Distributed hydraulic driving system for hydraulic quadruped robot

Abstract

The invention discloses a distributed hydraulic driving system for a hydraulic quadruped robot, and relates to the technical field of robot driving. The problems that according to an existing quadruped robot driving system, the anti-explosion performance depends on external protection, the reliability and redundancy design is insufficient, and the oil way sealing performance is poor are solved. The device comprises two sets of hydraulic modules symmetrically arranged on the front side and the rear side of a robot trunk, each set of hydraulic module comprises a power assembly and six anti-explosion servo valves, a high-pressure oil port and an oil return port of each set of hydraulic module are converged to a high-pressure oil main path and an oil return main path respectively and are connected with the power assembly, and a working oil port is connected with a driver of a leg mechanism through a working oil path. A radiator, a pressure sensor, a filter and other components are integrated. Distributed layout and essential explosion-proof design are adopted, the structure is compact, operation is stable, high-risk scenes are adapted, and heavy load and complex terrain adaptability are both considered.

Description

Technical Field

[0001] This invention relates to the field of robot drive technology, specifically to a distributed hydraulic drive system for a hydraulic quadruped robot, which is particularly suitable for high-risk explosion-proof scenarios such as petroleum, chemical, oil and gas fields, and mines. It can be matched with industrial-grade quadruped robots with heavy-duty transportation and complex terrain adaptability to achieve automated operation in high-risk environments. Background Technology

[0002] In high-risk industrial settings such as petroleum, chemical, oil and gas fields, and mines, manual inspection and heavy-duty transportation face multiple risks, including flammability, explosiveness, dust, humidity, and confined spaces. Traditional operating methods not only pose significant safety hazards but are also inefficient. To address this issue, quadruped robots are gradually becoming an important alternative to manual labor. However, existing quadruped robot drive systems have several shortcomings:

[0003] Most quadruped robots use centralized hydraulic or electric drive. Centralized hydraulic drive systems have complex piping layouts, requiring a large number of external pipes to connect various actuators, resulting in a large space occupation, poor maneuverability in narrow working environments, and difficulty in adapting to confined working spaces in high-risk scenarios; moreover, centralized drive relies on a single power unit, and once the power unit fails, it will directly lead to the paralysis of the entire machine, resulting in insufficient system reliability.

[0004] Motor-driven systems pose inherent safety hazards in high-risk environments. During operation, motors are prone to generating electric sparks, arcs, or localized high temperatures. Even with explosion-proof enclosures, the size and weight of the equipment are increased. Furthermore, explosion-proof enclosures are at risk of failure under long-term vibration and impact. This makes it impossible to meet the stringent explosion-proof requirements of the GB3836 standard and ensure safe operation in flammable and explosive environments.

[0005] Existing electro-hydraulic hybrid drive explosion-proof robots use a positive pressure chamber to isolate live components for explosion protection. While this meets basic explosion protection requirements, it has significant drawbacks: First, it relies on chamber sealing and positive pressure maintenance, and long-term vibration and impact can easily lead to seal failure, resulting in insufficient explosion-proof reliability. Second, the servo pump is centrally located in a single chamber, lacking power redundancy, and a single component failure can easily cause the entire machine to malfunction. Third, the oil circuit is connected to the support oil passage through chamber openings, still posing a risk of external pipeline exposure, which can easily lead to entanglement and leakage during joint movement.

[0006] In summary, existing quadruped robot drive systems suffer from problems such as reliance on external protection for explosion-proof performance, insufficient reliability and redundancy design, and poor oil circuit sealing, making them unable to meet the requirements for long-term stable operation in high-risk environments. Summary of the Invention

[0007] The purpose of this invention is to solve the problems of existing quadruped robot drive systems, such as reliance on external protection for explosion-proof performance, insufficient reliability and redundancy design, and poor oil circuit sealing, and to provide a distributed hydraulic drive system for hydraulic quadruped robots.

[0008] The technical solution of this invention is:

[0009] A distributed hydraulic drive system for a hydraulic quadruped robot includes two sets of hydraulic modules 51 symmetrically arranged on the front and rear sides of the robot's torso 1. Each set of hydraulic modules 51 includes a power component 512 and six explosion-proof servo valves 515. The high-pressure oil ports of the six explosion-proof servo valves 515 converge into a high-pressure oil main line through six high-pressure oil branches, and the high-pressure oil main line is connected to the high-pressure oil port of the power component 512. The return oil ports of the six explosion-proof servo valves 515 converge into a return oil main line through six return oil branches, and the return oil main line is connected to the return oil port of the power component 512. The twelve working oil ports of the six explosion-proof servo valves 515 are respectively connected to the twelve working oil chambers of the two side-swing hydraulic actuators 31, the two thigh hydraulic actuators 32, and the two calf hydraulic actuators 33 of the two leg mechanisms 2 on the corresponding sides through twelve working oil lines.

[0010] Furthermore, the two main return oil lines of the two sets of hydraulic modules 51 are also connected through the central hydraulic channel inside the battery module 4.

[0011] Furthermore, the distributed hydraulic drive system also includes a radiator 519, the main return oil line is connected to the oil inlet of the radiator 519, and the oil outlet of the radiator 519 is connected to the return oil port of the power component 512, for cooling the hydraulic oil flowing through the main return oil line.

[0012] Furthermore, each hydraulic module 51 also includes twelve pressure sensors 518, which are respectively installed on the twelve working oil lines connected to the twelve working oil chambers of the two side swing hydraulic actuators 31, the two thigh hydraulic actuators 32 and the two calf hydraulic actuators 33 of the two leg mechanisms 2 on the corresponding side.

[0013] Furthermore, each hydraulic module 51 also includes a pressure gauge, the probe of which is vertically and sealedly inserted into the high-pressure oil main line.

[0014] Furthermore, each hydraulic module 51 also includes a filter, which is coaxially mounted on the high-pressure oil main.

[0015] Furthermore, the power assembly 512 includes an oil tank 5121, a power unit, a high-pressure accumulator 5122, and a low-pressure accumulator 5123. The oil inlet of the power unit is connected to the oil tank 5121; the inlet of the high-pressure accumulator 5122 is connected to the pressure oil port of the power unit, the outlet of the high-pressure accumulator 5122 is connected to the high-pressure oil main line, the inlet of the low-pressure accumulator 5123 is connected to the oil tank 5121, and the outlet of the low-pressure accumulator 5123 is connected to the return oil main line.

[0016] Furthermore, the power unit includes an electric motor 5124, a plunger pump 5125, and a one-way valve 5126; the plunger pump 5125 is driven by the electric motor 5124, and the oil suction port of the plunger pump 5125 is connected to the oil tank 5121; the pressure port of the plunger pump 5125 is connected to the high-pressure accumulator 5122 through a pipeline; the one-way valve 5126 is installed on the oil line connecting the high-pressure accumulator 5122 and the plunger pump 5125.

[0017] Furthermore, each hydraulic module 51 also includes a torso front and rear plate 511, a power component connector 514, a front and rear axle connector 516, and two hip-side swing-and-go hydraulic joints 517. The torso front and rear plate 511 is vertically arranged on the front or rear side of the robot torso 1 along a direction perpendicular to the robot's travel direction. The power component 512 is located on the side of the torso front and rear plate 511 near the robot torso 1. The two ends of the power component connector 514 are respectively connected to the torso front and rear plate 511 and the power component 512. The power component connector 514 has a through connector high-pressure oil circuit inside, and the torso front and rear plate 511 has a through-hole high-pressure oil circuit inside. The system includes a front and rear plate high-pressure main oil circuit and six front and rear plate high-pressure branch oil circuits connected to the front and rear plate high-pressure main oil circuit. The two ends of the connector high-pressure oil circuit are respectively connected to the high-pressure oil outlet of the power assembly 512 and the front and rear plate high-pressure main oil circuit. The high-pressure oil inlets of the six explosion-proof servo valves 515 are respectively connected to the front and rear plate high-pressure main oil circuit. A front and rear axle connector 516 is installed on the side of the torso front and rear plate 511 away from the robot torso 1. The front and rear axle connector 516 has eight front and rear axle connector high-pressure oil circuits arranged in parallel. The torso front and rear plate 511 also has four first torso front and rear plate working oil circuits arranged in parallel inside. The system includes eight parallel-arranged working oil circuits for the front and rear plates of the second torso; four working oil circuits for the front and rear plates of the first torso are respectively connected to the four working oil circuits of the two side-swing hydraulic actuators 31 on the corresponding sides; eight working oil circuits for the front and rear plates of the second torso are respectively connected to one end of the eight high-pressure oil circuits of the front and rear axle connectors 516; two hip-side swing oil-moving joints 517 are symmetrically installed at the left and right ends of the front and rear axle connectors 516, each hip-side swing oil-moving joint 517 is provided with four parallel-arranged hip-side swing oil-moving joint high-pressure oil circuits, and the eight hip-side swing oil-moving joint high-pressure oil circuits of the two hip-side swing oil-moving joints 517 are respectively connected to the eight working oil circuits of the front and rear axle connectors 31. The other end of the high-pressure oil circuit of the front and rear axle connector is connected; the eight high-pressure oil circuits of the two hip side swing oil joints 517 are respectively connected with the eight high-pressure oil circuits of the side swing pitch adapters of the two thighs 22 on the corresponding side to form a rotary sealing oil circuit, and then through the eight high-pressure oil circuits of the thigh skeleton ribs of the two leg mechanisms 2 on the corresponding side to reach the eight working oil circuits of the thigh hydraulic actuator 32 and the calf hydraulic actuator 33; wherein, the front and rear plates of the torso are also provided with six parallel-arranged front and rear plate return oil circuits, and the six front and rear plate return oil circuits converge to reach the power assembly 512.

[0018] Furthermore, each hydraulic module 51 also includes four torso links 513, which are arranged in pairs on the upper and lower sides of the power assembly 512. The two ends of the torso links 513 are fixedly connected to the robot torso 1 and the front and rear plates 511 of the torso, respectively. The upper and lower torso links 513 fix the power assembly 512 in place.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] 1. This invention employs a distributed hydraulic drive and an intrinsically explosion-proof design for core components. Through the intrinsically safe / sealing process of the explosion-proof servo valve 515 and pressure sensor 518, the risk of electrical sparks is eliminated at the source. It eliminates the need for a positive pressure chamber's sealing and pneumatic control, completely avoiding the hidden danger of chamber seal failure compared to the passive explosion-proof mode of existing electro-hydraulic hybrid drive robots, resulting in superior explosion-proof reliability. Simultaneously, it eliminates the need for a bulky positive pressure chamber structure, making the overall layout more compact and suitable for confined working spaces in high-risk scenarios. This invention achieves intrinsic explosion-proofness through the intrinsically safe / sealing process of core components, eliminating the need for a positive pressure chamber and pneumatic control system, breaking the technical bias of existing explosion-proof robots that rely on external protection, and eliminating risks at the source.

[0021] 2. The two independent hydraulic modules 51 of the present invention are symmetrically arranged and drive the front and rear legs respectively, forming a complete power redundancy. Compared with centralized drive and single-chamber servo pump layout, when a single module fails, it can switch to emergency mode to maintain basic operation and avoid the whole machine from shutting down. Moreover, the power unit 512 integrates a high-pressure accumulator 5122 and a low-pressure accumulator 5123. The high-pressure accumulator 5122 can supplement power during peak load, and the low-pressure accumulator 5123 balances the return oil pressure. Compared with a power unit without accumulators, the power output is smoother and adaptable to complex load changes in heavy-duty operations.

[0022] 3. The front and rear plates 511 of the torso and the hip-side swing oil joint 517 of the present invention integrate oil circuits and, with the rotary sealing design, completely eliminate the problems of entanglement, pulling and leakage of external pipelines compared with the connection method of the cabin opening + external oil channel in the prior art, and adapt to the high-frequency movement of robot joints; at the same time, the main return oil circuits of the two sets of hydraulic modules 51 are connected through the central hydraulic channel inside the battery module 4 to achieve balanced return oil pressure, without the need for additional connecting pipelines, further simplifying the layout and reducing the risk of leakage, and improving the coordination of the return oil system and the power transmission efficiency.

[0023] 4. The high-pressure oil main line embedded filter of the present invention can filter impurities in the oil, avoid wear of precision components such as explosion-proof servo valve 515 and hydraulic drive, and extend the maintenance cycle and service life of components compared with drive system without filtration function; radiator 519 provides forced cooling of return oil, effectively reducing oil temperature and avoiding problems such as viscosity reduction and seal failure caused by oil overheating, and can adapt to long-term continuous operation; four trunk connecting rods 513 clamp and fix the power component 512, which can resist vibration and impact during operation compared with simple bolt fixing, ensure the installation stability of power component 512, and further improve the long-term reliability of the system. Attached Figure Description

[0024] Figure 1 This is a hydraulic schematic diagram of the distributed hydraulic drive system for the hydraulic quadruped robot described in this invention.

[0025] Figure 2 This is a front view of a hydraulic quadruped robot using the distributed hydraulic drive system described in this invention;

[0026] Figure 3 This is a side view of the hydraulic quadruped robot described in this invention;

[0027] Figure 4 This is a top view of the hydraulic quadruped robot described in this invention;

[0028] Figure 5 This is an isometric view of the leg mechanism of the hydraulic quadruped robot described in this invention;

[0029] Figure 6 This is a front view of the leg mechanism described in this invention;

[0030] Figure 7 This is a side view of the leg mechanism described in this invention;

[0031] Figure 8 yes Figure 6 View from direction A;

[0032] Figure 9 yes Figure 8 A magnified view of the area at point B;

[0033] Figure 10 This is a top view of the leg mechanism described in this invention;

[0034] Figure 11 yes Figure 10 A magnified view of point C;

[0035] Figure 12 This is an exploded view of the robot's torso as described in this invention;

[0036] Figure 13 This is a front view of the battery module described in this invention;

[0037] Figure 14 yes Figure 12 Sectional view at DD;

[0038] Figure 15 This is an exploded view of the battery module described in this invention;

[0039] Figure 16 This is an isometric view of the hydraulic module described in this invention;

[0040] Figure 17 This is a front view of the hydraulic module described in this invention;

[0041] Figure 18 This is an exploded view of the hydraulic module described in this invention;

[0042] Figure 19 This is a schematic diagram of the internal oil circuit of the robot's torso according to the present invention (wherein, "red pipes" represent high-pressure oil branch lines and high-pressure oil main lines; "blue pipes" represent return oil branch lines and return oil main lines; and "yellow pipes" represent working oil circuits).

[0043] Figure 20 This is a schematic diagram of the internal oil circuit of the thigh as described in this invention (wherein, "yellow pipes" represent working oil circuits). Detailed Implementation

[0044] Specific implementation method one: Combining Figures 1 to 20 This embodiment describes a distributed hydraulic drive system for a hydraulic quadruped robot, comprising two sets of hydraulic modules 51 symmetrically arranged on the front and rear sides of the robot's torso 1. Each hydraulic module 51 includes a power component 512 and six explosion-proof servo valves 515. The high-pressure oil ports of the six explosion-proof servo valves 515 converge into a high-pressure oil main line through six high-pressure oil branches, and the high-pressure oil main line is connected to the high-pressure oil port of the power component 512. The return oil ports of the six explosion-proof servo valves 515 converge into a return oil main line through six return oil branches, and the return oil main line is connected to the return oil port of the power component 512. The twelve working oil ports of the six explosion-proof servo valves 515 are respectively connected to the twelve working oil chambers of the two side-swing hydraulic actuators 31, two thigh hydraulic actuators 32, and two calf hydraulic actuators 33 of the two leg mechanisms 2 on the corresponding sides through twelve working oil lines.

[0045] Two hydraulic modules 51 independently provide power to the front and rear side leg mechanisms 2, achieving distributed power distribution and avoiding system failure due to a single power source malfunction. This redundant design significantly improves system reliability. Explosion-proof servo valves 515 precisely control the oil supply to each hydraulic actuator, ensuring accurate execution of side-swing, pitching, and other movements of the leg mechanisms 2, meeting the needs of operations in complex terrain. Compared to centralized drive solutions, this approach offers more rational power distribution and adapts to diverse operational scenarios.

[0046] Specific Implementation Method Two: Combining Figures 1 to 20 In this embodiment, the two main return oil lines of the two sets of hydraulic modules 51 are also connected through the central hydraulic channel inside the battery module 4. This configuration allows the return oil from the two sets of hydraulic modules 51 to circulate mutually through the central hydraulic channel of the battery module 4, achieving balanced return oil pressure and preventing excessively high return oil pressure on one side from affecting system operation. It eliminates the need for additional connecting pipelines, simplifies the structural layout, reduces leakage risk, and improves the stability and compactness of the return oil system. Compared to an independent return oil system, it is more suitable for the integrated design requirements of robots. Other components and connections are the same as in Specific Embodiment One.

[0047] Specific implementation method three: Combining Figures 1 to 20 This embodiment of the distributed hydraulic drive system further includes a radiator 519. The main return oil circuit is connected to the inlet of the radiator 519, and the outlet of the radiator 519 is connected to the return oil port of the power component 512, for cooling the hydraulic oil flowing through the main return oil circuit. This configuration allows the radiator 519 to forcibly cool the hydraulic oil in the main return oil circuit, effectively reducing the oil temperature and preventing problems such as viscosity decrease and seal failure due to overheating. This ensures the service life of hydraulic components and the stability of system operation. Compared to drive systems without a cooling device, it can adapt to long-term continuous operation. Other components and connections are the same as in specific embodiments one or two.

[0048] Specific implementation method four: Combination Figures 1 to 20In this embodiment, each hydraulic module 51 further includes twelve pressure sensors 518. These twelve pressure sensors 518 are respectively installed on twelve working oil lines connected to the twelve working oil chambers of the two side-swing hydraulic actuators 31, two thigh hydraulic actuators 32, and two calf hydraulic actuators 33 on the corresponding sides of the two leg mechanisms 2. This configuration allows the twelve pressure sensors 518 to monitor the pressure status of each working oil line in real time, providing timely feedback on the working load of the side-swing hydraulic actuators 31, thigh hydraulic actuators 32, and calf hydraulic actuators 33. This provides accurate pressure data to the control system, facilitating dynamic adjustment of the hydraulic supply, preventing overload damage to components, and improving the accuracy and safety of power control. Compared to systems lacking pressure monitoring, this configuration offers superior operational reliability. Other components and connections are the same as in specific embodiments one, two, or three.

[0049] Specific Implementation Method Five: Combining Figures 1 to 20 This embodiment describes a hydraulic module 51 that further includes a pressure gauge, the probe of which is vertically and sealedly inserted into the high-pressure oil main line. This configuration allows the pressure gauge to visually display the pressure value of the high-pressure oil main line, enabling operators to monitor the high-pressure oil supply status in real time, quickly detect pressure anomalies, promptly troubleshoot faults, reduce maintenance difficulty, prevent pressure issues from affecting system power output, and improve equipment operation and maintenance convenience. Other components and connections are the same as in specific embodiments one, two, three, or four.

[0050] Specific Implementation Method Six: Combination Figures 1 to 20 This embodiment further includes a filter in each hydraulic module 51, which is coaxially embedded in the high-pressure oil main line. This configuration allows the filter to remove impurities and contaminants from the high-pressure oil, preventing them from entering the working oil chambers of precision components such as the explosion-proof servo valve 515 and the hydraulic actuator. This avoids valve core jamming, component wear, and other malfunctions, extending the service life of precision components and improving system operational stability. Compared to drive systems without filtration, the maintenance cycle is longer. Other components and connections are the same as in specific embodiments one, two, three, four, or five.

[0051] Specific implementation method seven: Combination Figures 1 to 20This embodiment describes a power assembly 512 comprising an oil tank 5121, a power unit, a high-pressure accumulator 5122, and a low-pressure accumulator 5123. The oil inlet of the power unit is connected to the oil tank 5121; the inlet of the high-pressure accumulator 5122 is connected to the pressure oil port of the power unit, and the outlet of the high-pressure accumulator 5122 is connected to the high-pressure oil main line; the inlet of the low-pressure accumulator 5123 is connected to the oil tank 5121, and the outlet of the low-pressure accumulator 5123 is connected to the return oil main line. With this configuration, the oil tank 5121 provides a stable oil source for the power unit; the high-pressure accumulator 5122 stores high-pressure oil, allowing for rapid power replenishment during peak load periods, ensuring power requirements for heavy-duty operations; and the low-pressure accumulator 5123 balances the return oil pressure, reducing return oil impact and improving return oil smoothness. The combined effect of these two components results in more stable and efficient power output, adapting to complex load variations. Other components and connections are the same as in specific embodiments one, two, three, four, five, or six.

[0052] Specific implementation method eight: Combination Figures 1 to 20 This embodiment describes a power unit comprising an electric motor 5124, a plunger pump 5125, and a check valve 5126. The plunger pump 5125 is driven by the electric motor 5124, and its suction port is connected to the oil tank 5121. The pressure port of the plunger pump 5125 is connected to the high-pressure accumulator 5122 via a pipeline. The check valve 5126 is installed in the oil circuit connecting the high-pressure accumulator 5122 and the plunger pump 5125. This configuration allows the electric motor 5124 to drive the plunger pump 5125 to efficiently draw and pressurize oil, generating high-pressure oil. The plunger pump 5125 possesses high power density, meeting heavy-load drive requirements. The check valve 5126 effectively prevents high-pressure oil backflow, ensuring stable pressure in the high-pressure oil circuit, avoiding power transmission losses, and guaranteeing efficient operation of the power unit. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, or seven.

[0053] Specific Implementation Method Nine: Combining Figures 1 to 20This embodiment describes a hydraulic module 51 that further includes a torso front and rear plate 511, a power component connector 514, a front and rear axle connector 516, and two hip-side swing joints 517. The torso front and rear plate 511 is vertically arranged on the front or rear side of the robot torso 1 along a direction perpendicular to the robot's travel direction. The power component 512 is located on the side of the torso front and rear plate 511 closest to the robot torso 1. The two ends of the power component connector 514 are respectively connected to the torso front and rear plate 511 and the power component 512. The power component connector 514 has a through-type high-pressure oil passage. The torso front and rear plate 511... The robot body 1 is internally equipped with a main high-pressure oil circuit for the front and rear plates and six branch high-pressure oil circuits for the front and rear plates connected to the main high-pressure oil circuit. The two ends of the connector high-pressure oil circuit are respectively connected to the high-pressure oil outlet of the power assembly 512 and the main high-pressure oil circuit for the front and rear plates. The high-pressure oil inlets of the six explosion-proof servo valves 515 are respectively connected to the main high-pressure oil circuit for the front and rear plates. The front and rear axle connectors 516 are installed on the side of the torso front and rear plates 511 away from the robot body 1, and the front and rear axle connectors 516 are provided with eight parallel high-pressure oil circuits for the front and rear axle connectors. Furthermore, the torso front and rear plates 511 are internally equipped with four parallel first torso front and rear plate working lines. The system includes eight parallel working oil circuits for the front and rear plates of the second torso; four working oil circuits for the front and rear plates of the first torso are respectively connected to the four working oil circuits of the two side-swing hydraulic actuators 31 on the corresponding sides; eight working oil circuits for the front and rear plates of the second torso are respectively connected to one end of the eight high-pressure oil circuits of the front and rear axle connectors 516; two hip-side swing oil-moving joints 517 are symmetrically installed at the left and right ends of the front and rear axle connectors 516, each hip-side swing oil-moving joint 517 has four parallel-arranged hip-side swing oil-moving joint high-pressure oil circuits, and the eight hip-side swing oil-moving joint high-pressure oil circuits of the two hip-side swing oil-moving joints 517 are respectively connected to the eight... The other end of the high-pressure oil circuit of the front and rear axle connectors is connected; the eight high-pressure oil circuits of the two hip side swing oil joints 517 are respectively connected with the eight high-pressure oil circuits of the side swing pitch adapters of the two thighs 22 on the corresponding side to form a rotary sealing oil circuit, and then through the eight high-pressure oil circuits of the thigh skeleton ribs of the two leg mechanisms 2 on the corresponding side to reach the eight working oil circuits of the thigh hydraulic actuator 32 and the calf hydraulic actuator 33; wherein, the front and rear plates of the torso are also provided with six parallel-arranged front and rear plate return oil circuits, and the six front and rear plate return oil circuits converge to reach the power assembly 512.This design integrates the hydraulic circuits internally into components such as the front and rear torso plates 511 and the power component connector 514, avoiding external pipe exposure and reducing the risks of pipe entanglement, pulling, and leakage. The rotary sealed hydraulic circuit, composed of the hip side swing hydraulic joint 517 and the side swing pitch adapter, employs a double-seal structure: an inner wear-resistant sealing ring and an outer elastic sealing ring. This ensures the hydraulic circuit's sealing performance during joint rotation, guaranteeing continuous power transmission. Simultaneously, it makes the overall structure more compact, adaptable to narrow working spaces, and more environmentally adaptable compared to external pipe connection schemes. Other components and connections are the same as in specific implementation methods one, two, three, four, five, six, seven, or eight.

[0054] Specific Implementation Method Ten: Combining Figures 1 to 20 In this embodiment, each hydraulic module 51 further includes four torso connecting rods 513. These four torso connecting rods 513 are arranged in pairs, one above and one below the power assembly 512. The two ends of each torso connecting rod 513 are fixedly connected to the robot torso 1 and the front and rear torso plates 511, respectively. The upper and lower torso connecting rods 513 clamp and fix the power assembly 512 in place. This configuration forms a stable clamping and fixing structure with the four torso connecting rods 513, firmly fixing the power assembly 512 between the robot torso 1 and the front and rear torso plates 511. This structure can resist vibrations and impacts during robot movement, preventing displacement or loosening of the power assembly 512, ensuring the stability of power output and the overall reliability of the system. Compared to traditional fixing methods, this is more suitable for high-dynamic operating scenarios. Other components and connections are the same as in embodiments one, two, three, four, five, six, seven, eight, or nine.

[0055] Related product examples:

[0056] Combination Figures 1 to 20 This embodiment describes a hydraulic quadruped robot, comprising:

[0057] Robot torso 1;

[0058] Four-leg mechanism 2 is symmetrically connected to both sides of the robot torso 1. Each leg mechanism 2 includes a thigh 22 connected to the side of the robot torso 1 via a hip joint 21 and a lower leg 24 connected to the end of the thigh 22 via a knee joint 23.

[0059] A hydraulic drive unit is used to drive the movement of each of the leg mechanisms 2. The hydraulic drive unit includes: a lateral swing hydraulic actuator 31 for driving the thigh 22 to swing laterally, a thigh hydraulic actuator 32 for driving the thigh 22 to pitch, and a calf hydraulic actuator 33 for driving the lower leg 24 to rotate.

[0060] The robot torso 1 integrates the following along its longitudinal direction:

[0061] Battery module 4 is located in the geometric center region of the robot torso 1;

[0062] The distributed hydraulic drive system 5 includes two sets of hydraulic modules 51 symmetrically arranged on the front and rear sides of the battery module 4.

[0063] The battery module 4 has a central hydraulic channel running through it along its axis. The return oil circuits of the two sets of hydraulic modules 51 are connected to each other through the central hydraulic channel. The high-pressure oil circuits of the two sets of hydraulic modules 51 are respectively connected to the side swing hydraulic actuator 31, thigh hydraulic actuator 32 and calf hydraulic actuator 33 of the leg mechanism 2 on the corresponding side.

[0064] Furthermore, the thigh 22 includes a thigh frame 225 and a side-swing pitch adapter 221. The thigh frame 225 is integrally formed by 3D printing. The thigh frame 225 is provided with ribs for conveying hydraulic oil. The ribs adopt a variable cross-section design to meet the flow requirements while taking into account structural strength and lightweight. A hip joint 21 is installed on the upper part of the thigh frame 225. The hip joint 21 is connected to the robot torso 1 through the side-swing pitch adapter 221. The robot torso 1 drives the side-swing pitch adapter 221 through the side-swing hydraulic actuator 31. The hip joint 21 is driven by the side-swing hydraulic actuator 31 to achieve side-swing. A thigh hydraulic actuator 32 is installed inside the thigh frame 225. The thigh hydraulic actuator 32 drives the hip joint 21 to rotate in a hydraulic manner to achieve pitch.

[0065] Furthermore, the hip joint 21 includes a hip magnet mounting base 216, a hip joint encoder 2140, a hip joint encoder sealing cover 217, and a hip pitching oil-running joint 2110; the hip pitching oil-running joint 2110 is rotatably mounted in the width direction of the thigh frame 225, the hip magnet mounting base 216 is mounted on the thigh frame 225 outside the hip pitching oil-running joint 2110, and the hip joint encoder 2140 is mounted on the end of the hip magnet mounting base 216 and is sealed and fixed by the hip joint encoder sealing cover 217.

[0066] Furthermore, the thigh hydraulic actuator 32 includes a thigh cylinder 3250, a pitch two-force shaft 324, a pitch slider 3251, a hip two-force shaft 322, a hip two-force shaft 323, a slide rail 3252, and a pitch block. The thigh cylinder 3250 is installed along the length of the thigh frame 225, with the extended end of the thigh cylinder 3250 facing the hip joint 21. The slide rail 3252 is installed in front of the extended end of the thigh cylinder 3250. One end of the hip two-force shaft 322 is connected to the extended end of the thigh cylinder 3250 through the pitch two-force shaft 324, and the other end of the hip two-force shaft 322 is connected to the pitch block installed on the hip pitch-hitch joint 2110 through the hip two-force shaft 323. The lower end of the pitch slider 3251 is slidably installed on the slide rail 3252, and the upper end of the pitch slider 3251 is connected to the extended end of the thigh cylinder 3250.

[0067] Furthermore, the knee joint 23 includes a knee joint shaft 2321, a knee joint magnet mounting base 2320, a magnet 2319, a magnetic encoder 2318, and a knee joint bearing mounting base 2317. The knee joint shaft 2321 is rotatably mounted on the lower part of the thigh frame 225. The magnet 2319 is embedded in the end of the knee joint shaft 2321 through the knee joint magnet mounting base 2320. The knee joint sealing cover is mounted on the magnet 2319. The magnetic encoder 2318 is mounted on the knee joint sealing cover outside the magnet 2319 and is encapsulated by the knee joint bearing mounting base 2317. The knee joint bearing mounting base 2317 is encapsulated in an explosion-proof manner using a glue-sealed method.

[0068] Furthermore, the calf hydraulic actuator 33 includes a calf cylinder 3353 and a crank-slider mechanism. The crank-slider mechanism includes a knee joint slide rail 3354, a knee joint slider 3355, and a knee joint lever 3356. The calf cylinder 3353 is installed along the length of the thigh frame 225, and the telescopic end of the calf cylinder 3353 faces the knee joint 23. The knee joint slide rail 3354 is installed on the thigh frame 225. The telescopic end of the calf cylinder 3353 is connected to one end of the knee joint lever 3356 through the knee joint slider 3355. The knee joint slider 3355 is slidably installed on the knee joint slide rail 3354. The other end of the knee joint lever 3356 is rotatably connected to the upper part of the calf 24.

[0069] Furthermore, battery module 4 includes:

[0070] Cylindrical battery compartment 401, wherein the cylindrical battery compartment 401 has a cylindrical structure;

[0071] A battery compartment top cover 402 and a battery compartment bottom cover 403 are coaxially nested at the top and bottom of the cylindrical battery compartment 401. After the battery compartment top cover 402, the battery compartment bottom cover 403 and the cylindrical battery compartment 401 are assembled, they form a first cylindrical cavity.

[0072] An integrated battery cell 404 is composed of multiple battery cells connected in series and coaxially nested within the first cylindrical cavity;

[0073] A battery top cover 405 is coaxially nested at the top of the battery compartment top cover 402. After the battery compartment top cover 402 and the battery top cover 405 are assembled, they form a second cylindrical cavity.

[0074] A circuit board is coaxially nested within the second cylindrical cavity, and the circuit board is connected to the integrated battery cell 404 via multiple wires passing through the top cover 402 of the battery compartment.

[0075] In addition, a battery reinforcing rib 406 serves as the core load-bearing and force-transmitting component. The battery reinforcing rib 406 is a hollow rod-shaped structure that coaxially penetrates the cylindrical battery compartment 401 and the integrated battery cell 404. The two ends of the battery reinforcing rib 406 are detachably fixedly connected to the top cover 405 of the battery compartment and the bottom cover 403 of the battery compartment, thereby tightening the top cover 405 of the battery compartment, the cylindrical battery compartment 401 and the bottom cover 403 of the battery compartment to form a highly rigid overall frame.

[0076] Furthermore, the robot torso 1 also includes:

[0077] The joint actuator module 6 is located at the bottom of the hydraulic module 51 and is used to drive the side swing hydraulic actuator 31, thigh hydraulic actuator 32 and lower leg hydraulic actuator 33 of the four-leg mechanism 2, thereby realizing the thigh 22 degrees of freedom side swing, thigh 22 degrees of freedom pitch, and lower leg 24 degrees of freedom rotation.

[0078] The distributed hydraulic drive system 5 integrated into the robot torso 1 forms a structured collaboration with the battery module 4. The two hydraulic modules 51 are interconnected through a central hydraulic channel. Compared with the existing single-chamber centralized oil supply design, the power distribution is more balanced and avoids the sealing risks caused by openings in the chamber. The thigh skeleton 225 is 3D printed in one piece, and the ribs also serve as oil passages. Compared with the external oil passages of the existing mounting bracket, it completely eliminates the risk of leakage caused by external pipe entanglement and the structure is more compact. The side swing hydraulic actuator 31, thigh hydraulic actuator 32 and lower leg hydraulic actuator 33 correspond to the side swing, pitch and knee joint movements of the hip joint, respectively. The drive path is decoupled. Compared with coaxial transmission, the power control is more precise and adaptable to posture adjustment in complex terrain. The battery module 4 is arranged at the geometric center of the torso, which not only provides a stable oil passage connection for the two hydraulic modules 51, but also optimizes the overall center of gravity distribution. Compared with the chamber offset layout, the robot's motion stability is better and it is less prone to imbalance during heavy-load operations. The 3D printing of the 225 thigh skeleton as a single unit, along with the ribbed oil circuit design, not only achieves oil circuit integration but also reduces the number of parts connection nodes, lowers the risk of mechanical sparks caused by vibration and impact, and works synergistically with the inherently explosion-proof design to further enhance adaptability to high-risk environments.

[0079] Working principle

[0080] Combination Figures 1 to 20 The working principle of the distributed hydraulic drive system for the hydraulic quadruped robot of the present invention is based on the distributed output, precise control and cyclic recovery of hydraulic power, as detailed below:

[0081] During the power output phase, the electric motor 5124 in the power assembly 512 drives the plunger pump 5125 to draw oil from the oil tank 5121. The plunger pump 5125 pressurizes the oil to form high-pressure oil, which is then delivered to the high-pressure accumulator 5122 for storage via the one-way valve 5126. The high-pressure accumulator 5122 stabilizes the high-pressure oil circuit pressure, providing a continuous and stable high-pressure oil source for the system. The low-pressure accumulator 5123 is connected to the oil tank 5121 to help balance the return oil pressure and ensure smooth return oil flow.

[0082] During the power distribution and transmission phase, the high-pressure oil output from the high-pressure accumulator 5122 is transported via the high-pressure oil main circuit to the front and rear plate high-pressure main circuit of the torso front and rear plate 511, and then distributed to six explosion-proof servo valves 515 through six front and rear plate high-pressure branch oil circuits. The explosion-proof servo valves 515 precisely adjust the flow and direction of the high-pressure oil according to the control system commands, and deliver the high-pressure oil through twelve working oil ports to the twelve working oil chambers of the corresponding side-swing hydraulic actuator 31, thigh hydraulic actuator 32, and calf hydraulic actuator 33 of the side leg mechanism 2, driving each actuator to move, thereby realizing the side-swing, thigh pitching, and calf rotation movements of the leg mechanism 2. Part of the high-pressure oil is directly connected to the side-swing hydraulic actuator 31 via the first trunk front and rear plate working oil circuit of the trunk front and rear plate 511. The other part is connected to the thigh hydraulic actuator 32 and the calf hydraulic actuator 33 via the second trunk front and rear plate working oil circuit, the high-pressure oil circuit of the front and rear axle connector 516, the rotary sealing oil circuit of the hip side-swing oil joint 517, and the high-pressure oil circuit of the thigh skeleton musculoskeletal tendon, ensuring that the oil circuit is reliably sealed and the power transmission is leak-free during joint movement.

[0083] During the pressure monitoring and regulation phase, pressure sensors 518 installed on the twelve working oil circuits collect real-time pressure data from each circuit and feed it back to the control system. Simultaneously, pressure gauges on the main high-pressure oil circuit display the main circuit pressure visually, allowing operators to easily monitor the system status. Based on the pressure feedback and operational requirements, the control system adjusts the operating status of the explosion-proof servo valve 515 to achieve precise regulation of power output and prevent overload damage to components.

[0084] During the oil circulation and protection phase, the oil driving each hydraulic actuator converges into the main return oil line through the return oil branch. The main return oil lines of the two sets of hydraulic modules 51 are interconnected through the central hydraulic channel inside the battery module 4. After balancing the return oil pressure, they flow together through the radiator 519. The radiator 519 cools the return oil to prevent the oil temperature from being too high and affecting system performance. The cooled oil flows back to the oil tank 5121 of the power component 512, completing the oil circulation. The filter on the high-pressure oil main line filters impurities in the oil, protecting precision components such as the explosion-proof servo valve 515 and hydraulic actuators. The four trunk connecting rods 513 firmly fix the power component 512 to resist vibration and impact, ensuring long-term stable operation of the system.

[0085] The independent control and emergency switching logic of the two hydraulic modules 51 does not rely on the complex scheduling of a centralized controller. Compared with the centralized control in the comparison document, it is better able to adapt to the fault tolerance requirements in high-risk environments. The combination of this control logic and the distributed hydraulic layout constitutes a complete innovative system.

[0086] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A distributed hydraulic drive system for a hydraulic quadruped robot, characterized in that, The system includes two sets of hydraulic modules (51) symmetrically arranged on the front and rear sides of the robot's torso (1); each set of hydraulic modules (51) includes a power component (512) and six explosion-proof servo valves (515); the high-pressure oil ports of the six explosion-proof servo valves (515) converge into a high-pressure oil main line through six high-pressure oil branches, and the high-pressure oil main line is connected to the high-pressure oil port of the power component (512); the return oil ports of the six explosion-proof servo valves (515) converge into a return oil main line through six return oil branches, and the return oil main line is connected to the return oil port of the power component (512); the twelve working oil ports of the six explosion-proof servo valves (515) are respectively connected to the twelve working oil chambers of the two side-swing hydraulic actuators (31), two thigh hydraulic actuators (32) and two calf hydraulic actuators (33) of the two leg mechanisms (2) on the corresponding side through twelve working oil lines.

2. The distributed hydraulic drive system for a hydraulic quadruped robot according to claim 1, characterized in that, The two return oil mains of the two sets of hydraulic modules (51) are also connected through the central hydraulic channel inside the battery module (4).

3. The distributed hydraulic drive system for a hydraulic quadruped robot according to claim 1, characterized in that, The distributed hydraulic drive system also includes a radiator (519), the main return oil circuit is connected to the oil inlet of the radiator (519), and the oil outlet of the radiator (519) is connected to the return oil port of the power component (512) for cooling the hydraulic oil flowing through the main return oil circuit.

4. The distributed hydraulic drive system for a hydraulic quadruped robot according to claim 3, characterized in that, Each hydraulic module (51) also includes twelve pressure sensors (518), which are respectively installed on the twelve working oil lines connected to the twelve working oil chambers of the two side swing hydraulic actuators (31), two thigh hydraulic actuators (32) and two calf hydraulic actuators (33) of the two leg mechanisms (2) on the corresponding side.

5. The distributed hydraulic drive system for a hydraulic quadruped robot according to claim 1, characterized in that, Each hydraulic module (51) also includes a pressure gauge, the probe of which is vertically and sealed and inserted into the high-pressure oil main line.

6. The distributed hydraulic drive system for a hydraulic quadruped robot according to claim 1 or 5, characterized in that, Each hydraulic module (51) also includes a filter, which is coaxially mounted on the high-pressure oil main.

7. The distributed hydraulic drive system for a hydraulic quadruped robot according to claim 1, characterized in that, The power assembly (512) includes an oil tank (5121), a power unit, a high-pressure accumulator (5122), and a low-pressure accumulator (5123). The oil inlet of the power unit is connected to the oil tank (5121). The inlet of the high-pressure accumulator (5122) is connected to the pressure oil port of the power unit, the outlet of the high-pressure accumulator (5122) is connected to the high-pressure oil main line, the inlet of the low-pressure accumulator (5123) is connected to the oil tank (5121), and the outlet of the low-pressure accumulator (5123) is connected to the return oil main line.

8. The distributed hydraulic drive system for a hydraulic quadruped robot according to claim 7, characterized in that, The power unit includes an electric motor (5124), a plunger pump (5125), and a check valve (5126); the plunger pump (5125) is driven by the electric motor (5124), and the oil suction port of the plunger pump (5125) is connected to the oil tank (5121); the pressure port of the plunger pump (5125) is connected to the high-pressure accumulator (5122) through a pipeline; the check valve (5126) is installed on the oil line connecting the high-pressure accumulator (5122) and the plunger pump (5125).

9. The distributed hydraulic drive system for a hydraulic quadruped robot according to claim 1, characterized in that, Each hydraulic module (51) further includes a torso front and rear plate (511), a power component connector (514), a front and rear axle connector (516), and two hip-side swing-through hydraulic joints (517). The torso front and rear plate (511) is vertically arranged on the front or rear side of the robot torso (1) perpendicular to the robot's direction of travel. The power component (512) is located on the side of the torso front and rear plate (511) near the robot torso (1). The two ends of the power component connector (514) are respectively connected to the torso front and rear plate (511) and the power component (512). The power component connector (514) has a through connector high-pressure oil circuit inside. The torso front and rear plate (511) 11) The interior is provided with one front and rear plate high-pressure main oil circuit and six front and rear plate high-pressure branch oil circuits connected to the front and rear plate high-pressure main oil circuit. The two ends of the connector high-pressure oil circuit are respectively connected to the high-pressure oil outlet of the power component (512) and the front and rear plate high-pressure main oil circuit. The high-pressure oil inlets of the six explosion-proof servo valves (515) are respectively connected to the front and rear plate high-pressure main oil circuit. The front and rear axle connectors (516) are installed on the side of the torso front and rear plates (511) away from the robot torso (1). The front and rear axle connectors (516) are provided with eight front and rear axle connector high-pressure oil circuits arranged in parallel. Among them, the interior of the torso front and rear plates (511) is also provided with four first torso front and rear high-pressure oil circuits arranged in parallel. The first torso front and rear plate working oil circuits and eight parallel-arranged second torso front and rear plate working oil circuits; four first torso front and rear plate working oil circuits are respectively connected to the four working oil circuits of the two side-swing hydraulic actuators (31) on the corresponding side; eight second torso front and rear plate working oil circuits are respectively connected to one end of the eight high-pressure oil circuits of the front and rear axle connectors (516); two hip side swing oil joints (517) are symmetrically installed at the left and right ends of the front and rear axle connectors (516), each hip side swing oil joint (517) is provided with four parallel-arranged hip side swing oil joint high-pressure oil circuits, and the eight hip side swing oil joint high-pressure oil circuits of the two hip side swing oil joints (517) are respectively connected to the eight The other end of the high-pressure oil circuit of the front and rear axle connectors is connected; the eight high-pressure oil circuits of the two hip side swing oil joints (517) are respectively connected with the eight high-pressure oil circuits of the side swing pitch adapters of the two thighs (22) on the corresponding side to form a rotary sealing oil circuit, which then reaches the eight working oil circuits of the thigh hydraulic actuator (32) and the calf hydraulic actuator (33) through the eight high-pressure oil circuits of the thigh skeleton ribs of the two leg mechanisms (2) on the corresponding side; wherein, the front and rear plates of the torso are also provided with six parallel front and rear plate return oil circuits, which converge to the power assembly (512).

10. The distributed hydraulic drive system for a hydraulic quadruped robot according to claim 1 or 9, characterized in that, Each hydraulic module (51) also includes four torso links (513). The four torso links (513) are arranged in pairs on the upper and lower sides of the power assembly (512). The two ends of the torso links (513) are fixedly connected to the robot torso (1) and the front and rear plates (511) of the torso, respectively. The upper and lower torso links (513) clamp and fix the power assembly (512).

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