Non-hose hydraulic robot leg structure and hydraulic humanoid robot

Abstract

The invention belongs to the related technical field of hydraulic robots, and discloses a hose-free hydraulic robot leg structure and a hydraulic humanoid robot. Comprising a main oil inlet and outlet block, a thigh shaft, a thigh plate, a shank shaft, a shank plate, a shank shaft, a servo valve block, a first servo valve, a second servo valve, an integrated valve block non-hose hydraulic cylinder, a front-back oil passing non-hose hydraulic cylinder, a first fixing support and a second fixing support. The main oil inlet and outlet block is communicated with the two thigh plates through thigh shafts; the second servo valve is communicated with the thigh plate through a servo valve seat; the first servo valve is communicated with the integrated valve block hoseless hydraulic cylinder, and the integrated valve block hoseless hydraulic cylinder is communicated with the thigh plate through the first fixed support; the front-back oil-passing hoseless hydraulic cylinder is communicated with a thigh plate through a first fixed support and is communicated with a shank plate through a second fixed support; and one shank plate is communicated with the other thigh plate through a shank shaft. According to the invention, the integration level and precision are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field related to hydraulic robots, and more specifically, relates to a hose-free hydraulic robot leg structure and a hydraulic humanoid robot. Background Art

[0002] A hydraulic humanoid robot is a robot driven by a hydraulic actuator and moves in the same way as a human walking on two legs. The hydraulic actuator directly determines the arrangement of the robot's underlying joints and the robot's motion performance. It is generally composed of a servo valve, a hydraulic cylinder, and a sensor, and is the underlying unit of robot control. However, since the hydraulic cylinder will move relative to the robot body during robot movement, hydraulic hoses with a certain degree of flexibility are commonly used by current hydraulic bipedal robots to transmit hydraulic oil. Using hydraulic hoses is an economical and simple method, but it may affect the reliability, control performance, and appearance of hydraulic bipedal robots, as follows:

[0003] 1. In order to ensure that the hydraulic hose can withstand a hydraulic pressure of up to 25MPa, a high-strength steel wire lining is generally used to ensure its strength and reliability, resulting in the hydraulic hose having a higher hardness and a larger deflection. When the robot moves, additional force is required to bend these hoses, and these hoses often cross the robot joints. The bending of the hoses will reduce the control accuracy of the robot joints and reduce the energy utilization efficiency.

[0004] 2. The service life of the hydraulic hose will be rapidly reduced with the existence of high pressure and frequent bending. The service life is limited and needs to be replaced regularly. The removal and installation of the hydraulic hose may cause the hydraulic system to be contaminated, and the replacement of the hydraulic hose may change the control model of the system, which will have a certain impact on the control accuracy of the robot.

[0005] 3. Hydraulic hoses are easily affected by the external environment, and the robot may interact with the ground during debugging and movement. They may be cut, worn or even broken in various situations, reducing the reliability and safety of the robot.

[0006] 4. It is difficult to consider hydraulic hoses accurately in the design and modeling of robots, which will have a certain impact on the accuracy of the robot's dynamic modeling and motion control.

[0007] In general, the existing humanoid robots that use hydraulic hoses have defects such as low control accuracy, poor aesthetics, and insufficient reliability and safety. Therefore, making the robot hose-free and avoiding the problems of hydraulic hoses can effectively improve the reliability, stability and control performance of hydraulic humanoid robots, which is of great research significance.

[0008] Among them, the lower limb structure of the hydraulic humanoid robot, that is, the leg structure of the robot is a crucial part to maintain the balance and stability of the robot during the movement of the hydraulic humanoid robot. Therefore, it is of great significance to conduct hose-free research and design on the legs of the hydraulic humanoid robot and the corresponding hydraulic cylinders. Summary of the invention

[0009] In view of the above defects or improvement needs of the prior art, the present invention provides a hose-free hydraulic robot leg structure and a hydraulic humanoid robot, which aims to provide a hydraulic robot leg structure with high integration and capable of achieving rotary sealing.

[0010] To achieve the above-mentioned purpose, according to one aspect of the present invention, a hose-free hydraulic robot leg structure is provided, the leg structure comprising a main inlet and outlet oil block, a thigh shaft, a thigh plate, a calf shaft, a calf plate, a calf shaft, a servo valve block, a first servo valve, a second servo valve, an integrated valve block hose-free hydraulic cylinder, a front and rear oil-through hose-free hydraulic cylinder, a first fixed support and a second fixed support, one end of the thigh shaft passes through a right thigh plate, a main inlet and outlet oil block and a left thigh plate in sequence, one end of the calf shaft passes through a right thigh plate, a right calf plate, a left calf plate and a left thigh plate in sequence; One end of the non-hose hydraulic cylinder of the integrated valve block is connected to the main inlet and outlet oil block, and the other end is connected to the two thigh plates through the two first fixed supports; the first servo valve is arranged on the non-hose hydraulic cylinder of the integrated valve block; the two ends of the servo valve block are respectively connected to the two thigh plates and are located between the two thigh plates; the second servo valve is arranged on the servo valve block; one end of the front and rear oil-through non-hose hydraulic cylinder is respectively connected to the two thigh plates through the two first fixed supports, and the other end is respectively connected to the two calf plates through the two second fixed supports;

[0011] The main inlet and outlet oil block is connected with the two thigh plates through the thigh shaft; the second servo valve is connected with the two thigh plates through the servo valve seat; the first servo valve is connected with the hose-free hydraulic cylinder of the integrated valve block, and one end of the hose-free hydraulic cylinder of the integrated valve block is connected with the thigh plate through the first fixed support; one end of the front and rear oil-passing hose-free hydraulic cylinder is connected with one thigh plate through the first fixed support, and the other end is connected with the calf plate through the second fixed support; one calf plate is connected with the other thigh plate through the calf shaft.

[0012] Furthermore, the leg structure realizes the rotational movement of the upper and lower leg structures through the integrated valve block hose-free hydraulic cylinder and the front and rear oil-through hose-free hydraulic cylinder, and drives the input and output of the hydraulic oil of the entire leg structure through the main inlet and outlet oil block.

[0013] Furthermore, after the hydraulic oil is input into the main inlet and outlet oil block, it respectively enters the thigh shaft, the thigh plate, the calf shaft and the calf plate and is supplied to the integrated valve block hose-free hydraulic cylinder and the front and rear oil-through hose-free hydraulic cylinder, and the output of the hydraulic oil is realized through the corresponding oil channels in the leg structure during movement.

[0014] Furthermore, the two thigh plates are divided into a right thigh plate and a left thigh plate, and the two ends of the right thigh plate are respectively provided with a second thigh axis hole and a first calf axis hole, and the second thigh axis hole and the first calf axis hole are respectively used for the thigh axis and the calf axis to pass through; the right thigh plate is provided with a third oil hole along its own length direction, and one end of the third oil hole passes through one end of the right thigh plate and intersects with the second thigh axis hole vertically; the hole wall of the third oil hole is provided with a fourth oil hole and a seventh oil hole, and the fourth oil hole and the seventh oil hole respectively pass through the side of the right thigh plate facing the left thigh plate; the right thigh plate is also provided with a fifth oil hole and a sixth oil hole that are connected, and the sixth oil hole passes through one side of the right thigh plate, and the end of the fifth oil hole away from the sixth oil hole also passes through one side of the right thigh plate.

[0015] Furthermore, a third thigh axis hole and a second calf axis hole are respectively provided at the two opposite ends of the left thigh plate, and the third thigh axis hole and the second calf axis hole are respectively used for the thigh axis and the calf axis to pass through; an eighth oil hole is provided on the left thigh plate, and the eighth oil hole passes through one end of the left thigh plate, and the eighth oil hole is connected with the third thigh axis hole; a ninth oil hole and an eleventh oil hole are respectively provided on the hole wall of the eighth oil hole, and the ninth oil hole and the eleventh oil hole both pass through the side of the left thigh plate toward the right thigh plate; a tenth oil hole is also provided on one side of the left thigh plate, and one end of the tenth oil hole is connected with the second calf axis hole, and the other end passes through one side of the left thigh plate.

[0016] Furthermore, the servo valve block is in an I-shape, with a fourteenth oil hole and a sixteenth oil hole spaced apart at one end, and a fifteenth oil hole and a seventeenth oil hole at the other end; a fifth connecting hole, a sixth connecting hole, a seventh connecting hole and an eighth connecting hole are also provided on the middle surface of the servo valve block, and the fifth connecting hole, the sixth connecting hole, the seventh connecting hole and the eighth connecting hole are respectively connected with the fourteenth oil hole, the sixteenth oil hole, the fifteenth oil hole and the seventeenth oil hole; the fourteenth oil hole and the sixteenth oil hole are respectively connected with the fifth oil hole and the fourth oil hole; the fifteenth oil hole and the seventeenth oil hole are respectively connected with the ninth oil hole and the tenth oil hole.

[0017] Furthermore, the integrated valve block hose-free hydraulic cylinder is stepped, and includes a ball joint bearing, a fixing nut, a first dust ring, a first guide ring, a piston rod sealing ring, a first hydraulic cylinder head guide sleeve, a first O-ring, a second O-ring, a piston rod spacer, a hydraulic cylinder body, a first piston rod, a servo valve seat, a second guide ring, a first combined sealing ring, a third O-ring, a first hydraulic cylinder bottom, a welded oil plug and a first thrust bearing; the first hydraulic cylinder head guide sleeve and the first hydraulic cylinder bottom are respectively connected to the opposite ends of the hydraulic cylinder body; a rodless cavity is formed at one end of the hydraulic cylinder body adjacent to the first hydraulic cylinder bottom, and a rod cavity is formed at the other end; the piston rod spacer is arranged in the There is one end of the rod cavity away from the bottom of the first hydraulic cylinder; one end of the first piston rod extends into the hydraulic cylinder body, and the other end passes through the second O-ring, the piston rod spacer, the piston rod sealing ring arranged on the inner wall of the first hydraulic cylinder head guide sleeve, the first guide ring, and the first dust ring in sequence and is connected to the fixing nut, and the ball joint bearing is connected to the end of the fixing nut away from the first piston rod; the first O-ring is arranged between the hydraulic cylinder body and the first hydraulic cylinder head guide sleeve; the second guide ring and the first combined sealing ring are embedded in the outer periphery of the end of the first piston rod away from the fixing nut; a third O-ring is arranged between the bottom of the first hydraulic cylinder and the hydraulic cylinder body.

[0018] Furthermore, a first cylinder bottom shaft is formed at the bottom of the first hydraulic cylinder, and a first cylinder bottom shaft oil inlet passage and a first cylinder bottom shaft oil outlet passage are respectively provided at two opposite ends of the first cylinder bottom shaft, and the integrated valve block hose-free hydraulic cylinder is respectively connected with the corresponding two first fixed supports through the first cylinder bottom shaft oil inlet passage and the first cylinder bottom shaft oil outlet passage; the hydraulic cylinder body is also provided with two parallel hydraulic cylinder inlet and outlet passages, and the two hydraulic cylinder inlet and outlet passages are respectively connected with the first cylinder bottom shaft oil inlet passage and the first cylinder bottom shaft oil outlet passage; a servo valve is provided on the hydraulic cylinder body. Seat, the servo valve seat is provided with a first servo valve oil hole, a second servo valve oil hole, a third servo valve oil hole and a fourth servo valve oil hole; both ends of the hydraulic cylinder body are provided with a rod chamber oil passage and a rodless chamber oil passage respectively, the rod chamber oil passage is connected with the rod chamber; the rodless chamber oil passage is connected with the rodless chamber; the rod chamber oil passage and the rodless chamber oil passage are respectively connected with the third servo valve oil hole and the second servo valve oil hole; the two hydraulic cylinder inlet and outlet oil passages are respectively connected with the first servo valve oil hole and the fourth servo valve oil hole.

[0019] Furthermore, pressure sensor mounting holes are arranged at intervals on one side of the hydraulic cylinder body, and the two pressure sensor mounting holes are respectively connected to the rod cavity and the rodless cavity and are used for mounting pressure sensors.

[0020] The present invention further provides a hydraulic humanoid robot, comprising the hose-free hydraulic robot leg structure and body structure as described above, wherein the body structure is connected to the leg structure.

[0021] In general, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:

[0022] 1. The main inlet and outlet oil block is connected with the two thigh plates through the thigh shaft; the second servo valve is connected with the two thigh plates through the servo valve seat; the first servo valve is connected with the hoseless hydraulic cylinder of the integrated valve block, and one end of the hoseless hydraulic cylinder of the integrated valve block is connected with the thigh plate through the first fixed support; one end of the front and rear oil-passing hoseless hydraulic cylinder is connected with one thigh plate through the first fixed support, and the other end is connected with the calf plate through the second fixed support; one calf plate is connected with another thigh plate through the calf shaft, so that the oil is circulated inside the leg structure, and the influence of the hydraulic hose on the structural reliability, motion stability and control accuracy is avoided, and the integrated design and assembly of the entire hydraulic cylinder driver including the hydraulic cylinder, servo valve and sensor are realized by integrating the hydraulic cylinder, servo valve seat, corresponding oil channel and sensor interface, thereby improving the integration and integration degree.

[0023] 2. By setting the oil channel at the bottom of the hydraulic cylinder and in the piston rod, the appearance of the hydraulic cylinder is effectively improved without hose, and the volume of the hydraulic robot driver is reduced.

[0024] 3. Pressure sensor mounting holes are also arranged at intervals on one side of the hydraulic cylinder body. The two pressure sensor mounting holes are respectively connected to the rod chamber and the rodless chamber and are used to install pressure sensors, thereby realizing the testing of the oil pressure of the rodless chamber and the rod chamber, and improving the structural integration. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a three-dimensional schematic diagram of a hose-free hydraulic robot leg structure provided by the present invention;

[0026] Figure 2 (a) and (b) are Figure 1 A plan view and a cross-sectional view of the main oil inlet and outlet blocks of the hose-free hydraulic robot leg structure;

[0027] Figure 3 (a) and (b) are Figure 1A schematic plan view and a cross-sectional view of the thigh axis of the hose-free hydraulic robot leg structure;

[0028] Figure 4 (a) and (b) are Figure 1 A cross-sectional view of the right thigh plate and the left thigh plate of the leg structure of the non-hose hydraulic robot;

[0029] Figure 5 yes Figure 1 Schematic diagram of the hose-free hydraulic cylinder of the integrated valve block of the hose-free hydraulic robot leg structure;

[0030] Figure 6 yes Figure 5 Cross-sectional view of the hydraulic cylinder without hose in the integrated valve block;

[0031] Figure 7 This is a cross-sectional view of the hydraulic cylinder without hose of the integrated valve block along another angle;

[0032] Figure 8 (a) and (b) are Figure 1 A schematic plan view and a cross-sectional view of a first fixed support of a non-hose hydraulic robot leg structure;

[0033] Fig. 9 yes Figure 1 A three-dimensional schematic diagram of a servo valve block of a hose-free hydraulic robot leg structure;

[0034] Fig.10 (a) and (b) are Fig. 9 A schematic plan view and a cross-sectional view of a servo valve block;

[0035] Fig.11 yes Figure 1 A three-dimensional schematic diagram of the front and rear oil-through hose-free hydraulic cylinders of the hose-free hydraulic robot leg structure;

[0036] Fig.12 yes Fig.11 A cross-sectional view of a front and rear oil-passing, hose-free hydraulic cylinder;

[0037] Fig.13 (a) and (b) are Figure 1 A plan view and a cross-sectional view of the left calf plate of the leg structure of the non-hose hydraulic robot;

[0038] Fig.14 yes Figure 1 A three-dimensional schematic diagram of a second fixed support of a non-hose hydraulic robot leg structure;

[0039] Fig.15 (a) and (b) are Fig.14 Schematic plan view and cross-sectional view of the second fixed support.

[0040] In all the drawings, the same reference numerals are used to represent the same elements or structures, wherein: 1-main oil inlet and outlet block, 1-1-first pin hole, 1-2-first thigh shaft hole, 1-3-oil inlet and outlet, 2-thigh shaft, 2-1-rotating seal ring shaft groove, 2-2-sensor fixing shaft shoulder, 2-3-second pin hole, 2-4-first oil through hole, 2-5-second oil through hole, 3-thigh plate, 3-1-second thigh shaft hole, 3-2-third oil through hole, 3-3-fourth oil through hole, 3-4-fifth oil through hole, 3-5-sixth oil through hole, 3-6-seventh oil through hole, 3-7-first calf shaft hole, 3-8-third thigh shaft hole, 3-9-eighth oil through hole, 3-10-ninth oil through hole, 3-11-tenth oil through hole, 3- 12-first mounting hole, 3-13-eleventh oil hole, 3-14-second calf shaft hole, 4-calf plate, 4-1-third calf shaft hole, 4-2-twelfth oil hole, 4-3-first side fixing hole, 4-4-first main fixing hole, 5-integrated valve block hose-free hydraulic cylinder, 5-1-ball joint bearing, 5-2-fixing nut, 5-3-first dust ring, 5-4-first guide ring, 5-5-first piston rod sealing ring, 5-6-first hydraulic cylinder head guide sleeve, 5-7-first O-ring, 5-8-second O-ring, 5-9-piston rod spacer, 5-10-hydraulic cylinder body, 5-11-rod chamber oil passage, 5-12-first piston rod, 5-13-servo valve seat, 5-14-rodless chamber oil passage, 5-15 - second guide ring, 5-16 - first combined sealing ring, 5-17 - third O-ring, 5-18 - bottom of first hydraulic cylinder, 5-19 - pressure sensor installation port, 5-20 - rod chamber, 5-21 - rodless chamber, 5-22 - welded oil plug, 5-23 - oil inlet and outlet channels of hydraulic cylinder, 5-24 - fourth O-ring, 5-25 - first rotating sealing ring, 5-26 - first thrust bearing, 5-27 - oil hole of first servo valve, 5-28 - oil hole of second servo valve, 5-29 - oil hole of third servo valve, 5-30 - oil hole of fourth servo valve, 6 - front and rear oil-through hose-free hydraulic cylinder, 6-1 - bottom of second hydraulic cylinder, 6-2 - cylinder barrel of hydraulic cylinder, 6-3 - fifth O-ring, 6-4 - third guide ring, 6-5 -Second combined sealing ring, 6-6-Second piston rod, 6-7-Oil passage of piston rod cavity, 6-8-Sixth O-ring, 6-9-Second hydraulic cylinder head guide sleeve, 6-10-Fourth guide ring, 6-11-Second piston rod sealing ring, 6-12-Second dust ring, 6-13-Second thrust bearing, 6-14-Oil passage of cylinder bottom rodless cavity, 6-15-Piston rod output shaft, 6-16-Second rotating sealing ring, 6-17-Oil passage of piston rod output shaft, 7-Joint angle sensor, 8-Calf shaft, 9-First fixed support, 9-1-Fixed hole, 9-2-First bearing groove, 9-3-First sealing ring groove, 9-4-Thirteenth oil hole, 10-First servo valve, 11-Second servo valve, 12-Servo valve block,12-1-second mounting hole, 12-2-fourteenth oil hole, 12-3-fifteenth oil hole, 12-4-sixteenth oil hole, 12-5-seventeenth oil hole, 12-6-third mounting hole, 13-second fixed support, 13-1-second side fixing hole, 13-2-second main fixing hole, 13-3-second bearing groove, 13-4-second sealing ring groove, 13-5-eighteenth oil hole. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0042] See also Figure 1 The present invention provides a hose-free hydraulic robot leg structure. The leg structure realizes the hose-free of the entire mechanical leg structure by passing oil through a rotating shaft and cooperating with a rotating sealing ring, thereby avoiding the influence of hydraulic hoses on structural reliability, motion stability and control accuracy. By integrating the hydraulic cylinder, servo valve seat 5-13, corresponding oil channels and sensor interface, the entire hydraulic cylinder driver including the hydraulic cylinder, servo valve and sensor is integrated, thereby improving the degree of integration and integration. By setting the oil channels in the bottom of the hydraulic cylinder and the piston rod, the simplicity of the appearance of the hydraulic cylinder is effectively improved while achieving hose-free, and the volume of the hydraulic robot driver is reduced.

[0043] The leg structure includes a main oil inlet and outlet block 1, a thigh shaft 2, a thigh plate 3, a calf shaft 8, a calf plate 4, a calf shaft 8, a servo valve block, a first servo valve 10, a second servo valve 11, an integrated valve block non-hose hydraulic cylinder 5, a front and rear oil-passing non-hose hydraulic cylinder 6, a first fixed support 9 and a second fixed support 13. One end of the thigh shaft 2 passes through a right thigh plate 3, a main oil inlet and outlet block 1 and a left thigh plate 3 in sequence, and one end of the calf shaft 8 passes through the right thigh plate 3, the right calf plate 4, the left calf plate 4 and the left thigh plate 3 in sequence. One end of the integrated valve block non-hose hydraulic cylinder 5 is connected to the main oil inlet and outlet block 1, and the other end is connected to the two thigh plates 3 through two first fixed supports 9. The first servo valve 10 is arranged on the integrated valve block non-hose hydraulic cylinder 5. The two ends of the servo valve block 12 are respectively connected to the two thigh plates 3 and are located between the two thigh plates 3. The second servo valve 11 is arranged on the servo valve block 12. One end of the front and rear oil-through hoseless hydraulic cylinder 6 is respectively connected to the two thigh plates 3 through the two first fixed supports 9, and the other end is respectively connected to the two calf plates 4 through the two second fixed supports 13.

[0044] The leg structure realizes the rotational movement of the upper and lower leg structures through the integrated valve block hoseless hydraulic cylinder 5 and the front and rear oil-through hoseless hydraulic cylinder 6, and drives the input and output of hydraulic oil of the entire leg structure through the main inlet and outlet oil block 1. After the hydraulic oil is input into the main inlet and outlet oil block 1, it enters the thigh shaft 2, the thigh plate 3, the calf shaft 8 and the calf plate 4 respectively and is supplied to the integrated valve block hoseless hydraulic cylinder 5 and the front and rear oil-through hoseless hydraulic cylinder 6, and realizes the output of hydraulic oil through the corresponding oil channels in the leg structure during movement.

[0045] See also Figure 2 The main inlet and outlet oil block 1 includes a substantially rectangular body and two connecting protrusions, the two connecting protrusions are arranged at intervals on one side of the body, and the two connecting protrusions are connected to one end of the hoseless hydraulic cylinder 5 of the integrated valve block. The body is provided with a first thigh shaft hole 1-2 along its own axial direction, and the first thigh shaft hole 1-2 passes through the body. The body is also provided with a first pin hole 1-1 that passes through the hole wall of the first thigh shaft hole 1-2. The surface of the body adjacent to the connecting protrusion is provided with two inlet and outlet oil ports 1-3 arranged at intervals, and the inlet and outlet oil ports 1-3 are vertically connected to the first thigh shaft hole 1-2. Among them, the first thigh shaft hole 1-2 is used to accommodate a part of the thigh shaft 2.

[0046] See also Figure 3The thigh shaft 2 is in a stepped shape, and the outer circumference thereof is sequentially provided with a first connecting hole, a second connecting hole, a third connecting hole and a fourth connecting hole, the number of the first connecting hole, the number of the second connecting hole, the number of the third connecting hole and the number of the fourth connecting hole are all two, and the corresponding two connecting holes are perpendicular to each other, such as the two first connecting holes are perpendicular to each other. A second pin hole 2-3 is also provided in the middle of the thigh shaft 2, and the pin is inserted into the first pin hole 1-1 and the second pin hole 2-3 to realize the circumferential positioning of the thigh shaft 2 and the main inlet and outlet oil block 1. The outer circumference of the thigh shaft 2 is also provided with four rotating seal ring shaft grooves 2-1 arranged at intervals, the second connecting hole and the third connecting hole are respectively located on both sides of the second pin hole 2-3, the four rotating seal ring shaft grooves 2-1 are staggered with the second connecting hole, the second pin hole 2-3 and the third connecting hole, and the rotating seal ring shaft groove 2-1 is used to accommodate the seal ring.

[0047] The two opposite ends of the thigh shaft 2 are also provided with a first oil hole 2-4 and a second oil hole 2-5, respectively. The first oil hole 2-4 and the second oil hole 2-5 are parallel to the axial direction of the thigh shaft 2, and the two ends of the first oil hole 2-4 are connected to the first connecting hole and the second connecting hole, respectively, and the two ends of the second oil hole 2-5 are connected to the third connecting hole and the fourth connecting hole, respectively. The second connecting hole and the third connecting hole are both connected to the thigh shaft hole, and the second connecting hole and the third connecting hole are connected to the two oil inlet and outlet ports 1-3, respectively, so that the oil can enter the thigh shaft 2 through the oil inlet and outlet ports 1-3 of the main oil inlet and outlet block 1. A sensor fixing shoulder 2-2 is formed at one end of the thigh shaft 2, and the joint angle sensor 7 is installed on the sensor fixing shoulder 2-2.

[0048] See also Figure 4 The two thigh plates 3 are divided into a right thigh plate and a left thigh plate, and the shapes of the right thigh plate and the left thigh plate are basically the same. The two ends of the right thigh plate are respectively provided with a second thigh shaft hole 3-1 and a first shank shaft hole 3-7, and the second thigh shaft hole 3-1 and the first shank shaft hole 3-7 are respectively used for the thigh shaft and the shank shaft to pass through. The right thigh plate is provided with a third oil hole 3-2 along its length direction, and one end of the third oil hole 3-2 passes through one end of the right thigh plate and intersects the second thigh shaft hole 3-1 vertically.

[0049] The hole wall of the third oil hole 3-2 is respectively provided with a fourth oil hole 3-3 and a seventh oil hole 3-6, and the fourth oil hole 3-3 and the seventh oil hole 3-6 respectively penetrate the side of the right thigh plate toward the left thigh plate. The right thigh plate is also provided with a fifth oil hole 3-4 and a sixth oil hole 3-5 connected to each other, and the sixth oil hole 3-5 penetrates the side of the right thigh plate, and the end of the fifth oil hole 3-4 away from the sixth oil hole 3-5 also penetrates the side of the right thigh plate.

[0050] The two opposite ends of the left thigh plate are respectively provided with a third thigh shaft hole 3-8 and a second shank shaft hole 3-14, and the third thigh shaft hole 3-8 and the second shank shaft hole 3-14 are respectively used for the thigh shaft and the shank shaft to pass through. The left thigh plate is provided with an eighth oil hole 3-9, and the eighth oil hole 3-9 passes through one end of the left thigh plate, and the eighth oil hole 3-9 is connected with the third thigh shaft hole 3-8. The hole wall of the eighth oil hole 3-9 is respectively provided with a ninth oil hole 3-10 and an eleventh oil hole 3-13, and the ninth oil hole 3-10 and the eleventh oil hole 3-13 both pass through the side of the left thigh plate toward the right thigh plate. The side of the left thigh plate is also provided with a tenth oil hole 3-11, and one end of the tenth oil hole 3-11 is connected with the second shank shaft hole 3-14, and the other end passes through one side of the left thigh plate.

[0051] See also Fig. 9 and Fig.10 The servo valve block 12 is in an I-shape, with a fourteenth oil hole 12-2 and a sixteenth oil hole 12-4 spaced apart at one end, and a fifteenth oil hole 12-3 and a seventeenth oil hole 12-5 at the other end. The middle surface of the servo valve block 12 is also provided with a fifth connecting hole, a sixth connecting hole, a seventh connecting hole and an eighth connecting hole, and the fifth connecting hole, the sixth connecting hole, the seventh connecting hole and the eighth connecting hole are respectively connected with the fourteenth oil hole 12-2, the sixteenth oil hole 12-4, the fifteenth oil hole 12-3 and the seventeenth oil hole 12-5. The fourteenth oil hole 12-2 and the sixteenth oil hole 12-4 are respectively connected with the fifth oil hole 3-4 and the fourth oil hole 3-3; the fifteenth oil hole and the seventeenth oil hole 12-5 are respectively connected with the ninth oil hole 3-10 and the tenth oil hole 3-11.

[0052] See also Figure 8The first fixed support 9 is basically L-shaped, with a plurality of fixing holes 9-1 on the side of one end, and a first bearing groove 9-2 penetrating therethrough is provided at the other end, and a first sealing ring groove 9-3 is provided on the groove wall of the first bearing groove 9-2. The first fixed support 9 also has a thirteenth oil hole 9-4 along its length, and the thirteenth oil hole 9-4 is connected to the first bearing groove 9-2. There are two first sealing ring grooves 9-3, and the two first sealing ring grooves 9-3 are respectively located on both sides of the thirteenth oil hole 9-4.

[0053] See also Fig.14 and Fig.15 The second fixed support 13 is basically in the shape of an N, with a plurality of second main fixing holes 13-2 formed at one end and a second bearing groove 13-3 penetrating therethrough formed at the other end. The groove wall of the second bearing groove 13-3 is provided with two second sealing ring grooves 13-4 arranged at intervals. The second fixed support 13 is provided with an eighteenth oil hole 13-5 along its length direction, and the eighteenth oil hole 13-5 is connected to the second bearing groove 13-3. The two second sealing ring grooves 13-4 are respectively located on opposite sides of the eighteenth oil hole 13-5. A protrusion is also provided at one end of the second fixed support 13, and the protrusion is provided with a second side fixing hole 13-1, and the second side fixing hole 13-1 is perpendicular to the axis of the second main fixing hole 13-2.

[0054] See also Fig.13 The left calf plate 4 has a third calf axis hole 4-1 extending through it at the opposite end, and a twelfth oil hole 4-2 extending along its length. The twelfth oil hole 4-2 extends through one side of the calf plate 4, and the side also has a first side fixing hole 4-3. The calf plate 4 also has a plurality of first main fixing holes 4-4, and the axis of the first main fixing hole 4-4 is perpendicular to the axis of the first side fixing hole 4-3. The third calf axis hole 4-1 is used for the calf axis to pass through; the twelfth oil hole 4-2 is connected to the tenth oil hole 3-11 through the calf axis.

[0055] See also Figure 5 , Figure 6 and Figure 7The integrated valve block non-hose hydraulic cylinder 5 is stepped, and includes a ball joint bearing 5-1, a fixing nut 5-2, a first dust ring 5-3, a first guide ring 5-4, a first piston rod seal ring 5-5, a first hydraulic cylinder head guide sleeve 5-6, a first O-ring 5-7, a second O-ring 5-8, a piston rod spacer 5-9, a hydraulic cylinder body 5-10, a first piston rod 5-12, a servo valve seat 5-13, a second guide ring 5-15, a first combined seal ring 5-16, a third O-ring 5-17, a first hydraulic cylinder bottom 5-18, a welding seal oil plug 5-22 and a first thrust bearing 5-26. The first hydraulic cylinder head guide sleeve 5-6 and the first hydraulic cylinder bottom 5-18 are respectively connected to the opposite ends of the hydraulic cylinder body 5-10. The hydraulic cylinder body 5-10 is provided with a rodless chamber 5-21 at one end adjacent to the first hydraulic cylinder bottom 5-18, and a rod chamber 5-20 at the other end. The piston rod spacer 5-9 is provided at one end of the rod chamber 5-20 away from the first hydraulic cylinder bottom 5-18.

[0056] One end of the first piston rod 5-12 extends into the hydraulic cylinder body 5-10, and the other end passes through the second O-ring 5-8, the piston rod spacer 5-9, the first piston rod sealing ring 5-5 arranged on the inner wall of the first hydraulic cylinder head guide sleeve 5-6, the first guide ring 5-4, and the first dust ring 5-3 in sequence, and then is connected to the fixing nut 5-2, and the ball joint bearing 5-1 is connected to the end of the fixing nut 5-2 away from the first piston rod 5-12. The first O-ring 5-7 is arranged between the hydraulic cylinder body 5-10 and the first hydraulic cylinder head guide sleeve 5-6. The second guide ring 5-15 and the first combined sealing ring 5-16 are embedded in the outer periphery of the end of the first piston rod 5-12 away from the fixing nut 5-2. The third O-ring 5-17 is arranged between the first hydraulic cylinder bottom 5-18 and the hydraulic cylinder body 5-10.

[0057] The first hydraulic cylinder bottom 5-18 forms a first cylinder bottom shaft, and the first cylinder bottom shaft has two opposite ends respectively provided with a first cylinder bottom shaft oil inlet passage and a first cylinder bottom shaft oil outlet passage. The integrated valve block hose-free hydraulic cylinder 5 is respectively connected with the corresponding two thirteenth oil holes 9-4 of the first fixed supports 9 through the first cylinder bottom shaft oil inlet passage and the first cylinder bottom shaft oil outlet passage.

[0058] The hydraulic cylinder body 5-10 is also provided with two parallel hydraulic cylinder inlet and outlet oil passages 5-23, and the two hydraulic cylinder inlet and outlet oil passages 5-23 are respectively connected with the first cylinder bottom shaft inlet oil passage and the first cylinder bottom shaft outlet oil passage. The hydraulic cylinder body 5-10 is provided with a servo valve seat 5-13, and the servo valve seat 5-13 is provided with a first servo valve 10 first servo valve 10 oil hole 5-27, a second servo valve 11 second servo valve 11 oil hole 5-28, a third servo valve oil hole 5-29 and a fourth servo valve oil hole 5-30. The two ends of the hydraulic cylinder body 5-10 are respectively provided with a rod chamber oil passage 5-11 and a rodless chamber oil passage 5-14, and the rod chamber oil passage 5-11 is connected with the rod chamber. The rodless chamber oil passage 5-14 is connected with the rodless chamber. The rod chamber oil passage 5-11 and the rodless chamber oil passage 5-14 are respectively connected to the third servo valve oil hole 5-29 and the second servo valve 11 second servo valve 11 oil hole 5-28. The two hydraulic cylinder inlet and outlet oil passages 5-23 are respectively connected to the first servo valve 10 first servo valve 10 oil hole 5-27 and the fourth servo valve oil hole 5-30. At the same time, the first servo valve 10 is arranged on the servo valve seat 5-13, and the servo valve seat 5-13 is connected to the first servo valve 10 through the first servo valve 10 first servo valve 10 oil hole 5-27, the second servo valve 11 second servo valve 11 oil hole 5-28, the third servo valve oil hole 5-29 and the fourth servo valve oil hole 5-30.

[0059] The welding oil plug 5-22 is provided at one end of the rodless chamber oil passage 5-14 and at one end of the rod chamber oil passage. Pressure sensor mounting holes are also provided at intervals on one side of the hydraulic cylinder body 5-10. The two pressure sensor mounting holes are respectively connected to the rod chamber and the rodless chamber and are used to install pressure sensors. The two pressure sensors are used to detect the pressure in the rodless chamber and the rod chamber respectively.

[0060] The non-hose hydraulic cylinder 5 of the integrated valve block is connected to the connecting protrusion through the ball joint bearing 5-1. The two ends of the first cylinder bottom shaft respectively pass through the first bearing groove 9-2 of the first fixed support 9, and the first cylinder bottom shaft oil inlet passage and the first cylinder bottom shaft oil outlet passage are respectively connected to the thirteenth oil holes 9-4 of the two first fixed supports 9. The corresponding two first fixed supports 9 are respectively fixedly connected to the two thigh plates. The thirteenth oil holes 9-4 of the two first fixed supports 9 are respectively connected to the seventh oil hole 3-6 and the eleventh oil hole 3-13.

[0061] See also Fig.11 and Fig.12The front and rear oil-through hose-free hydraulic cylinder 6 includes a second hydraulic cylinder bottom 6-1, a hydraulic cylinder barrel 6-2, a fifth O-ring 6-3, a third guide ring 6-4, a second combined seal ring 6-5, a second piston rod 6-6, a sixth O-ring, a second hydraulic cylinder head guide sleeve 6-9, a fourth guide ring 6-10, a first piston rod seal ring 6-11, a second dust ring 6-12, a second thrust bearing 6-13, a piston rod output shaft 6-15 and a second rotary seal ring 6-16. The second hydraulic cylinder bottom 6-1 is connected to one end of the hydraulic cylinder barrel 6-2, and the other end of the hydraulic cylinder barrel 6-2 is connected to the second hydraulic cylinder guide sleeve. One end of the second piston rod 6-6 is accommodated in the hydraulic cylinder barrel 6-2, and the other end is connected to the piston rod output shaft 6-15.

[0062] The fifth O-ring 6-3 is arranged between the bottom 6-1 of the second hydraulic cylinder and the cylinder barrel 6-2. The third guide ring 6-4 and the second combined seal ring 6-5 are embedded on the outer periphery of one end of the second piston rod 6-6 adjacent to the bottom 6-1 of the second hydraulic cylinder. The fourth guide ring 6-10, the first piston rod seal ring 6-11 and the second dust ring 6-12 are embedded in the inner wall of the second hydraulic cylinder guide sleeve.

[0063] The second hydraulic cylinder bottom 6-1 is provided with a second cylinder bottom shaft, which is also provided with a cylinder bottom rodless oil passage. The second cylinder bottom shaft is provided with a second thrust bearing 6-13, which is connected to the first fixed support 9 through the second thrust bearing 6-13, and further connected to the thigh plate through the first fixed support 9. The cylinder bottom rodless chamber oil passage 6-14 is connected to the corresponding thirteenth oil hole 9-4, and is also connected to the hydraulic cylinder barrel 6-2.

[0064] The second piston rod 6-6 is provided with a piston rod cavity oil passage 6-7. The piston rod output shaft 6-15 is provided with a connecting shaft, and the front and rear oil-through hoseless hydraulic cylinder 6 is connected to the second fixed support 13 through the connecting shaft, and the second fixed support 13 is connected to the calf plate 4. The piston rod output shaft 6-15 is provided with a piston rod output shaft oil passage 6-17, and the piston rod output shaft oil passage 6-17 is respectively connected to the corresponding eighteenth oil hole 13-5 of the second fixed support 13 and the piston rod cavity oil passage 6-7.

[0065] The leg structure realizes the input and output of hydraulic oil through the main oil inlet and outlet block 1. After the hydraulic oil enters the first thigh shaft hole 1-2 through the oil inlet and outlet port 1-3, it enters the first oil hole 2-4 and the second oil hole 2-5 respectively under the action of the Gley ring seal installed in the rotating sealing ring shaft groove 2-1.

[0066] Since the oil at the oil inlet has a higher pressure, it is represented by P (pressure); the oil return pressure is lower, leading to the oil tank of the hydraulic pump, represented by T (tank). All oil passages of the entire hoseless mechanical leg are connected to the P port or T port to achieve the oil supply of all hydraulic drives. All oil passages of the entire hoseless mechanical leg are connected to the P port or T port to achieve the oil supply of all hydraulic drives.

[0067] The process holes at both ends of the thigh shaft are sealed by plugs to prevent oil leakage, and the thigh shaft and the main oil inlet and outlet block 1 are circumferentially fixed by pin connection through the second pin hole 2-3 and the first pin hole 1-1 to prevent the two from rotating relative to each other.

[0068] The second pin hole 2-3, the first oil hole 2-4 and the second oil hole 2-5 are sealed with each other in the rotating seal ring shaft groove 2-1 using a Gly ring and are not connected to each other. When the thigh rotates, the thigh plate and the thigh shaft will rotate relative to each other, and an angle encoder is used to measure the angle change. The magnetic ring is fixed to the sensor fixed shaft shoulder 2-2 by means of a shaft hole. The encoder reading head fixed to the thigh plate can read the angle change between the magnetic ring and the reading head in real time, thereby completing the measurement of the angle change between the thigh plate and the thigh shaft.

[0069] The two thigh plates are connected to the thigh shaft through the second thigh shaft hole 3-1 and the third thigh shaft hole 3-8. The second thigh shaft hole 3-1 and the third thigh shaft hole 3-8 are respectively provided with sealing rings to seal the oil hole, and angular contact ball bearings are installed to carry the load of the thigh shaft, so as to achieve relative rotation between the thigh shaft and the thigh plate and seal the oil hole. The installation of a pair of angular contact ball bearings on the two thigh plates needs to be back-to-back to prevent additional stress, so that the thigh shaft can be stably fixed on the thigh plate.

[0070] The hydraulic oil enters the third oil hole 3-2 and the eighth oil hole 3-9 through the second thigh shaft hole 3-1 and the third thigh shaft hole 3-8, and is introduced into the servo valve block 12 through the fourth oil hole 3-3 and the ninth oil hole 3-10, and flows to the integrated valve block non-hose hydraulic cylinder 5 after the second servo valve 11 distributes the oil. The hydraulic oil supply of the non-hose hydraulic cylinder 5 of the integrated valve block is realized through the seventh oil hole 3-6 and the eleventh oil hole 3-13. The calf shaft realizes the oil supply of the rodless chamber of the front and rear oil-through non-hose hydraulic cylinder 6 through the second calf shaft hole 3-14, but the calf plate 4 on the other side does not transmit hydraulic oil. A pair of angular contact ball bearings are also installed on the calf shaft to bear the load of the knee joint.

[0071] The oil in the third oil hole 3-2 and the eighth oil hole 3-9 is respectively transmitted to the thirteenth oil hole 9-4 through the seventh oil hole 3-6 and the eleventh oil hole 3-13, and then output to the first fixed support 9. The first fixed support 9 is threadedly connected and fixed with the four fixing holes around the eleventh oil hole 3-13, and the oil is transmitted to the corresponding two thirteenth oil holes 9-4 through the seventh oil hole 3-6 and the eleventh oil hole 3-13. A pair of Gley rings are installed at the first sealing ring groove 9-3 for sealing during rotation. An angular contact ball bearing is installed at the first bearing groove 9-2, and the generation of additional stress is avoided by installing a pair of angular contact ball bearings back to back. The hydraulic oil is then connected to the hydraulic cylinder inlet and outlet oil channel 5-23 from the thirteenth oil hole 9-4, thereby realizing the transmission of the oil at both ends of P and T to the hose-free hydraulic cylinder 5 of the integrated valve block. The shaft at the bottom of the hydraulic cylinder uses angular contact ball bearings to bear radial force, and one is arranged on each side to form a pair of bearing points to prevent the hydraulic cylinder output from causing the rotating seal ring to wear. A thrust bearing is used between the first cylinder bottom shaft and the first fixed support 9 to achieve relative rotation between the two components without causing friction between them.

[0072] The first servo valve 10 is fixed by the threaded fixing hole on the outer side of the servo valve seat 5-13. After the oil is introduced into the bottom 5-18 of the first hydraulic cylinder, it enters the servo valve seat 5-13 through the hydraulic cylinder inlet and outlet oil passage 5-23. The oil at both ends of P and T enter the first servo valve 10 from the first servo valve 10 oil hole 5-27 and the fourth servo valve oil hole 5-30 respectively. By controlling the signal of the first servo valve 10, the oil is distributed to the rod cavity through the rod cavity oil passage and to the rodless cavity through the rodless cavity oil passage, so as to complete the driving of the linear motion of the first piston rod 5-12, thereby realizing the control of the hydraulic cylinder, and then realizing the rotational motion of the thigh in the pitch direction.

[0073] The piston rod spacer 5-9 is used to limit and adjust the stroke of the first piston rod 5-12 to prevent the first piston rod 5-12 from cutting off the oil supply from the rod chamber oil channel to the rod chamber after the first piston rod 5-12 is extended to the maximum stroke. The piston rod spacer 5-9 is sealed with a second O-ring 5-8 to ensure the cooperation with the first piston rod 5-12. In the first hydraulic cylinder head guide sleeve 5-6, the first O-ring 5-7 and the O-ring retaining ring are used to realize the static seal between the first hydraulic cylinder head guide sleeve 5-6 and the hydraulic cylinder body 5-10. The first dust ring 5-3 is used to ensure that the oil in the hydraulic cylinder is not contaminated by dust, and a pair of first guide rings 5-4 are used to guide the first piston rod 5-12 to ensure its coaxiality with the first hydraulic cylinder head guide sleeve 5-6. The first piston rod sealing ring 5-5 is used to ensure that the hydraulic oil will not leak when the first piston rod 5-12 performs piston movement. The first piston rod 5-12 itself uses a pair of second guide rings 5-15 to achieve its guidance and smooth sliding in the hydraulic cylinder body 5-10, while ensuring the coaxiality of the two and avoiding the occurrence of mechanical friction. The first combined sealing ring 5-16 is used to ensure the sliding seal between the first piston rod 5-12 and the hydraulic cylinder body 5-10, thereby achieving the isolation of the rod cavity and the rodless cavity and avoiding the internal leakage of the hydraulic cylinder itself. The welding oil plug 5-22 is used to seal the process hole, fix the oil seal at the exit of the process hole, and achieve permanent sealing and surface flatness of the process hole through welding and grinding. In response to the demand for force control based on hydraulic pressure, the integrated valve block hoseless hydraulic cylinder 5 is provided with a pressure sensor installation hole to realize the integration of the pressure sensor, that is, the pressure sensor is installed through the pressure sensor installation port 5-19, and the hydraulic oil pressure in the rod cavity and the rodless cavity is monitored in real time. Through the known working area of ​​the two cavities, the force at both ends of the first piston rod 5-12 can be calculated, thereby obtaining the output force of the integrated valve block hoseless hydraulic cylinder 5, and force control is performed on it. The main sealing principle of the front and rear oil-passing hose-free hydraulic cylinder 6 is basically the same as that of the integrated valve block hose-free hydraulic cylinder 5.

[0074] Different from the hoseless hydraulic cylinder 5 with integrated valve block, the front and rear oil-through hoseless hydraulic cylinder 6 has a determined way of leading to the rodless chamber oil channel 6-14 at the cylinder bottom to the rodless chamber and the piston rod output shaft oil channel 6-17 to the rod chamber, instead of redistributing it through the servo valve on the cylinder body. Therefore, it is necessary to control and distribute the flow of hydraulic oil to the hydraulic cylinder through a servo valve outside the cylinder body. The second servo valve 11 is installed in the middle of the servo valve block 12 by threaded connection through the third mounting hole 12-6, and the servo valve block 12 is fixed on the mounting holes around the fourth oil hole 3-3 and the ninth oil hole 3-10 through the second mounting hole 12-1. The oil enters the sixteenth oil hole 12-4 and the fifteenth oil hole 12-3 in the servo valve block 12 through the fourth oil hole 3-3 and the ninth oil hole 3-10, respectively, and enters the second servo valve 11. By controlling the electrical signal of the second servo valve 11, the oil at the P end enters the fourteenth oil hole 12-2 or the seventeenth oil hole 12-5, so that the high-pressure oil flows to the corresponding cavity to achieve the extension or shortening of the hydraulic cylinder. When the oil flows to the rodless cavity, the fourteenth oil hole 12-2 is connected with the fifth oil hole 3-4, the fifth oil hole 3-4 is connected with the sixth oil hole 3-5, and the oil is transmitted to the first fixed support 9 through the sixth oil hole 3-5. The oil is transmitted to the rodless chamber oil passage 6-14 at the bottom end of the hydraulic cylinder, so that the oil enters the rodless chamber and pushes the piston rod to extend; when the oil flows to the rod chamber, the seventeenth oil hole 12-5 is connected with the tenth oil hole 3-11, and is transmitted to the calf shaft through the second calf shaft hole 3-14, and the oil is passed through the third calf shaft hole 4-1 into the twelfth oil hole 4-2 in the calf plate 4 through the calf shaft, and further enters the eighteenth oil hole 13-5 of the second fixed support 13 installed on the calf plate 4, and further enters the piston rod output shaft oil passage 6-17, the second piston rod 6-6 is fixedly connected to the piston rod output shaft, and the oil can enter the piston rod rod chamber oil passage 6-7, thereby entering the rod chamber from the side hole on the second piston rod 6-6, thereby realizing the retraction of the hydraulic cylinder. The second fixed support 13 at the calf plate 4 is fixedly installed at the first side fixing hole 4-3 and the first main fixing hole 4-4 of the calf plate 4 through the second side fixing hole 13-1 and the second main fixing hole 13-2. The stable load-bearing of the second fixed support 13 and the installation alignment and sealing of the oil hole are ensured through two pairs of vertical mounting holes. Since the rod chamber of the front and rear oil-through hose-free hydraulic cylinder 6 only needs oil through one side, the calf plate 4 on the other side does not need to be designed for oil through, and the installation fixed support on the other side does not need to be designed for oil through sealing. It only needs to consider the force, which will not be repeated here.

[0075] The present invention further provides a hydraulic humanoid robot, comprising the hose-free hydraulic robot leg structure and body structure as described above, wherein the body structure is connected to the leg structure.

[0076] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A hose-free hydraulic robot leg structure, characterized in that: The leg structure includes a main inlet and outlet oil block, a thigh shaft, a thigh plate, a calf shaft, a calf plate, a calf shaft, a servo valve block, a first servo valve, a second servo valve, an integrated valve block hose-free hydraulic cylinder, a front and rear oil-through hose-free hydraulic cylinder, a first fixed support and a second fixed support. One end of the thigh shaft passes through a right thigh plate, a main inlet and outlet oil block and a left thigh plate in sequence, and one end of the calf shaft passes through a right thigh plate, a right calf plate, a left calf plate and a left thigh plate in sequence; one end of the integrated valve block hose-free hydraulic cylinder is connected to the The main inlet and outlet oil block, the other end of which is respectively connected to the two thigh plates through the two first fixed supports; the first servo valve is arranged on the non-hose hydraulic cylinder of the integrated valve block; the two ends of the servo valve block are respectively connected to the two thigh plates and are located between the two thigh plates; the second servo valve is arranged on the servo valve block; one end of the front and rear oil-through hose-free hydraulic cylinder is respectively connected to the two thigh plates through the two first fixed supports, and the other end is respectively connected to the two calf plates through the two second fixed supports; The main inlet and outlet oil block is connected with the two thigh plates through the thigh shaft; the second servo valve is connected with the two thigh plates through the servo valve seat; the first servo valve is connected with the hose-free hydraulic cylinder of the integrated valve block, and one end of the hose-free hydraulic cylinder of the integrated valve block is connected with the thigh plate through the first fixed support; one end of the front and rear oil-passing hose-free hydraulic cylinder is connected with one thigh plate through the first fixed support, and the other end is connected with the calf plate through the second fixed support; one calf plate is connected with the other thigh plate through the calf shaft.

2. The hose-free hydraulic robot leg structure according to claim 1, characterized in that: The leg structure realizes the rotational movement of the upper and lower leg structures through the integrated valve block hose-free hydraulic cylinder and the front and rear oil-through hose-free hydraulic cylinders, and drives the input and output of the hydraulic oil of the entire leg structure through the main inlet and outlet oil block.

3. The hose-free hydraulic robot leg structure according to claim 2, characterized in that: After the hydraulic oil is input into the main inlet and outlet oil block, it respectively enters the thigh shaft, the thigh plate, the calf shaft and the calf plate and is supplied to the integrated valve block hose-free hydraulic cylinder and the front and rear oil-through hose-free hydraulic cylinder, and the hydraulic oil is output through the corresponding oil channels in the leg structure during movement.

4. The hose-free hydraulic robot leg structure according to claim 1, characterized in that: The two thigh plates are divided into a right thigh plate and a left thigh plate, and the two ends of the right thigh plate are respectively provided with a second thigh axis hole and a first calf axis hole, and the second thigh axis hole and the first calf axis hole are respectively used for the thigh axis and the calf axis to pass through; the right thigh plate is provided with a third oil hole along its own length direction, and one end of the third oil hole passes through one end of the right thigh plate and intersects with the second thigh axis hole vertically; the hole wall of the third oil hole is provided with a fourth oil hole and a seventh oil hole, and the fourth oil hole and the seventh oil hole respectively pass through the side of the right thigh plate facing the left thigh plate; the right thigh plate is also provided with a fifth oil hole and a sixth oil hole that are connected, and the sixth oil hole passes through one side of the right thigh plate, and the end of the fifth oil hole away from the sixth oil hole also passes through one side of the right thigh plate.

5. The hose-free hydraulic robot leg structure according to claim 4, characterized in that: The left thigh plate is provided with a third thigh axis hole and a second calf axis hole at two opposite ends thereof, respectively, and the third thigh axis hole and the second calf axis hole are used for the thigh axis and the calf axis to pass through respectively; the left thigh plate is provided with an eighth oil hole, the eighth oil hole passes through one end of the left thigh plate, and the eighth oil hole is connected with the third thigh axis hole; the hole wall of the eighth oil hole is provided with a ninth oil hole and an eleventh oil hole, respectively, the ninth oil hole and the eleventh oil hole both pass through the side of the left thigh plate toward the right thigh plate; the left thigh plate is also provided with a tenth oil hole on one side thereof, one end of the tenth oil hole is connected with the second calf axis hole, and the other end passes through one side of the left thigh plate.

6. The hose-free hydraulic robot leg structure according to claim 5, characterized in that: The servo valve block is in an I-shape, with a fourteenth oil hole and a sixteenth oil hole spaced apart at one end, and a fifteenth oil hole and a seventeenth oil hole at the other end; a fifth connecting hole, a sixth connecting hole, a seventh connecting hole and an eighth connecting hole are also provided on the middle surface of the servo valve block, and the fifth connecting hole, the sixth connecting hole, the seventh connecting hole and the eighth connecting hole are respectively connected with the fourteenth oil hole, the sixteenth oil hole, the fifteenth oil hole and the seventeenth oil hole; the fourteenth oil hole and the sixteenth oil hole are respectively connected with the fifth oil hole and the fourth oil hole; the fifteenth oil hole and the seventeenth oil hole are respectively connected with the ninth oil hole and the tenth oil hole.

7. The hose-free hydraulic robot leg structure according to claim 5, characterized in that: The integrated valve block hose-free hydraulic cylinder is stepped, and includes a ball joint bearing, a fixing nut, a first dust ring, a first guide ring, a piston rod seal ring, a first hydraulic cylinder head guide sleeve, a first O-ring, a second O-ring, a piston rod spacer, a hydraulic cylinder body, a first piston rod, a servo valve seat, a second guide ring, a first combined seal ring, a third O-ring, a first hydraulic cylinder bottom, a welded oil plug and a first thrust bearing; the first hydraulic cylinder head guide sleeve and the first hydraulic cylinder bottom are respectively connected to the opposite ends of the hydraulic cylinder body; a rodless cavity is formed at one end of the hydraulic cylinder body adjacent to the first hydraulic cylinder bottom, and a rod cavity is formed at the other end; the piston rod spacer is arranged in the rod cavity One end away from the bottom of the first hydraulic cylinder; one end of the first piston rod extends into the hydraulic cylinder body, and the other end passes through the second O-ring, the piston rod spacer, the piston rod sealing ring arranged on the inner wall of the first hydraulic cylinder head guide sleeve, the first guide ring, and the first dust ring in sequence and is connected to the fixing nut, and the ball joint bearing is connected to the end of the fixing nut away from the first piston rod; the first O-ring is arranged between the hydraulic cylinder body and the first hydraulic cylinder head guide sleeve; the second guide ring and the first combined sealing ring are embedded in the outer periphery of the end of the first piston rod away from the fixing nut; a third O-ring is arranged between the bottom of the first hydraulic cylinder and the hydraulic cylinder body.

8. The hose-free hydraulic robot leg structure according to claim 7, characterized in that: The first hydraulic cylinder has a first cylinder bottom shaft formed at the bottom, and the first cylinder bottom shaft has two opposite ends respectively provided with a first cylinder bottom shaft oil inlet passage and a first cylinder bottom shaft oil outlet passage, and the integrated valve block hose-free hydraulic cylinder is connected to the corresponding two first fixed supports through the first cylinder bottom shaft oil inlet passage and the first cylinder bottom shaft oil outlet passage respectively; the hydraulic cylinder body also has two parallel hydraulic cylinder inlet and outlet passages, and the two hydraulic cylinder inlet and outlet passages are respectively connected to the first cylinder bottom shaft oil inlet passage and the first cylinder bottom shaft oil outlet passage; a servo valve seat is provided on the hydraulic cylinder body, The servo valve seat is provided with a first servo valve oil hole, a second servo valve oil hole, a third servo valve oil hole and a fourth servo valve oil hole; both ends of the hydraulic cylinder body are provided with a rod chamber oil passage and a rodless chamber oil passage respectively, the rod chamber oil passage is connected with the rod chamber; the rodless chamber oil passage is connected with the rodless chamber; the rod chamber oil passage and the rodless chamber oil passage are respectively connected with the third servo valve oil hole and the second servo valve oil hole; the two hydraulic cylinder inlet and outlet oil passages are respectively connected with the first servo valve oil hole and the fourth servo valve oil hole.

9. The hose-free hydraulic robot leg structure according to claim 8, characterized in that: Pressure sensor mounting holes are also arranged at intervals on one side of the hydraulic cylinder body. The two pressure sensor mounting holes are respectively connected to the rod cavity and the rodless cavity and are used to install pressure sensors.

10. A hydraulic humanoid robot, characterized in that: The hydraulic humanoid robot comprises the hose-free hydraulic robot leg structure and body structure as described in any one of claims 1 to 9, wherein the body structure is connected to the leg structure.

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