematic structural diagram of a micro hydraulic power unit (HPU) in a wheel-legged humanoid robot according to the present invention; Figure 20 This is a schematic diagram of the principle of the 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. lower leg; 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 rail seat; 108. shoulder roll linear guide rail; 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. Boom movable shaft; 206. Boom movable frame; 207. Boom movable side plate; 2-1. Shoulder yaw motor; 2-2. Shoulder yaw gear set; 2-3. Boom hydraulic cylinder; 2-4. Boom hydraulic piston rod; 2-5. Elbow joint drive pin; 2-6. Elbow joint drive hydraulic servo valve; 2-7. Elbow joint drive hydraulic sensor; 301. Forearm base frame; 302. Forearm connecting frame; 304. Boom-forearm connecting pin; 305. Forearm movable shaft; 306. Forearm movable bearing; 307. Forearm movable frame; 308. Forearm movable side plate; 3-1. Elbow yaw motor; 3-2. Elbow yaw gear set; 3-3. Forearm hydraulic cylinder; 3-4. Forearm hydraulic piston rod; 3-6. Wrist joint drive Dynamic hydraulic servo valve; 3-7, wrist joint drive hydraulic sensor; 401, trunk skeleton; 402, waist support; 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 skeleton; 5-1, trunk hydraulic cylinder; 5-2, trunk hydraulic piston rod; 601, thigh skeleton; 602, thigh skeleton 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 small pulley; 7-2, herringbone synchronous belt; 7-3, herringbone 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-flow 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. Two-finger drive mechanism; 8091, two-finger hydraulic cylinder; 8092, two-finger hydraulic piston rod; 8093, two-finger hydraulic servo valve; 8094, two-finger hydraulic cylinder connecting bearing; 901, outer rotor motor; 902, gear pump; 903, sight glass; 904, filter; 905, cooler; 906, one-way 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 present embodiment is described. The present embodiment is a hydraulically powered autonomous wheel-legged humanoid robot, which 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 respectively provided with symmetrically arranged Two electro-hydraulic hybrid drive operating arms, each electro-hydraulic hybrid drive operating arm includes a boom 2, a small arm 3 and a hydraulic operator 8, the boom 2 includes a boom connection part and a boom movable part, the head end of the boom connection part is movably connected to the shoulder movable part, the shoulder movable part is equipped with a shoulder roll direction freedom drive mechanism, the shoulder roll direction freedom drive mechanism is connected to the boom connection part to drive the roll direction freedom of the shoulder 1, the end of the boom connection part is movably connected to the head end of the boom movable part, the boom connection part is equipped with a shoulder yaw direction freedom drive mechanism, the shoulder yaw direction freedom drive mechanism is connected to the boom movable part to drive the shoulder 1 The yaw direction degree of freedom of 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. The upper arm movable part is equipped with an elbow joint driving mechanism, which 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 equipped with an elbow yaw direction degree of freedom driving mechanism, which is connected to the forearm movable part to drive the elbow joint yaw direction degree of 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 equipped 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 present invention discloses a hydraulically powered autonomous wheel-legged humanoid robot capable of application in disaster relief environments. The robot features an optimized leg structure and an electro-hydraulic hybrid drive operating arm, resulting in improved maneuverability and the ability to operate tools. A micro hydraulic power unit (HPU) consisting of a gear pump driven by a high-power-density servo motor is also designed, freeing the robot from the constraints of rubber hoses.

[0044] Specific implementation method 2: Combination Figures 1 to 4 To illustrate this embodiment, the shoulder connection portion 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 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 coaxially symmetrically arranged shoulder oil joints 104 are provided 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 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 The other end of 06 is provided with two base frame right-angle oil pipes that 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 second force rod 109. The other end of the shoulder roll second 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 second force rod connecting pin 100;

[0046] The shoulder roll directional freedom driving mechanism is arranged horizontally above the shoulder bracket 101. The shoulder roll directional 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. Two cylinder cavities are provided inside the shoulder roll hydraulic cylinder assembly 1-1. The piston ends of the two shoulder roll hydraulic piston rods 1-2 are slidably and sealedly inserted into 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 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. The roll directional 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 embodiment.

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

[0048] The shoulder pitch DOF drive 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 panels of the torso skeleton 401. The rotating shafts of the two shoulder pitch motors 4-1 are connected to the corresponding shoulder roll bases 106 via the shoulder pitch gear sets 4-2. Power is transmitted to the shoulder 1 via the shoulder pitch gear sets 4-2, driving the pitch DOF of the shoulder 1. Other components and connections are the same as those in the first or second embodiment.

[0049] The center of trunk 4 houses the trunk accumulator, switch group, temperature transmitter, current sensor, industrial router, etc. The bottom of trunk 4 houses the trunk oil joint, which delivers hydraulic oil to the legs. Trunk 4 also houses the CPU (central processing unit) and 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 vertically arranged 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 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 at 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 drive mechanism includes a trunk hydraulic cylinder 5-1 and a trunk hydraulic piston rod 5-2. The trunk hydraulic cylinder 5-1 is vertically positioned directly above the waist joint linear guide 501 and is mounted 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 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 501. The waist joint degrees of freedom are driven by controlling the extension and contraction of the trunk hydraulic piston rod 5-2 within the inner cavity of the trunk hydraulic cylinder 5-1. The other components and connections are the same as those of the first, second, or third 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 Explain this embodiment, the boom connection part of the boom 2 of this embodiment includes a boom base frame 201, a boom connection frame 202, two boom-shoulder connection bearings and two boom oil joints 204, one end of the boom base frame 201 is provided with a boom base frame sleeve, 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 that 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 106 through the two boom-shoulder connection bearings The frame is rotatably connected with the right-angle oil pipe. 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. 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;

[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-arm 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 drive mechanism includes a boom hydraulic cylinder 2-3, a boom hydraulic piston rod 2-4, an elbow joint drive pin 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 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 drive hydraulic servo valve 2-6 and an elbow joint drive hydraulic sensor 2-7 that are connected to the cylinder barrel cavity. The piston end of the boom hydraulic piston rod 2-4 is slidably inserted into the cylinder barrel cavity of the boom hydraulic cylinder 2-3. The other end of the boom hydraulic piston rod 2-4 is rotationally connected to the arm 3 via the elbow joint drive pin 2-5. The elbow joint degrees of freedom are driven by controlling the extension and contraction of the boom hydraulic piston rod 2-4 in the cylinder barrel cavity of the boom hydraulic cylinder 2-3. The other components and connection relationships are the same as those in the first, second, third, or fourth embodiments.

[0057] Specific implementation method six: combination Figure 7 and Figure 8 The embodiment of the present invention is described. The arm connection portion of the arm 3 of the embodiment includes an arm base frame 301, an arm connection frame 302, two arm-shoulder connection bearings, two arm-arm connection pins 304 and two arm oil joints. One end of the arm base frame 301 is provided with an arm base frame sleeve. The arm connection frame 302 is a hollow shaft structure. The arm base frame sleeve is sleeved on the first end of the arm connection frame 302. The other end of the arm base frame 301 is provided with a sleeve integrally formed with the arm base frame sleeve and arranged vertically symmetrically. Two sets 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 respectively. 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 sets of arm base frame ear plates. 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 forearm shaft 305, a movable forearm bearing 306, a movable forearm frame 307 and two movable forearm side plates 308. The head end of the movable forearm frame 307 is provided with a coaxially arranged movable forearm shaft 305, which is inserted into the inner hole at the end of the forearm connecting frame 302. The movable forearm shaft 305 is rotatably connected to the forearm connecting frame 302 through the movable forearm bearing. The end of the movable forearm shaft 305 is provided with two movable forearm side plates 308 arranged vertically side by side. The ends of the two movable forearm side plates 308 are provided with two coaxially arranged forearm-hand connecting shaft holes.

[0059] The elbow yaw direction freedom drive mechanism includes 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. 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 drive mechanism includes a forearm hydraulic cylinder 3-3, a forearm hydraulic piston rod 3-4, a wrist joint drive pin, a wrist joint drive hydraulic servo valve 3-6, and a wrist joint drive hydraulic sensor 3-7. The forearm hydraulic cylinder 3-3 is vertically arranged between the two forearm movable side plates 308. The front end of the forearm hydraulic cylinder 3-3 cylinder is connected to the end of the forearm movable frame 307. The forearm hydraulic cylinder 3-3 is installed with a wrist joint drive hydraulic servo valve 3-6 and a wrist joint drive hydraulic sensor 3-7 that are connected to the cylinder cavity. The piston end of the forearm hydraulic piston rod 3-4 is slidably and sealedly inserted into the cylinder cavity of the forearm hydraulic cylinder 3-3. The other end of the forearm hydraulic piston rod 3-4 is rotationally connected to the hydraulic operating hand 8 via the wrist joint drive pin. The wrist joint degrees of freedom are driven by controlling the extension and contraction of the forearm hydraulic piston rod 3-4 in the cylinder cavity of the forearm hydraulic cylinder 3-3. Other components and connection relationships are the same as those of specific embodiments one, two, three, four, or five.

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

[0062] The single-finger drive 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-discharging shafts are provided on the left and right sides of the cylinder barrel of the single-finger hydraulic cylinder 8081, which are integrally formed with the cylinder barrel and arranged coaxially symmetrically. The two single-finger hydraulic cylinder oil-discharging shafts are rotatably connected to the two hand claw skeleton side plates 804 through two single-finger hydraulic cylinder connecting bearings 8084. A single-finger hydraulic servo valve 8083 connected to the cylinder barrel cavity 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 into the cylinder barrel cavity 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 two-finger drive mechanism 809 includes a two-finger hydraulic cylinder 8091, a two-finger hydraulic piston rod 8092, a two-finger hydraulic servo valve 8093 and two two-finger hydraulic cylinder connecting bearings 8094. Two two-finger hydraulic cylinder oil supply shafts are provided on the left and right sides of the cylinder barrel of the two-finger hydraulic cylinder 8091, which are integrally formed with the cylinder barrel and arranged coaxially symmetrically. The two two-finger hydraulic cylinder oil supply shafts are rotatably connected to the two hand claw skeleton side plates 804 through two two-finger hydraulic cylinder connecting bearings 8094. A two-finger hydraulic servo valve 8093 connected to the cylinder barrel cavity is installed on the two-finger hydraulic cylinder 8091. The piston end of the two-finger hydraulic piston rod 8092 is slidably and sealingly inserted into the cylinder barrel cavity of the two-finger hydraulic cylinder 8091. The other end of the two-finger hydraulic piston rod 8092 is rotatably connected to the two-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 via 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 multiple 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. 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. 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.

[0066] 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 multiple 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. Two vertically symmetrically arranged two-finger tips 8071 are provided on the outside of 072. The middle portions of these two-finger tips 8071 are pivotally connected to the other ends of two "V"-shaped two-finger bases 8072 via two two-finger connecting pins. Two vertically symmetrically arranged two-finger side links 8073 are provided on the outside of these two-finger tips 8071. One end of each of these two-finger side links 8073 is pivotally connected to the two gripper frame side plates 804 via two-finger connecting pins. The other ends of these two-finger side links 8073 are pivotally connected to the head ends of the two two-finger tips 8071 via two two-finger connecting pins. With this arrangement, the hydraulic operating hand 8 consists of three claws, two of which move synchronously on one side, and one claw on the other side assists in gripping. The opening and closing of the two claws on one side is controlled by a single-finger hydraulic servo valve 8083. The opening and closing of the one claw on the other side is controlled by a two-finger hydraulic servo valve 8093. The remaining components and connections are identical to those in Specific Embodiments 1, 2, 3, 4, 5, or 6.

[0067] To enable the robot to perform complex manipulation tasks, the robot arm is designed as follows: Each electro-hydraulic hybrid manipulator arm has six degrees of freedom: three at the shoulder, one at the elbow, and two at the wrist. Considering the load and range of motion requirements, a DC torque motor with a reduction ratio of 85.5 is used in shoulder 1 to achieve a large load and a wide range of motion. Hydraulic drive units (HDUs) are installed in the shoulder roll direction and the elbow and wrist yaw directions for heavy-load manipulation. Because the shoulder and wrist yaw degrees of freedom require relatively low drive torque, DC torque motors (ILM50X14) with RV reducers (PSR70FHA-39) are used to drive these two joints to expand the maneuverability range. The shoulder yaw and elbow joints have the same drive parameters as the wrist yaw and pitch joints. Furthermore, a six-axis force sensor is installed between the end-of-arm and the gripper to sense force or torque at the end-of-arm during manipulation. 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 tools and perform clamping tasks. The piston of the linear hydraulic cylinder is connected to the four-bar linkage to drive the opening and closing of the claw. The hydraulic drive unit (HDU) consists of micro servo hydraulics, servo valves and sensors for detecting the position and angle of the claw. The movement angle of the claw's fingers is -90° to 65° and 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 、 Figure 15 and Figure 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 connection parts 604, one end of the two hip-thigh connection shafts 603 are respectively horizontally and coaxially installed on the lower parts 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 connection parts 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 into 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 drive 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 cylinder 6-1 is installed with a hip joint hydraulic servo valve 6-3 connected to the cylinder cavity. The piston end of the hip joint hydraulic piston rod 6-2 is sealed and slidably installed in the cylinder 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 connector 604.

[0070] The knee joint drive 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 force rod. The knee joint hydraulic cylinder 6-5 is mounted vertically on the front side between the two thigh frame side plates 602. A knee joint hydraulic servo valve 6-7, which communicates with the inner cavity of the cylinder, is mounted on the knee joint hydraulic cylinder 6-5. The piston end of the knee joint hydraulic piston rod 6-6 is sealed and slidably mounted within the inner cavity of the knee joint hydraulic cylinder 6-5. The other end of the knee joint hydraulic piston rod 6-6 is pivotally connected to one end of the knee joint force rod, which in turn is pivotally connected to the shank 7. With this arrangement, the thigh 6 contains a 3D-printed component that integrates the hip joint hydraulic cylinder 6-1 and the knee joint hydraulic cylinder 6-5, respectively, to actuate the degrees of freedom of the hip and knee joints. The hip joint hydraulic piston rod 6-2 on the outer side of the thigh 6 is connected to the waist 5 to actuate the hip joint. The hip joint hydraulic piston rod 6-2, which controls the knee joint, is connected to a corresponding slider and equipped with a hip joint hydraulic sensor to control knee joint movement. The knee joint hydraulic piston rod 6-6 on the inner side of the thigh 6 is connected to the calf 7 to actuate the knee joint. The knee joint hydraulic piston rod 6-6, which controls the hip joint, is connected to the corresponding slider and equipped with a knee joint hydraulic sensor to control knee joint movement. The hip joint hydraulic servo valve 6-3 and the knee joint hydraulic servo valve 6-7 are mounted on one side. Other components and connections are identical to those in Embodiments 1, 2, 3, 4, 5, 6, or 7.

[0071] The thigh 6 includes two hydraulic drive units (HDUs) for the knee and hip joints, as well as a dual-channel hydraulic servo drive that supports the upper body and provides driving torque for leg movement. Structurally, the hydraulic cylinders that drive the hip and knee joints and the complex hydraulic oil pipelines are integrated into the thigh hydraulic cylinder assembly. The hydraulic cylinder assembly is a 3D-printed component that integrates a hydraulic cylinder, piston assembly, servo valve, and various sensors. The hydraulic hoseless connector with a rotary seal at the hip is also 3D-printed. This design greatly improves integration and reduces weight. This design method that combines additive and subtractive manufacturing also reduces manufacturing costs. An air-cooled radiator is also designed next to the thigh hydraulic drive unit (HDU).

[0072] Specific implementation method nine: Combination Figure 17 and Figure 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 space 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. 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. 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. The wheel drive mechanism 704 is connected to the rotating shaft of the wheel 703 through the wheel transmission mechanism 705 The power is transmitted to the wheel 703 through the wheel transmission mechanism 705 to realize rotation. The front side of the calf base 701 is provided with an auxiliary wheel 706, which is rotatably mounted on the auxiliary wheel bracket 707, and the auxiliary wheel bracket 707 is mounted on the calf base 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 rotating shaft is rotatably mounted on the calf base 701, and the herringbone gear small pulley 7-1 is connected to the wheel driving mechanism 704 The large herringbone pulley 7-3 has a rotating shaft rotatably mounted at the end of the tibia 702. The large herringbone pulley 7-3 is connected to the small herringbone pulley 7-1 via a herringbone synchronous belt 7-2. A wheel hub is mounted at the end of the large herringbone pulley 7-3, and a wheel tire is mounted on the wheel hub. The wheel drive mechanism 704 includes a DC servo motor 7-4 and a helical gear set 7-5. The DC servo motor 7-4 is inserted into the inner hole of the calf base frame 701, and the DC servo motor 7-4's rotating shaft is connected to the rotating shaft of the small herringbone pulley 7-1 via the helical gear set 7-5. With this arrangement, the motor driving the wheel is designed to be located near the knee joint. The motor transmits power to the wheel 703 via a two-stage reduction transmission using the helical gear set 7-5 and the synchronous belt mechanism, thereby driving the wheel. The motor is a brushless DC servo motor, and the reduction ratio of the DC servo motor 7-4 and the helical gear set 7-5 is 2.5. An auxiliary wheel 706 is installed at the knee of shank 7. This non-driven wheel allows the robot to move forward while kneeling, allowing it to function as a mobile platform. This design reduces the moment of inertia of shank 7. Because ground impact forces act directly on wheels 703, the synchronous belt mechanism protects the motor from impact, improving the robot's environmental adaptability. Other components and connections are identical to those in Specific Embodiments 1, 2, 3, 4, 5, 6, 7, or 8.

[0073] Embodiment X: In combination with Figure 19 and Figure 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 connected to the inner cavity of the gear pump 902. One end of the check valve 906 is connected to 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. 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] To achieve autonomous hydraulic power, the hydraulic power unit (HPU) was miniaturized and integrated, adopting the following design: A gear pump 902 outputs high-pressure oil, which is then delivered to the hydraulic drive unit (HDU) through a check valve 906. A high-pressure accumulator 907 is installed in the high-pressure oil line to smooth out pressure fluctuations. After passing through a filter 904 and a cooler 905, the return oil from the HDU is directly connected to the intake port of the gear pump 902. A low-pressure accumulator in the low-pressure oil line acts as a reservoir to compensate for the hydraulic oil volume difference caused by single-acting hydraulic cylinders. A safety valve 908 is located between the high-pressure and low-pressure oil lines to set the relief pressure. An outer rotor motor 901 drives the gear pump 902. High-pressure oil from the gear pump 902 passes through the high-pressure accumulator 907 and filter 904 to provide the required hydraulic power for the system. Information on temperature, pressure, motor speed and current, and battery voltage and current is transmitted to the micro-HPU servo controller module, which outputs control signals to the outer rotor motor 901.

[0076] For the hydraulic system, a hose-free design approach is adopted to address the issue of hydraulic power transmission. This improves the overall maneuverability and flexibility of the robot. The rubber hose between the servo valve and the hydraulic cylinder is eliminated through the integrated design of the hydraulic cylinder, servo valve, and support frame. Hydraulic hose-free joints with rotary seals solve the problem of oil pipes passing through rotary joints. The entire robot hydraulic system contains 19 hose-free joints, including one high-pressure and one low-pressure oil circuit, each sealed with a four-way rotating Glyd ring. The oil supply and bearing sections of the joints are designed separately to prevent leakage between the oil seal groove and the bearing due to misalignment. This design allows the mechanical structure to be embedded in all hydraulic lines, making it more compact. At the same time, the absence of complex and rigid rubber hoses makes the robot more aesthetically pleasing and safer. It also facilitates the establishment of precise control models without exposed hoses.

[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 they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. 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 various embodiments of the present invention.

Claims

1. A hydraulically powered autonomous wheel-legged humanoid robot, characterized by: It 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 provided on the left and right sides of the shoulder (1). Each electro-hydraulic hybrid drive operating arm is provided with a plurality of electro-hydraulic hybrid drive operating arms. The movable operating arm comprises an arm (2), an arm (3) and a hydraulic operating hand (8), the arm (2) comprises 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 (1), 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 (1), the arm (3) comprises The forearm connecting part and the forearm movable part, the top of the forearm connecting part is movably connected to the end of the upper arm movable part, the upper arm movable part is equipped with an elbow joint driving mechanism, 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 equipped 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 equipped with a wrist joint driving mechanism, the wrist joint driving mechanism is connected to the hydraulic operating hand (8) to drive A movable wrist joint, a 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), the waist joint driving mechanism is connected to the waist (5) to drive the waist joint, two wheel legs are symmetrically arranged on the left and right sides of the waist (5), 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), a hip joint driving mechanism is installed on the thigh (6), the hip joint driving mechanism is connected to the waist (5) to drive the hip joint, the tail end of the thigh (6) is movably connected to the head end of the calf (7), a knee joint driving mechanism is installed on the thigh (6), the knee joint driving mechanism is connected to the calf (7) to drive the knee joint; The trunk (4) includes a trunk frame (401), two waist supports (402), two sets of trunk-waist connecting ear plates (403), two trunk oil 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). Each waist support (402) is provided with a set of trunk-waist connecting ear plates (403) on both sides. 03), the waist support (402) and the trunk-waist connecting ear plate (403) are rotatably connected 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 passages; 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 rotating shafts of the two shoulder pitch motors (4-1) 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), thereby driving the pitch direction freedom of the shoulder (1).

2. The hydraulically powered autonomous wheel-legged humanoid robot according to claim 1, characterized in that: The shoulder connection portion of the shoulder portion (1) includes a shoulder bracket (101), two shoulder roll deep groove ball bearings (102), two shoulder roll bearing seats (103), two shoulder oil 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 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 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 joint (104). Each shoulder movable structure includes a shoulder roll base frame (106), a shoulder roll guide rail seat (107), a shoulder roll linear guide rail (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 the shoulder roll deep groove ball bearing (102). The shoulder roll base frame (10 6) The other end is provided with two base frame right-angle oil pipes 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 arm (2), a horizontally arranged shoulder roll guide rail seat (107) is provided between the shoulder roll bearing seat (103) and the shoulder oil 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 arm (2) through the shoulder roll two-force rod connecting pin (100); 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 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 joints (104). The piston ends (1-2) are respectively inserted into the two cylinder cavities of the shoulder roll hydraulic cylinder assembly (1-1) in a slidable and sealing manner. 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). 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.

3. The hydraulically powered autonomous wheel-legged humanoid robot according to claim 2, characterized in that: The waist (5) includes 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 vertically arranged in sequence from top to bottom along the height direction in the middle of the rear side of the trunk frame (401). 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), 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 mounted on the rear surface of the trunk frame (401), and 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), 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 degree of freedom 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).

4. A hydraulically powered autonomous wheel-legged humanoid robot according to claim 2 or 3, characterized in that: The boom connection part of the boom (2) includes a boom base frame (201), a boom connection frame (202), two boom-shoulder connection bearings and two boom oil-flow joints (204). One end of the boom base frame (201) is provided with a boom base frame sleeve. 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 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 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 provided between the two arm base frame ear plates, which are integrally formed with the top end of the arm 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 (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). 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) includes a boom movable shaft (205), a boom movable bearing, a boom movable frame (206) and two boom movable side plates (207), the boom movable frame (206) is provided with a coaxially arranged boom movable shaft (205) at the head end, 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) 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-small arm connecting shaft holes; The shoulder yaw direction freedom driving mechanism includes a shoulder yaw motor (2-1) and a shoulder yaw gear set (2-2), wherein the shoulder yaw motor (2-1) is mounted on the side wall of the upper arm connection frame (202), and 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), and power is transmitted to the upper arm movable part through the shoulder yaw gear set (2-2), thereby driving the shoulder's yaw direction freedom; The elbow joint drive mechanism includes a boom hydraulic cylinder (2-3), a boom hydraulic piston rod (2-4), an elbow joint drive pin (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). The boom hydraulic cylinder (2-3) is equipped with a The elbow joint drive hydraulic servo valve (2-6) and the elbow joint drive hydraulic sensor (2-7) are connected, and the piston end of the boom hydraulic piston rod (2-4) is slidably and sealedly inserted into 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 drive pin (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).

5. The hydraulically powered autonomous wheel-legged humanoid robot according to claim 4, characterized in that: The arm connection part of the arm (3) includes an arm base frame (301), an arm connection frame (302), two arm-shoulder connection bearings, two arm-arm connection pins (304) and two arm oil joints. One end of the arm base frame (301) is provided with an arm base frame sleeve. The arm connection frame (302) is a hollow shaft structure. The arm base frame sleeve is sleeved on the head end of the arm connection frame (302). The other end of the arm base frame (301) is provided with two sets of arm sleeves that are integrally formed with the arm base frame sleeve and arranged vertically symmetrically. The two sets 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 of the upper part of the two sets of arm base frame ear plates. 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 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 forearm movable frame (307) is provided with a coaxially arranged movable shaft (305) at the head end. 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 includes 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), thereby driving 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, 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 first 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 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 cylinder barrel inner cavity. The piston end of the forearm hydraulic piston rod (3-4) is slidably and sealingly inserted into the cylinder barrel inner cavity 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. The wrist joint freedom degree is driven by controlling the extension and contraction of the forearm hydraulic piston rod (3-4) in the cylinder barrel inner cavity of the forearm hydraulic cylinder (3-3).

6. The hydraulically powered autonomous wheel-legged humanoid robot according to claim 5, 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-discharging 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). One end of the gripper frame (801) is provided with a gripper frame sleeve, and the gripper frame sleeve is sleeved on the head end of the six-dimensional force sensor (802). The other end of the gripper frame (801) is provided with two groups of gripper frame ear plates which are integrally formed with the gripper frame sleeve and arranged vertically symmetrically. The two groups of gripper frame ear plates are respectively connected to each other by two forearm-grip connecting pins. Two wrist joint driving connecting ear plates which are integrally formed with the top end of the arm frame sleeve and arranged vertically symmetrically are provided between the two groups of gripper frame ear plates. The plate is rotatably connected to the end of the forearm hydraulic piston rod (3-4) through a wrist joint driving pin, 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), 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 rotatably connected to the single-finger assembly (806) and the double-finger assembly (807), respectively, 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-discharging shafts are provided on the left and right sides of the cylinder barrel of the single-finger hydraulic cylinder (8081), which are integrally formed with the cylinder barrel and arranged coaxially and symmetrically. The two single-finger hydraulic cylinder oil-discharging 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) 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 into 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-discharging rotating shafts are provided on the left and right sides of the cylinder barrel of the double-finger hydraulic cylinder (8091), which are integrally formed with the cylinder barrel and arranged coaxially and symmetrically. The two double-finger hydraulic cylinder oil-discharging rotating shafts are rotatably connected to the two hand claw skeleton 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) 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 into 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 rod (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), and 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. Two single-finger connecting rods (8063) are vertically symmetrically arranged on both sides of the single-finger fingertip (8061), and 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. The other ends of the two single-finger connecting rods (8063) are 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 multiple 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 ( Two vertically symmetrically arranged two-finger tips (8071) are respectively provided on the outside of the two two-finger tips (8072), and the middle parts of the two two-finger tips (8071) are rotatably connected to the other ends of the two "V"-shaped two-finger roots (8072) through two two-finger connecting pins. Two vertically symmetrically arranged two-finger side connecting rods (8073) are respectively provided on the outside of the two two-finger tips (8071), and one end of the two two-finger side connecting rods (8073) is rotatably connected to the two hand claw skeleton 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 tips (8071) through the two two-finger connecting pins.

7. A hydraulically powered autonomous wheel-legged humanoid robot according to claim 1 or 6, characterized in that: The thigh (6) includes 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 horizontally coaxially installed on the lower parts 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 into the inner hole of the thigh frame (601), and the ends of the two thigh frame side plates (602) are provided with two thigh-calf connection shaft holes arranged coaxially; The hip joint drive 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 at the rear side between the two thigh skeleton side plates (602); a hip joint hydraulic servo valve (6-3) connected to the cylinder cavity is installed on the hip joint hydraulic cylinder (6-1); a piston end seal of the hip joint hydraulic piston rod (6-2) is slidably installed in the cylinder 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 connector (604); 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 frame side plates (602). The knee joint hydraulic cylinder (6-5) is installed with a knee joint hydraulic servo valve (6-7) connected to the cylinder barrel cavity. The piston end seal of the knee joint hydraulic piston rod (6-6) is 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).

8. The hydraulically powered autonomous wheel-legged humanoid robot according to claim 7, 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), wherein two sets of calf-thigh connecting ear plates are arranged vertically symmetrically on the side of the calf base frame (701), and the two sets 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) respectively through two calf-thigh connecting pins, and two knee joint driving connecting ear plates are provided between the two sets of calf-thigh connecting ear plates, which are integrally formed with the calf base frame (701) and arranged vertically symmetrically, and 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). 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 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). 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) via the herringbone tooth synchronous belt (7-2). A wheel hub is mounted on the end of the large herringbone tooth pulley (7-3), and a wheel tire is mounted on the wheel hub. The wheel drive mechanism (704) includes a DC servo motor (7-4) and a helical 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 small pulley (7-1) through the helical gear set (7-5).

9. The hydraulically powered autonomous wheel-legged humanoid robot according to claim 8, characterized in that: The waist (5) is equipped with a micro hydraulic power unit. 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. 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) sequentially passes through the cooler (905) and the side wall of the gear pump (902) and is connected to the inner cavity of the gear pump (902). One end of the check valve (906) is connected to 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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