A hose-free hydraulic robot leg structure and a hydraulic humanoid robot

Abstract

The present invention belongs to the technical field of hydraulic robots and discloses a hose-free hydraulic robot leg structure and a hydraulic humanoid robot. The structure comprises 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, a hose-free hydraulic cylinder of an integrated valve block, a front and rear oil-flowing hose-free hydraulic cylinder, a first fixed support, and a second fixed support. The main oil inlet and outlet block is connected to the two thigh plates via the thigh shaft; the second servo valve is connected to the thigh plates via the servo valve seat; the first servo valve is connected to the hose-free hydraulic cylinder of the integrated valve block, and the hose-free hydraulic cylinder of the integrated valve block is connected to the thigh plates via the first fixed support; the front and rear oil-flowing hose-free hydraulic cylinder is connected to one thigh plate via the first fixed support and to the shank plate via the second fixed support; and one shank plate is connected to the other thigh plate via the shank shaft. The present invention improves integration and precision.

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 a manner similar to human bipedal walking. The hydraulic actuator directly determines the robot's underlying joint arrangement and motion performance. Generally composed of servo valves, hydraulic cylinders, and sensors, it is the underlying unit of robot control. However, because the hydraulic cylinder moves relative to the robot itself during movement, flexible hydraulic hoses are commonly used in current hydraulic bipedal robots to transmit hydraulic oil. While using hydraulic hoses is an economical and simple method, it may affect the reliability, control performance, and appearance of hydraulic bipedal robots, as follows:

[0003] 1. To ensure that hydraulic hoses can withstand hydraulic pressures up to 25 MPa, high-strength steel wire linings are generally used to ensure their strength and reliability. This results in hydraulic hoses having higher hardness and greater 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 energy utilization efficiency.

[0004] 2. The service life of hydraulic hoses 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 hydraulic hoses may contaminate the hydraulic system, and the replacement of hydraulic hoses 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, and may be cut, worn, or even broken in various situations, reducing the reliability and safety of the robot.

[0006] 4. Hydraulic hoses are difficult to consider 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, insufficient reliability and safety. Therefore, realizing the hose-free robot can avoid the problems of hydraulic hoses and 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 for maintaining the balance and stability of the hydraulic humanoid robot during movement. 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 response to 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, wherein 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 sequentially passes through a right thigh plate, the main inlet and outlet oil block and a left thigh plate, and one end of the calf shaft sequentially passes through the right thigh plate, the right calf plate, the left calf plate and the left thigh plate; One end of the hose-free hydraulic cylinder of the integrated valve block is connected to the main inlet and outlet oil blocks, and the other end is connected to the two thigh plates respectively through the two first fixed supports; the first servo valve is provided on the hose-free 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 provided 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;

[0011] The main inlet and outlet oil block is connected to the two thigh plates through the thigh shaft; the second servo valve is connected to the two thigh plates through the servo valve seat; the first servo valve is connected to 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 to the thigh plate through the first fixed support; one end of the front and rear oil-through hose-free hydraulic cylinder is connected to one thigh plate through the first fixed support, and the other end is connected to the calf plate through the second fixed support; one calf plate is connected to 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 cylinders, and drives the input and output of 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 hydraulic oil is output 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 to each other, 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 facing 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 I-shaped, 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 spaced apart 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, which 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 opposite ends of the first cylinder bottom shaft. The hose-free hydraulic cylinder of the integrated valve block 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 is also provided with 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 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 channel and a rodless chamber oil channel, the rod chamber oil channel is connected with the rod chamber; the rodless chamber oil channel is connected with the rodless chamber; the rod chamber oil channel and the rodless chamber oil channel 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 channels are respectively connected with the first servo valve oil hole and the fourth servo valve oil hole.

[0019] Furthermore, pressure sensor mounting holes are provided 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 for mounting pressure sensors.

[0020] The present invention further provides a hydraulic humanoid robot, comprising the hose-free hydraulic robot leg structure and a 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 solutions conceived by the present invention have the following advantages over the conventional ones:

[0022] Beneficial effects:

[0023] 1. The main inlet and outlet oil block is connected to the two thigh plates through the thigh shaft; the second servo valve is connected to the two thigh plates through the servo valve seat; the first servo valve is connected to 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 to the thigh plate through the first fixed support; one end of the front and rear oil-through hose-free hydraulic cylinder is connected to one thigh plate through the first fixed support, and the other end is connected to the calf plate through the second fixed support; one calf plate is connected to the other thigh plate through the calf shaft, thereby realizing the circulation of oil inside the leg structure and avoiding the influence of hydraulic hoses on structural reliability, movement stability and control accuracy. In addition, by integrating the hydraulic cylinder, servo valve seat, corresponding oil channel and sensor interface, the integrated design and assembly of the entire hydraulic cylinder driver including the hydraulic cylinder, servo valve and sensor is realized, thereby improving the degree of integration and integration.

[0024] 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 and the volume of the hydraulic robot driver is reduced without hose.

[0025] 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

[0026] Figure 1 This is a three-dimensional schematic diagram of a hose-free hydraulic robot leg structure provided by the present invention;

[0027] Figure 2 (a) and (b) are Figure 1 A schematic plan view and cross-sectional view of the main oil inlet and outlet blocks of the hose-free hydraulic robot leg structure;

[0028] Figure 3(a) and (b) are Figure 1 A schematic plan view and a cross-sectional view of the thigh axis of the hose-free hydraulic robot leg structure;

[0029] Figure 4 (a) and (b) are Figure 1 A cross-sectional view of the right and left thigh plates of the hose-free hydraulic robot leg structure;

[0030] Figure 5 yes Figure 1 Schematic diagram of the hose-free hydraulic robot leg structure with integrated valve block and hose-free hydraulic cylinder;

[0031] Figure 6 yes Figure 5 Cross-sectional view of the hydraulic cylinder without hose in the integrated valve block;

[0032] Figure 7 This is a cross-sectional view of the hydraulic cylinder without hose on the integrated valve block from another angle;

[0033] Figure 8 (a) and (b) are Figure 1 A schematic plan view and a cross-sectional view of the first fixed support of the hose-free hydraulic robot leg structure;

[0034] Figure 9 yes Figure 1 A three-dimensional schematic diagram of a servo valve block in a hose-free hydraulic robot leg structure;

[0035] Figure 10 (a) and (b) are Figure 9 Schematic diagram and cross-sectional view of the servo valve block in FIG.

[0036] Figure 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;

[0037] Figure 12 yes Figure 11 A cross-sectional view of a front and rear oil-through, hose-free hydraulic cylinder;

[0038] Figure 13 (a) and (b) are Figure 1 A schematic plan view and a cross-sectional view of the left calf plate of the hose-free hydraulic robot leg structure;

[0039] Figure 14 yes Figure 1 A three-dimensional schematic diagram of a second fixed support of a hose-free hydraulic robot leg structure;

[0040] Figure 15 (a) and (b) are Figure 14 Schematic plan view and cross-sectional view of the second fixed support.

[0041] In all the drawings, the same reference numerals are used to represent the same elements or structures, among which: 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 seal, 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 First hydraulic cylinder bottom, 5-19-Pressure sensor mounting port, 5-20-Rod chamber, 5-21-Rodless chamber, 5-22-Welded oil plug, 5-23-Hydraulic cylinder inlet and outlet oil passages, 5-24-Fourth O-ring, 5-25-First rotating sealing ring, 5-26-First thrust bearing, 5-27-First servo valve oil hole, 5-28-Second servo valve oil hole, 5-29-Third servo valve oil hole, 5-30-Fourth servo valve oil hole, 6-Front and rear oil-free hose-free hydraulic cylinder, 6-1-Second hydraulic cylinder bottom, 6-2-Hydraulic cylinder barrel, 6-3-Fifth O-ring, 6-4-Third guide ring, 6-5 -Second combined sealing ring, 6-6-Second piston rod, 6-7-Piston rod chamber oil passage, 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-Cylinder bottom rodless chamber oil passage, 6-15-Piston rod output shaft, 6-16-Second rotating sealing ring, 6-17-Piston rod output shaft oil passage, 7-Joint angle sensor, 8-Calf shaft, 9-First fixed support, 9-1-Fixing 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

[0042] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining 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 may be combined with each other as long as they do not conflict with each other.

[0043] See also Figure 1 The present invention provides a hose-free hydraulic robot leg structure. This leg structure achieves hose-free operation by using a rotating shaft to pump oil and cooperating with a rotating sealing ring, thereby eliminating the impact of hydraulic hoses on structural reliability, motion stability, and control accuracy. By integrating the hydraulic cylinder, servo valve seat 5-13, corresponding oil passages, and sensor interface, the entire hydraulic cylinder driver, including the hydraulic cylinder, servo valve, and sensor, is assembled in an integrated manner, thereby improving the degree of integration and integration. By arranging oil passages in the hydraulic cylinder bottom and piston rod, the hydraulic cylinder's appearance is effectively improved while achieving hose-free operation, and the size of the hydraulic robot driver is reduced.

[0044] 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 with a hoseless hydraulic cylinder 5, a front and rear oil-flowing hoseless hydraulic cylinder 6, a first fixed support 9, and a second fixed support 13. One end of the thigh shaft 2 passes through the right thigh plate 3, the main oil inlet and outlet block 1, and the left thigh plate 3, respectively. 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, respectively. One end of the integrated valve block with a hoseless 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 via two first fixed supports 9. The first servo valve 10 is mounted on the integrated valve block with a hoseless hydraulic cylinder 5. The servo valve block 12 has two ends connected to the two thigh plates 3, located between them. The second servo valve 11 is provided on the servo valve block 12. One end of the front and rear oil-through hoseless hydraulic cylinder 6 is connected to the two thigh plates 3 via the two first fixed supports 9, and the other end is connected to the two calf plates 4 via the two second fixed supports 13.

[0045] The leg structure achieves rotational movement of the thigh and calf structures via the integrated valve block's hoseless hydraulic cylinder 5 and the front and rear oil-flowing hoseless hydraulic cylinders 6. The main inlet and outlet oil block 1 is used to drive the input and output of hydraulic oil for the entire leg structure. Hydraulic oil is fed into the main inlet and outlet oil block 1 and then flows into the thigh shaft 2, thigh plate 3, calf shaft 8, and calf plate 4, where it is supplied to the integrated valve block's hoseless hydraulic cylinder 5 and the front and rear oil-flowing hoseless hydraulic cylinders 6. During movement, the hydraulic oil is output through the corresponding oil passages in the leg structure.

[0046] See also Figure 2 The main oil inlet and outlet block 1 comprises a substantially rectangular main body and two connecting protrusions, spaced apart on one side of the main body. The two connecting protrusions are connected to one end of the hoseless hydraulic cylinder 5 of the integrated valve block. The main body has a first thigh shaft hole 1-2 defined along its axial direction, which extends through the main body. The main body also has a first pin hole 1-1 extending through the wall of the first thigh shaft hole 1-2. Two spaced apart oil inlet and outlet ports 1-3 are defined on the surface of the main body adjacent to the connecting protrusions, and the oil inlet and outlet ports 1-3 are vertically connected to the first thigh shaft hole 1-2. The first thigh shaft hole 1-2 is used to accommodate a portion of the thigh shaft 2.

[0047] See also Figure 3The thigh shaft 2 has a stepped shape, with a first, second, third, and fourth connecting holes extending through it in sequence. The number of first, second, third, and fourth connecting holes is two, and the corresponding two connecting holes intersect perpendicularly with each other, such as two first connecting holes intersecting perpendicularly. A second pin hole 2-3 is also provided through the middle of the thigh shaft 2. A pin is inserted into the first and second pin holes 2-3 to circumferentially position the thigh shaft 2 with the main oil inlet and outlet block 1. Four rotating seal ring slots 2-1 are also provided on the outer circumference of the thigh shaft 2. The second and third connecting holes are located on either side of the second pin hole 2-3, respectively. The four rotating seal ring slots 2-1 are staggered with the second, second, and third connecting holes, and are used to accommodate a sealing ring.

[0048] The thigh shaft 2 also has a first oil hole 2-4 and a second oil hole 2-5 at opposite ends. The first oil hole 2-4 and the second oil hole 2-5 are parallel to the axial direction of the thigh shaft 2. The two ends of the first oil hole 2-4 are connected to the first and second connecting holes, respectively. The two ends of the second oil hole 2-5 are connected to the third and fourth connecting holes, respectively. The second and third connecting holes are both connected to the thigh shaft hole, and the second and third connecting holes are respectively connected to the two oil inlet and outlet ports 1-3, allowing oil to 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 mounted on the sensor fixing shoulder 2-2.

[0049] See also Figure 4 The two thigh plates 3 are divided into a right thigh plate and a left thigh plate, and the right and left thigh plates have substantially identical shapes. A second thigh shaft hole 3-1 and a first shank shaft hole 3-7 are respectively defined at both ends of the right thigh plate. The second thigh shaft hole 3-1 and the first shank shaft hole 3-7 are respectively configured to allow the thigh shaft and the shank shaft to pass through. A third oil hole 3-2 is defined along the length of the right thigh plate. One end of the third oil hole 3-2 passes through one end of the right thigh plate and intersects perpendicularly with the second thigh shaft hole 3-1.

[0050] The wall of the third oil hole 3-2 is formed with a fourth oil hole 3-3 and a seventh oil hole 3-6, respectively. The fourth oil hole 3-3 and the seventh oil hole 3-6 respectively penetrate the side of the right thigh plate facing the left thigh plate. The right thigh plate is also formed with a fifth oil hole 3-4 and a sixth oil hole 3-5, which are connected to each other. 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.

[0051] The left thigh plate has two opposing ends, each with a third thigh shaft hole 3-8 and a second shank shaft hole 3-14. The third thigh shaft hole 3-8 and the second shank shaft hole 3-14 are respectively used to pass through the thigh shaft and the shank shaft. The left thigh plate has an eighth oil hole 3-9, which passes through one end of the left thigh plate and is connected to the third thigh shaft hole 3-8. The wall of the eighth oil hole 3-9 has a ninth oil hole 3-10 and an eleventh oil hole 3-13, respectively. Both the ninth oil hole 3-10 and the eleventh oil hole 3-13 pass through the side of the left thigh plate facing the right thigh plate. A tenth oil hole 3-11 is also provided on one side of the left thigh plate. One end of the tenth oil hole 3-11 is connected to the second shank shaft hole 3-14, and the other end passes through one side of the left thigh plate.

[0052] See also Figure 9 and Figure 10 The servo valve block 12 is I-shaped, 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. A fifth, sixth, seventh, and eighth communicating holes are also formed on the central surface of the servo valve block 12. The fifth, sixth, seventh, and eighth communicating holes are connected to the fourteenth, sixteenth, fifteenth, and seventeenth oil holes 12-2, 12-4, 12-3, and 12-5, respectively. The fourteenth and sixteenth oil holes 12-2 and 12-4 are connected to the fifth and fourth oil holes 3-4 and 3-3, respectively. The fifteenth and seventeenth oil holes 12-5 are connected to the ninth and tenth oil holes 3-10 and 3-11, respectively.

[0053] See also Figure 8The first fixing support 9 is generally L-shaped, with multiple fixing holes 9-1 defined along one end and a first bearing groove 9-2 extending through the other end. A first sealing ring groove 9-3 is defined within the wall of the first bearing groove 9-2. The first fixing support 9 also has a thirteenth oil hole 9-4 extending along its length, communicating with the first bearing groove 9-2. There are two first sealing ring grooves 9-3, one located on either side of the thirteenth oil hole 9-4.

[0054] See also Figure 14 and Figure 15 The second fixed support 13 is basically N-shaped, with multiple second main fixing holes 13-2 formed at one end and a second bearing groove 13-3 extending therethrough at the other end. The groove wall of the second bearing groove 13-3 is provided with two second sealing ring grooves 13-4 spaced apart. The second fixed support 13 is provided with an eighteenth oil hole 13-5 along its length, 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. The second side fixing hole 13-1 is perpendicular to the axis of the second main fixing hole 13-2.

[0055] See also Figure 13 The left calf plate 4 has a third calf axis hole 4-1 extending through it at the opposite end. It also has a twelfth oil hole 4-2 along its length. The twelfth oil hole 4-2 extends through one side of the calf plate 4, which also has a first side fixing hole 4-3. The calf plate 4 also has a plurality of first main fixing holes 4-4, the axes of the first main fixing holes 4-4 and the axes of the first side fixing holes 4-3 being perpendicular to each other. 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 via the calf axis.

[0056] See also Figure 5 、 Figure 6 and Figure 7The integrated valve block hose-free hydraulic cylinder 5 is stepped and includes a ball joint bearing 5-1, a fixing nut 5-2, a first dust seal 5-3, a first guide ring 5-4, a first piston rod seal 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 5-16, a third O-ring 5-17, a first hydraulic cylinder bottom 5-18, a welded 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 formed with a rodless cavity 5-21 at one end adjacent to the first hydraulic cylinder bottom 5-18, and a rod cavity 5-20 at the other end. The piston rod spacer 5-9 is arranged at the end of the rod cavity 5-20 away from the first hydraulic cylinder bottom 5-18.

[0057] 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 located 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 before being connected to the fixing nut 5-2. 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 disposed 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 circumference of the end of the first piston rod 5-12 away from the fixing nut 5-2. A third O-ring 5-17 is disposed between the first hydraulic cylinder bottom 5-18 and the hydraulic cylinder body 5-10.

[0058] The bottom of the first hydraulic cylinder 5-18 is formed with a first cylinder bottom shaft, and the first cylinder bottom shaft oil inlet channel and the first cylinder bottom shaft oil outlet channel are respectively opened at the opposite ends of the first cylinder bottom shaft. The integrated valve block hose-free hydraulic cylinder 5 is respectively connected to the corresponding two thirteenth oil holes 9-4 of the first fixed supports 9 through the first cylinder bottom shaft oil inlet channel and the first cylinder bottom shaft oil outlet channel.

[0059] The hydraulic cylinder body 5-10 also has two parallel hydraulic cylinder inlet and outlet oil passages 5-23, which are connected to the first cylinder bottom shaft oil inlet passage and the first cylinder bottom shaft oil outlet passage, respectively. A servo valve seat 5-13 is provided on the hydraulic cylinder body 5-10. The servo valve seat 5-13 has an oil hole 5-27 for the first servo valve 10, an oil hole 5-28 for the second servo valve 11, an oil hole 5-29 for the third servo valve, and an oil hole 5-30 for the fourth servo valve. Rod chamber oil passages 5-11 and rodless chamber oil passages 5-14 are respectively provided at both ends of the hydraulic cylinder body 5-10. The rod chamber oil passage 5-11 is connected to the rod chamber. The rodless chamber oil passage 5-14 is connected to the rodless chamber. The rod chamber oil passage 5-11 and the rodless chamber oil passage 5-14 are connected to the third servo valve oil hole 5-29 and the second servo valve 11 oil hole 5-28, respectively. The two hydraulic cylinder inlet and outlet oil passages 5-23 are connected to the first servo valve 10 oil hole 5-27 and the fourth servo valve oil hole 5-30, respectively. Furthermore, the first servo valve 10 is mounted on the servo valve seat 5-13, and the servo valve seat 5-13 is connected to the first servo valve 10 via the first servo valve 10 oil hole 5-27, the 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.

[0060] The welded 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 mount pressure sensors. The two pressure sensors are used to detect the pressure in the rodless chamber and the rod chamber, respectively.

[0061] The hoseless hydraulic cylinder 5 of the integrated valve block is connected to the connecting protrusion via the ball joint bearing 5-1. Both ends of the first cylinder bottom shaft extend through the first bearing slots 9-2 of the first fixed support 9. The first cylinder bottom shaft oil inlet and outlet passages are connected to the thirteenth oil holes 9-4 of the two first fixed supports 9, respectively. The two corresponding first fixed supports 9 are fixedly connected to the two thigh plates. The thirteenth oil holes 9-4 of the two first fixed supports 9 are connected to the seventh oil hole 3-6 and the eleventh oil hole 3-13, respectively.

[0062] See also Figure 11 and Figure 12The front and rear oil-through hoseless 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 seal 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, the other end of which is connected to the second hydraulic cylinder guide sleeve. One end of the second piston rod 6-6 is housed in the hydraulic cylinder barrel 6-2, and the other end is connected to the piston rod output shaft 6-15.

[0063] The fifth O-ring 6-3 is disposed between the second hydraulic cylinder base 6-1 and the hydraulic cylinder barrel 6-2. The third guide ring 6-4 and the second combined seal ring 6-5 are embedded on the outer circumference of the second piston rod 6-6, adjacent to the second hydraulic cylinder base 6-1. The fourth guide ring 6-10, the first piston rod seal ring 6-11, and the second dust seal 6-12 are embedded within the inner wall of the second hydraulic cylinder guide sleeve.

[0064] The second hydraulic cylinder bottom 6-1 is provided with a second cylinder bottom shaft, which also defines a cylinder bottom rodless oil passage. Each of the second cylinder bottom shafts is provided with a second thrust bearing 6-13, which is connected to the first fixed support 9 via the second thrust bearing 6-13, and further connected to the thigh plate via 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.

[0065] The second piston rod 6-6 defines a piston rod cavity oil passage 6-7. The piston rod output shaft 6-15 is provided with a connecting shaft, through which the front and rear oil-through hoseless hydraulic cylinder 6 is connected to the second fixed support 13, which is in turn connected to the calf plate 4. The piston rod output shaft 6-15 defines a piston rod output shaft oil passage 6-17, which communicates with the corresponding eighteenth oil hole 13-5 of the second fixed support 13 and the piston rod cavity oil passage 6-7.

[0066] 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 sealing and dividing action of the Gly ring installed in the rotating sealing ring shaft groove 2-1.

[0067] Because the oil at the inlet is at a higher pressure, it's referred to as "P" (pressure). The return pressure, which leads to the hydraulic pump's tank, is lower, and is referred to as "T" (tank). All oil passages in the hoseless robotic leg are connected to either the P or T port to supply oil to all hydraulic actuators.

[0068] 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.

[0069] The second pin hole 2-3, the first oil hole 2-4, and the second oil hole 2-5 are sealed with a Gly ring in the rotating seal ring shaft groove 2-1, and are not interconnected. When the thigh rotates, the thigh plate and the thigh shaft rotate relative to each other, and an angle encoder is used to measure the angular change. The magnetic ring is fixed to the sensor fixed shaft shoulder 2-2 through a shaft hole. The encoder readhead fixed to the thigh plate can read the angular change between the magnetic ring and the readhead in real time, thereby completing the measurement of the angular change between the thigh plate and the thigh shaft.

[0070] The two thigh plates are connected to the thigh shaft via the second thigh shaft hole 3-1 and the third thigh shaft hole 3-8. Seal rings are installed in each of these holes to seal the oil holes. Angular contact ball bearings are also installed to support the thigh shaft, enabling relative rotation between the thigh shaft and the thigh plates and sealing the oil holes. The pair of angular contact ball bearings on the two thigh plates should be installed back-to-back to prevent additional stress and ensure a stable fixation of the thigh shaft to the thigh plates.

[0071] 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, respectively. It is then directed into the servo valve block 12 through the fourth oil hole 3-3 and the ninth oil hole 3-10, respectively. After oil distribution by the second servo valve 11, it flows to the hoseless hydraulic cylinder 5 of the integrated valve block. Hydraulic oil is supplied to the hoseless hydraulic cylinder 5 of the integrated valve block through the seventh oil hole 3-6 and the eleventh oil hole 3-13, respectively. The calf shaft receives oil from the rodless chamber of the front-to-rear oilless hydraulic cylinder 6 through the second calf shaft hole 3-14. However, no hydraulic oil is transferred to the calf plate 4 on the other side. A pair of angular contact ball bearings are also mounted on the calf shaft to support the knee joint.

[0072] The oil in the third and eighth oil holes 3-2 and 3-9 is transferred to the thirteenth oil hole 9-4 via the seventh and eleventh oil holes 3-13, respectively, and then output to the first fixed support 9. The first fixed support 9 is threadedly secured to the four fixing holes surrounding the eleventh oil hole 3-13. The oil is then transferred to the corresponding two thirteenth oil holes 9-4 via the seventh and eleventh oil holes 3-13. A pair of Gly rings is installed in the first sealing ring groove 9-3 to provide a rotational seal. An angular contact ball bearing is installed in the first bearing groove 9-2. The back-to-back mounting of the pair of angular contact ball bearings reduces the generation of additional stress. The hydraulic oil then flows from the thirteenth oil hole 9-4 to the hydraulic cylinder inlet and outlet passages 5-23, thereby transferring the oil from both ends of the P and T ports to the hose-free hydraulic cylinder 5 of the integrated valve block. The hydraulic cylinder's shaft uses angular contact ball bearings to support radial forces, with one bearing located on each side, forming a pair of bearing points to prevent wear on the rotating seal ring caused by the hydraulic cylinder's output. A thrust bearing is used between the first cylinder shaft and the first fixed support 9 to enable relative rotational motion between the two components without friction.

[0073] The first servo valve 10 is secured via a threaded fixing hole on the outer side of the servo valve seat 5-13. After oil is introduced into the bottom of the first hydraulic cylinder 5-18, it enters the servo valve seat 5-13 through the hydraulic cylinder inlet and outlet oil passages 5-23. Oil at both ends of P and T enter the first servo valve 10 through the first servo valve 10 oil port 5-27 and the fourth servo valve oil port 5-30, respectively. By controlling the signal of the first servo valve 10, the oil is distributed to the rod chamber through the rod chamber oil passage and to the rodless chamber through the rodless chamber oil passage, thereby driving the linear motion of the first piston rod 5-12, thereby controlling the hydraulic cylinder and, in turn, achieving rotational motion in the thigh pitch direction.

[0074] The piston rod spacer 5-9 is used to limit and adjust the stroke of the first piston rod 5-12, preventing it from blocking the oil supply from the rod chamber oil passageway to the rod chamber after the first piston rod 5-12 reaches its maximum stroke. The piston rod spacer 5-9 is sealed with a second O-ring 5-8 to ensure proper fit with the first piston rod 5-12. In the first hydraulic cylinder head guide sleeve 5-6, a first O-ring 5-7 and an O-ring retaining ring provide a static seal between the first hydraulic cylinder head guide sleeve 5-6 and the hydraulic cylinder body 5-10. A first dust seal 5-3 protects the oil in the hydraulic cylinder from dust contamination. A pair of first guide rings 5-4 guide the first piston rod 5-12, ensuring its coaxiality with the first hydraulic cylinder head guide sleeve 5-6. The first piston rod sealing ring 5-5 prevents hydraulic oil leakage during piston movement of the first piston rod 5-12. The first piston rod 5-12 itself uses a pair of second guide rings 5-15 to guide and smoothly slide within the hydraulic cylinder body 5-10, ensuring coaxiality and preventing mechanical friction. A first combined seal ring 5-16 ensures a sliding seal between the first piston rod 5-12 and the hydraulic cylinder body 5-10, thereby isolating the rod chamber from the rodless chamber and preventing internal leakage within the hydraulic cylinder. A welded oil plug 5-22 seals the process hole. The oil seal is secured to the process hole outlet and welded and polished to achieve a permanent seal and smooth surface. To meet the requirements of hydraulic pressure-based force control, the integrated valve block hoseless hydraulic cylinder 5 is equipped with a pressure sensor mounting hole to enable the integration of a pressure sensor. The pressure sensor is installed through the pressure sensor mounting port 5-19, which monitors the hydraulic oil pressure in the rod and rodless chambers in real time. By knowing the working areas of the two chambers, the force acting on both ends of the first piston rod 5-12 can be calculated, thereby deriving the output force of the integrated valve block hoseless hydraulic cylinder 5 and enabling force control. The main sealing principle of the front and rear oil-through hose-free hydraulic cylinder 6 is basically the same as that of the integrated valve block hose-free hydraulic cylinder 5.

[0075] 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 being redistributed 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 threadedly mounted in the center of the servo valve block 12 via the third mounting hole 12-6. The servo valve block 12 is fixed to the mounting holes surrounding the fourth oil hole 3-3 and the ninth oil hole 3-10 via the second mounting hole 12-1. Oil enters the sixteenth and fifteenth oil holes 12-4 and 12-3 of the servo valve block 12 through the fourth and ninth oil holes 3-10, respectively, and then 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 or seventeenth oil hole 12-2, 12-5, causing high-pressure oil to flow to the corresponding cavity, thereby extending or retracting the hydraulic cylinder. When oil flows to the rodless cavity, the fourteenth oil hole 12-2 connects with the fifth oil hole 3-4, which in turn connects with the sixth oil hole 3-5. The oil is then transferred to the first fixed support 9 through the sixth oil hole 3-5. The oil is transmitted to the rodless chamber oil channel 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 calf shaft through the third calf shaft hole 4-1 into the twelfth oil hole 4-2 in the calf plate 4, 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 channel 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 channel 6-7, and thus enter the rod chamber from the side hole on the second piston rod 6-6, thereby realizing the retraction of the hydraulic cylinder. The second fixing bracket 13 on the calf plate 4 is fixedly mounted to the first side fixing hole 4-3 and the first main fixing hole 4-4 of the calf plate 4 via the second side fixing hole 13-1 and the second main fixing hole 13-2. These two pairs of perpendicular mounting holes ensure stable load-bearing for the second fixing bracket 13 and ensure the alignment and sealing of the oil holes. Since the rod chamber of the front-to-rear oil-free hydraulic cylinder 6 only requires oil flow from one side, the other side of the calf plate 4 does not require an oil flow design, nor does the mounting bracket on the other side require an oil flow seal. Only the load bearing is considered, and this will not be discussed further here.

[0076] The present invention further provides a hydraulic humanoid robot, comprising the hose-free hydraulic robot leg structure and a body structure as described above, wherein the body structure is connected to the leg structure.

[0077] It will be easily understood by those skilled in the art that the above description is merely 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 scope of protection of the present invention.

Claims

1. A hose-free hydraulic robot leg structure, characterized by: 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 without a hose hydraulic cylinder, a front and rear oil-through hydraulic cylinder without a hose, 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 the right thigh plate, the right calf plate, the left calf plate and the left thigh plate in sequence; one end of the integrated valve block without a hose hydraulic cylinder is connected to the The main inlet and outlet oil block has its other end connected to the two thigh plates via the two first fixed supports. The first servo valve is provided on the hose-free 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 provided 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 via the two first fixed supports, and the other end is respectively connected to the two calf plates via the two second fixed supports. The main inlet and outlet oil block is connected to the two thigh plates through the thigh shaft; the second servo valve is connected to the two thigh plates through the servo valve seat; the first servo valve is connected to 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 to the thigh plate through the first fixed support; one end of the front and rear oil-through hose-free hydraulic cylinder is connected to one thigh plate through the first fixed support, and the other end is connected to the calf plate through the second fixed support; one calf plate is connected to 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 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 enters the thigh shaft, the thigh plate, the calf shaft and the calf plate respectively and is supplied to the hose-free hydraulic cylinder of the integrated valve block and the front and rear oil-through hose-free hydraulic cylinders, 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 to each other, 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 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, 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; the hole wall of the eighth oil hole is provided with a ninth oil hole and an eleventh oil hole respectively, and the ninth oil hole and the eleventh oil hole both pass through the side of the left thigh plate facing 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.

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 spaced apart at the other end; a fifth communicating hole, a sixth communicating hole, a seventh communicating hole and an eighth communicating hole are also provided on the middle surface of the servo valve block, and the fifth communicating hole, the sixth communicating hole, the seventh communicating hole and the eighth communicating 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 hose-free hydraulic cylinder of the integrated valve block 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 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 is provided with a first cylinder bottom shaft at the bottom, and the first cylinder bottom shaft oil inlet passage and the first cylinder bottom shaft oil outlet passage are respectively provided at opposite ends of the first hydraulic cylinder. 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 is further provided with 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; the two ends of the hydraulic cylinder body are respectively provided with a rod chamber oil channel and a rodless chamber oil channel, the rod chamber oil channel is connected to the rod chamber; the rodless chamber oil channel is connected to the rodless chamber; the rod chamber oil channel and the rodless chamber oil channel are respectively connected to the third servo valve oil hole and the second servo valve oil hole; the two hydraulic cylinder inlet and outlet oil channels are respectively connected to 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 according to any one of claims 1 to 9, wherein the body structure is connected to the leg structure.

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