Explosion-proof wheel-foot switching hydraulic quadruped robot

Abstract

The invention discloses an explosion-proof wheel-foot switching hydraulic quadruped robot, and relates to the technical field of specialized robots. The problems that an existing robot suitable for a high-risk anti-explosion scene is not essentially reliable in anti-explosion performance, unreasonable in power distribution, single in motion mode, difficult to consider load and terrain adaptive capacity and insufficient in operation continuity are solved. The robot comprises a robot trunk, four symmetrically-arranged leg mechanisms and a hydraulic driving system, a battery module and the distributed hydraulic driving system are integrated in the trunk in the lengthwise direction, and the battery module is provided with a central hydraulic channel used for communicating two sets of hydraulic module oil ways symmetrically arranged on the front side and the rear side of the battery module; the thigh skeleton is integrally formed through 3D printing, the ribs also serve as hydraulic oil channels, and the shank is a foot type or wheel type module capable of being rapidly switched. The electric spark risk is eliminated from the source through hydraulic driving, the distributed power distribution and wheel-foot dual-mode design is combined, and the electric vehicle is compact in structure, anti-explosion and safe and has the high load capacity and the all-terrain adaptive capacity.

Description

Technical Field

[0001] This invention relates to the field of special robot technology, specifically to explosion-proof mobile operation robot technology applicable to high-risk explosion-proof scenarios such as petroleum, chemical, oil and gas fields, and mines, and particularly to hydraulically driven quadruped robot technology with heavy-duty transportation, all-terrain adaptability, and multi-functional modular adaptability. Background Technology

[0002] In high-risk explosion-proof scenarios such as petroleum, chemical, and oil and gas fields, inspection and heavy-load transportation are crucial for ensuring continuous production. Traditionally, these tasks rely heavily on manual labor. However, these environments are often perpetually filled with flammable and explosive gases, vapors, or dust. Manual operation not only faces extremely high safety risks and is prone to accidents, but also suffers from low efficiency and high labor intensity. To address the drawbacks of manual operation, various mobile robots have been gradually applied to these scenarios, but current technologies still have many limitations.

[0003] Firstly, there is a conflict between drive and explosion-proof design: Some robots use motor-driven systems, which are prone to generating electric sparks, arcs, or localized high temperatures during operation. Even with explosion-proof enclosures, this leads to increased equipment size and weight, and the explosion-proof enclosures are at risk of failure under long-term vibration and impact, making it difficult to meet the inherent safety requirements of high-risk environments. For example, invention patent CN116001948A, published on April 25, 2023, discloses an electro-hydraulic composite drive explosion-proof legged robot. This robot uses an electro-hydraulic composite drive + positive pressure chamber design, achieving electro-hydraulic separation for explosion-proof design, but still relies on the chamber's sealed isolation of electrical components, posing a risk of seal failure. Furthermore, it does not solve the integration problem between the hydraulic system and the explosion-proof structure, failing to eliminate the risk of electric sparks at the root.

[0004] Secondly, the hydraulic system design is flawed: the robot with centralized hydraulic drive has a complex pipeline layout and occupies a large space. When the joints rotate, the oil circuit sealing is poor, which can easily lead to leakage problems and affect the power transmission efficiency. At the same time, it lacks a targeted explosion-proof design, and the core electrical components do not have effective explosion-proof protection, making it difficult to meet the stringent requirements of high-risk environments.

[0005] Thirdly, limitations in load and motion performance: The existing robot leg structure design is unreasonable, the power density of the motor drive is limited, and it is difficult to carry heavy materials; the motion mode is limited, wheeled robots cannot adapt to unstructured terrain, while legged robots have problems with slow movement speed and insufficient endurance, and cannot take into account both the ability to pass through complex terrain and the efficient mobility on flat roads, making it difficult to meet the dual needs of heavy-duty transportation and flexible inspection in high-risk environments.

[0006] Fourth, insufficient overall adaptability: The existing robot's battery compartment structure has insufficient rigidity and poor heat dissipation. The hydraulic system has unreasonable power distribution and poor reliability. The core components lack integrated explosion-proof design and the functional modules have poor compatibility, making it unable to quickly adapt to diverse work tasks. Overall, it is difficult to meet the multiple requirements for equipment safety, performance and stability in high-risk explosion-proof environments.

[0007] In summary, existing robots suitable for high-risk explosion-proof scenarios suffer from problems such as unreliable explosion-proof performance, unreasonable power distribution, limited movement modes, difficulty in balancing load and terrain adaptability, and insufficient operational continuity. Summary of the Invention

[0008] The purpose of this invention is to address the problems of existing robots suitable for high-risk explosion-proof scenarios, such as unreliable explosion-proof performance, unreasonable power distribution, single movement mode, difficulty in balancing load and terrain adaptability, and insufficient operational continuity. Therefore, this invention provides an explosion-proof wheel-leg switching hydraulic quadruped robot.

[0009] The technical solution of this invention is:

[0010] An explosion-proof, wheel-leg switching hydraulic quadruped robot includes: a robot torso 1; four leg mechanisms 2 symmetrically connected to both sides of the robot torso 1, each leg mechanism 2 including 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; and a hydraulic drive system 3 for driving the movement of each leg mechanism 2, the hydraulic drive system 3 including: 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 lower leg hydraulic actuator for driving the lower leg 24 to rotate. The robot body 1 includes, along its longitudinal direction, a battery module 4 located at the geometric center of the robot body 1; and a distributed hydraulic drive system 5 comprising two sets of hydraulic modules 51 symmetrically arranged on the front and rear sides of the battery module 4. The battery module 4 has a central hydraulic channel extending along its axial direction, and the return oil circuits of the two sets of hydraulic modules 51 are interconnected 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 corresponding leg mechanism 2.

[0011] Compared with the prior art, the present invention has the following advantages:

[0012] 1. This invention uses hydraulic drive instead of traditional electric motor drive, eliminating the risk of electrical sparks at the source. Combined with the intrinsically safe / sealed design and advanced explosion-proof technology of core components (pressure sensors, position sensors, etc.), the entire system complies with the national standard GB3836, achieving the specified explosion-proof rating and IP67 protection level. Compared to the electro-hydraulic composite drive explosion-proof legged robot disclosed in invention patent CN116001948A, published on April 25, 2023, this invention features a positive pressure chamber isolation explosion-proof design. This invention does not rely on chamber sealing, resulting in a more fundamental explosion-proof design and a more compact structure. It avoids the risk of seal failure during long-term use and can stably adapt to harsh environments such as dusty, humid, and oil / gas leaks, eliminating safety hazards in high-risk environments.

[0013] 2. This invention employs a distributed hydraulic drive scheme, with two independent hydraulic power units providing hydraulic power to the front and rear legs respectively. This achieves optimized power distribution and redundant design, allowing for switching to emergency mode in case of a single unit failure, significantly improving system reliability. The high-power-density hydraulic actuators output strong joint torque, and combined with a rational leg structure design, give the robot excellent heavy-duty transport capabilities, enabling it to stably carry heavy materials and meet the core requirements of material transport in high-risk environments. Compared to the drive scheme of an electro-hydraulic composite-driven explosion-proof legged robot disclosed in invention patent CN116001948A, published on April 25, 2023, this invention features a more rational power distribution, and the redundant design further ensures operational continuity, making it suitable for long-term, high-intensity work scenarios.

[0014] 3. The single leg of this invention has three degrees of freedom (two degrees of freedom for hip joint pitch and lateral swing, and one degree of freedom for knee joint), supporting various movement postures such as longitudinal / lateral walking and 360° turning on the spot. It has strong terrain adaptability and can easily cope with complex road conditions such as climbing slopes and overcoming obstacles. At the same time, the modularly designed switchable lower leg module can quickly switch between legged and wheeled modes. The legged mode is suitable for complex environments such as rugged terrain and stair climbing, while the wheeled mode is suitable for rapid transportation on continuous roads. It takes into account the ability to pass through complex terrain and the efficient mobility on flat roads, and solves the drawback of the single movement mode of traditional robots.

[0015] 4. This invention integrates a high-energy-density lithium iron phosphate battery pack with a self-developed BMS (Battery Management System), achieving high-power-density energy output and efficient energy management, ensuring long-term stable robot operation. Coupled with an autonomous charging system, it supports automatic docking with charging stations, reducing manual intervention, improving operational continuity, and meeting the needs of 24-hour shift work. Compared to existing technologies, this invention has higher energy utilization efficiency, superior range performance, and effectively reduces maintenance costs and the frequency of manual intervention.

[0016] 5. This invention adopts a modular design with standardized task payload interfaces, supporting the rapid replacement of modular equipment such as inspection cameras, gas detectors, and robotic arms. It can flexibly adapt to diverse task requirements such as oil and gas field inspection, pipeline leak detection, material transportation, and emergency rescue. Simultaneously, the various system modules exhibit strong synergy. The intelligent control algorithm integrates data from joint position sensors and pressure sensors, achieving real-time adjustment of motion posture through a hydraulic servo system. This ensures stability and flexibility under complex working conditions, significantly improving overall adaptability and practicality. Attached Figure Description

[0017] Figure 1 This is a front view of the explosion-proof wheel-leg switching hydraulic quadruped robot of the present invention; Figure 2 This is a side view of the explosion-proof wheel-leg switching hydraulic quadruped robot of the present invention; Figure 3 This is a top view of the explosion-proof wheel-leg switching hydraulic quadruped robot of the present invention; Figure 4 This is an isometric view of the thigh of the present invention; Figure 5 This is a front view of the thigh of the present invention; Figure 6 This is a side view of the thigh of the present invention; Figure 7 yes Figure 4 View from point A; Figure 8 yes Figure 6 A magnified view of the area at point B; Figure 9 This is a top view of the thigh of the present invention; Figure 10 yes Figure 9 A magnified view of the area at point C; Figure 11 This is an isometric view of the wheel module of the present invention; Figure 12 This is a front sectional view of the wheeled module of the present invention; Figure 13 yes Figure 12 The D-direction view; Figure 14 yes Figure 13 Sectional view at EE; Figure 15 yes Figure 13 Sectional view at FF; Figure 16 yes Figure 13 A magnified view of the area at point G; Figure 17 yes Figure 12 A magnified view of the area at point H; Figure 18 This is an exploded view of the wheeled module of the present invention. Figure 19 This is a front view of the battery module of the present invention; Figure 20 yes Figure 19 Sectional view at point II; Figure 21 yes Figure 20 Sectional view at JJ; Figure 22 This is a top view of the battery module of the present invention; Figure 23 yes Figure 22 Sectional view at KK; Figure 24This is an exploded view (front view) of the robot's torso according to the present invention. Figure 25 This is an exploded view (rear side view) of the robot torso of the present invention. Figure 26 This is an isometric view of the hydraulic module of the present invention; Figure 27 This is a front view of the hydraulic module of the present invention; Figure 28 This is an exploded view (front view) of the hydraulic module of the present invention. Figure 29 This is an exploded view (rear view) of the hydraulic module of the present invention. Figure 30 This is a hydraulic schematic diagram of the explosion-proof wheel-leg switching hydraulic quadruped robot of the present invention. Detailed Implementation

[0018] Specific implementation method one: Combining Figures 1 to 3 This embodiment describes an explosion-proof, wheel-leg switching hydraulic quadruped robot, comprising: a robot torso 1; four leg mechanisms 2 symmetrically connected to both sides of the robot torso 1, each leg mechanism 2 including 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; and a hydraulic drive system 3 for driving the movement of each leg mechanism 2, the hydraulic drive system 3 including: 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 lower leg 24 for driving rotation. The lower leg hydraulic actuator 33; wherein, the robot torso 1 integrates along its longitudinal direction: a battery module 4, which is arranged in the geometric center region of the robot torso 1; a distributed hydraulic drive system 5, including two sets of hydraulic modules 51 symmetrically arranged on the front and rear sides of the battery module 4; wherein, the battery module 4 has a central hydraulic channel that runs through it along its axial direction, the return oil circuits of the two sets of hydraulic modules 51 are interconnected through the central hydraulic channel, and 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 lower leg hydraulic actuator 33 of the leg mechanism 2 on the corresponding side.

[0019] This invention replaces traditional electric motor drive with hydraulic drive, eliminating electrical sparks at the source and meeting the IIC-T6Gb level high-risk explosion-proof environment requirements in petroleum and chemical industries. Hydraulic drive offers higher power density and torque output. The robot weighs only 70kg and can handle heavy-duty transport with a rated load of 70kg and a peak load of 120kg, achieving a load-to-weight ratio of 1:1. Furthermore, the encoder and other electrical components are encapsulated with an explosion-proof process, further enhancing explosion-proof performance. Compared to electric motor-driven robots that require an additional explosion-proof housing, this invention features a more compact structure and more fundamental explosion-proof safety.

[0020] Specific Implementation Method Two: Combining Figures 4 to 10This embodiment describes a thigh 22 comprising a thigh frame 225 and a lateral tilt-pitch adapter 221. The thigh frame 225 is integrally formed by 3D printing and has ribs for conveying hydraulic oil. A hip joint 21 is mounted on the upper part of the thigh frame 225, and the hip joint 21 is connected to the robot torso 1 via the lateral tilt-pitch adapter 221. The robot torso 1 drives the lateral tilt-pitch adapter 221 via a lateral tilt hydraulic actuator 31, and the hip joint 21 is driven by the lateral tilt hydraulic actuator 31 to achieve lateral tilting. The thigh hydraulic actuator 32 is installed inside the thigh frame 225 and hydraulically drives the hip joint 21 to rotate and achieve pitch. Other components and connections are the same as in specific embodiment one.

[0021] The 3D-printed, one-piece thigh skeleton 225 of this invention reduces the number of connection points between parts, lowers the risk of mechanical sparks caused by vibration and impact, eliminates external oil pipes, connectors, and other components, effectively reducing the overall weight to improve load capacity and endurance. It also makes the structure more compact, avoiding the problem of oil pipe entanglement and pulling during complex movements. The lateral tilt and pitch adapter 221 and the integrated thigh hydraulic actuator 32 constitute a dual-degree-of-freedom independent drive source for the hip joint 21. The power path is decoupled, simplifying the control algorithm and fully leveraging the high power density advantage of hydraulic drives. Each leg has three degrees of freedom (two degrees of freedom for hip joint pitch and lateral tilt, and one degree of freedom for knee joint), providing reliable mechanical support for the robot's strong load-bearing capacity, flexible movement, and adaptation to complex terrain.

[0022] Specific implementation method three: Combining Figures 4 to 10 This embodiment describes a hip joint 21 comprising a hip magnet mounting base 216, a hip joint encoder 2140, a hip joint encoder sealing cover 217, and a hip pitching joint 2110. The hip pitching 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 joint 2110. The hip joint encoder 2140 is mounted at the end of the hip magnet mounting base 216 and is sealed and fixed by the hip joint encoder sealing cover 217. Other components and connections are the same as in specific embodiments one or two.

[0023] This invention integrates joint angle feedback and hydraulic power transmission, balancing explosion-proof safety and environmental reliability. The hip pitch joint directly supplies oil to the joint drive unit, shortening the power transmission path and avoiding wear and tear from external piping. The hip joint encoder 2140 and hip magnet mounting base 216 form a non-contact magnetic coding measurement system, detecting the hip joint rotation angle in real time and providing accurate position feedback. The hip joint encoder sealing cover 217 forms a sealed cavity through an adhesive sealing process, isolating explosive gases, moisture, and dust, ensuring the measurement unit meets the IIC-T6Gb explosion-proof rating and IP67 protection rating requirements. This design integrates power transmission, motion feedback, and intrinsic safety protection functions, ensuring high-precision and high-reliability operation of the robot in high-risk environments.

[0024] Specific implementation method four: Combination Figures 4 to 10 This embodiment describes a thigh hydraulic actuator 32 comprising a thigh cylinder 3250, a pitch two-force bar shaft 324, a pitch slider 3251, a hip two-force bar 322, a hip two-force bar shaft 323, a slide rail 3252, and a pitch block. The thigh cylinder 3250 is mounted along the length of the thigh frame 225, with its extended end facing the hip joint 21. The slide rail 3252 is mounted in front of the extended end of the thigh cylinder 3250. One end of the hip two-force bar 322 is connected to the extended end of the thigh cylinder 3250 via the pitch two-force bar shaft 324, and the other end of the hip two-force bar 322 is connected to the pitch block mounted on the hip pitch-pitch joint 2110 via the hip two-force bar shaft 323. The lower end of the pitch slider 3251 is slidably mounted 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. Other components and connections are the same as in specific embodiments one, two, or three.

[0025] This invention efficiently converts the high-pressure fluid energy of the thigh cylinder 3250 into the rotational motion of the hip joint 21 through a composite linkage mechanism, optimizing force transmission to ensure smooth movement and structural reliability under heavy loads. The linear extension and retraction of the thigh cylinder piston rod is transmitted to the pitch block of the hip pitch-hitch joint 2110 via the pitch two-force bar shaft 324, hip two-force bar 322, and hip two-force bar shaft 323. Through a reasonable lever arm design, the joint output torque is amplified, and the maximum joint torque can reach 450 N·m, meeting the requirements for high-strength torque. The sliding pair formed by the pitch slider 3251 and the slide rail 3252 provides radial constraint and guidance for the piston rod, counteracting lateral loads, avoiding jamming and uneven wear, and ensuring the service life of the hydraulic cylinder and the accuracy of joint movement. The drive unit is integrated inside the thigh frame 225, which not only protects the precision components, but also improves the power density of the leg motion system through a compact layout, providing strong, controllable and durable hip joint pitch drive capability for the robot's dynamic behaviors such as climbing angle ≥30° and obstacle crossing height ≥200mm.

[0026] Specific Implementation Method Five: Combining Figures 4 to 10 This embodiment describes a knee joint 23 comprising 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 via the knee joint magnet mounting base 2320. A knee joint sealing cover is fitted onto the magnet 2319. The magnetic encoder 2318 is mounted on the knee joint sealing cover outside the magnet 2319 and encapsulated by the knee joint bearing mounting base 2317, which is encapsulated using a glue-sealed explosion-proof method. Other components and connections are the same as in specific embodiments one, two, three, or four.

[0027] This invention utilizes a knee joint bearing mounting base 2317 to form a sealed cavity, and employs an adhesive-sealed explosion-proof method to encapsulate components such as the magnetic encoder 2318, achieving dual explosion-proof protection against isolation and asphyxiation. This design completely isolates explosive gases from internal circuitry, eliminating the risk of ignition, and also resists the intrusion of dust, moisture, and liquid media, ensuring sensor measurement accuracy and lifespan. Simultaneously, it enhances shock resistance and prevents connection failures during dynamic operations. Eliminating the need for a bulky explosion-proof cover, the knee joint unit 23 simultaneously meets the IIC-T6Gb explosion-proof rating and IP67 protection rating requirements, achieving deep integration of sensing and explosion-proof functions, and is suitable for operation in high-risk and complex environments.

[0028] Specific Implementation Method Six: Combination Figures 4 to 10 This embodiment describes a calf hydraulic actuator 33 comprising 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 mounted along the length of the thigh frame 225, with its telescopic end facing the knee joint 23. The knee joint slide rail 3354 is mounted on the thigh frame 225. The telescopic end of the calf cylinder 3353 is connected to one end of the knee joint lever 3356 via the knee joint slider 3355. The knee joint slider 3355 is slidably mounted 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. Other components and connections are the same as in specific embodiments one, two, three, four, or five.

[0029] This invention optimizes the mechanical structure to efficiently convert the linear thrust of the lower leg cylinder 3353 into the pitching motion of the lower leg 24, achieving both force amplification and motion stability, providing a strong and controllable driving force for the knee joint 23. The lower leg cylinder piston rod is guided by the knee joint slider 3355 and knee joint slide rail 3354, offsetting lateral loads, avoiding uneven wear and jamming, and improving the lifespan and motion accuracy of the hydraulic cylinder. The piston rod is hinged to the knee joint two-force bar 3356, and the output lever arm is amplified through a reasonable rod length and hinge point layout, converting it into sufficient joint torque to meet the requirements of obstacle crossing, slope climbing, and heavy load. The drive unit is integrated inside the thigh frame 225, with a compact structure that avoids external environmental interference, enhancing system reliability and environmental adaptability, and ensuring stable operation of the robot in harsh environments such as dusty, humid, and oil and gas leaks.

[0030] Specific implementation method seven: Combining Figures 11 to 18 This embodiment describes the lower leg 24 as either a foot-type module or a wheel-type module.

[0031] When the lower leg 24 is a foot-type module, the foot-type module includes a lower leg aluminum component 2457, a foot body 2458, and a soft pad 2459. The upper part of the lower leg aluminum component 2457 is connected to the knee joint 23, and the other end of the knee joint two-force bar 3356 is connected to the lower leg aluminum component 2457, which drives the lower leg aluminum component 2457 to achieve pitching. The upper part of the foot body 2458 is detachably installed on the lower leg aluminum component 2457 through a mechanical interface, and the soft pad 2459 is installed on the lower end of the foot body 2458.

[0032] When the lower leg 24 is a wheeled module, the wheeled module includes a leg connecting assembly, a wheel body, and a drive assembly. The drive assembly is coaxially connected to the wheel body and drives the wheel body to rotate. The leg connecting assembly is connected to both the drive assembly and the lower leg. The drive assembly includes a wheel support 244, a drive unit, and an explosion-proof connector. The drive unit is embedded within the wheel support 244 via the explosion-proof connector. The cylindrical mating surface between the explosion-proof connector and the wheel support 244 is an explosion-proof surface, used to achieve explosion protection. Other components and connections are the same as in specific embodiments one, two, three, four, five, or six.

[0033] The lower leg 24 of this invention serves as the core transmission component, with the lower leg aluminum part 2457 as the load-bearing frame. The upper end is hinged to the knee joint 23 and forms a power connection with the knee joint two-force bar 3356, converting the torque of the crank-slider mechanism into pitch motion. The lower standardized mechanical interface, combined with a quick-release device, enables the rapid assembly and disassembly of the end connector, balancing lightweight and high strength.

[0034] The single leg supports rapid switching between legged and wheeled modes: In legged mode, it achieves bionic walking by relying on the multiple degrees of freedom of the hip and knee joints, retaining 3 degrees of freedom joints (2 for the hip joint + 1 for the knee joint), adapting to unstructured terrains such as climbing slopes and overcoming obstacles, with a maximum walking speed of 1.5m / s (5.4km / h); In wheeled mode, it improves the movement speed on flat surfaces through rolling motion, and the lower leg switches to a high-strength hub motor-driven wheel (300mm in diameter, with wear-resistant rubber tread), forming a four-wheeled leg structure, with a maximum speed of up to 30km / h, solving the speed shortcomings of traditional quadruped robots and greatly improving work efficiency and endurance.

[0035] Four wheeled switching legs are symmetrically distributed at the four corners of the torso, forming a stable four-legged support configuration. This ensures that the robot's center of gravity is always in the support area, guaranteeing stability during movement in complex terrain. Each leg has three degrees of freedom at the hip joint. In coordination with the central control system, it can achieve longitudinal walking, lateral movement, 360° turning in place, and complex gait. Its terrain adaptability is superior to wheeled or tracked platforms.

[0036] The wheeled module embeds the drive unit into the wheel bracket 244, and constructs a sealed explosion-proof cavity through the explosion-proof connection surface between the drive unit and the bracket, eliminating the risk of ignition by electric sparks and meeting the IIC-T6Gb explosion-proof level requirements. The module adopts a coaxial design between the drive component and the wheel, resulting in a short transmission path and high efficiency. The standardized interface facilitates disassembly and assembly. The wheel has shock-absorbing and anti-slip properties, and the embedded layout improves environmental adaptability and operational reliability.

[0037] Further, the leg connection assembly of the present invention includes a lower leg connector 2410, a carbon tube 249, and a carbon tube assembly 2411. One end of the lower leg connector 2410 is inserted into one end of the carbon tube 249 and connected by a carbon tube assembly 2411. The other end of the lower leg connector 2410 is rotatably connected to the lower leg. The other end of the carbon tube 249 is connected to the drive assembly through another carbon tube assembly 2411. Further, the wheel body of the present invention includes a protective net 2416, a honeycomb tire 242, and a wheel hub 241. The honeycomb tire 242 is mounted on the wheel hub 241, and the protective net 2416 is mounted on the side end face of the wheel hub 241. Further, the wheel hub 241 of the present invention includes an outer ring 241-1, an inner ring 241-2, and a heat dissipation blade 241-3. The outer ring 241-1 and the inner ring 241-2 are coaxially arranged and connected by the heat dissipation blade 241-3. Furthermore, the drive assembly of the present invention also includes an explosion-proof cable connector 246, which is provided on the wheel support 244 and is located inside the carbon tube 249. Further, the drive unit of the present invention includes a motor stator 2415, a planetary reducer 245, a driver 2417, a magnet mounting block 2418, a magnet 2420, a flange 2421, and a shaft 2422. The motor stator 2415 is coaxially mounted on the wheel support 244 via the flange 2421. The planetary reducer 245 is embedded within the motor stator 2415. The shaft 2422 is mounted on the flange 2421 and inserted into the planetary reducer 245. The driver 2417 is mounted on the outside of the flange 2421. The magnet 2420 is mounted between the flange 2421 and the driver 2417 via the magnet mounting block 2418. Furthermore, the explosion-proof connector of the present invention includes a wheel axle 243, a transmission component 2412, and a mounting cover 247. Both the wheel axle 243 and the mounting cover 247 have cylindrical mating surfaces that mate with the inner wall of the wheel support 244. The transmission component 2412 is connected to the planetary reducer 245 and the wheel axle 243 respectively via two bearings. The wheel axle 243 and the mounting cover 247 are bolted to the wheel support 244. Furthermore, the explosion-proof connector of the present invention also includes a shaft end cap 2423 and a copper ring 248. The shaft end cap 2423 is mounted on the wheel hub 241, and a shaft section on the shaft end cap 2423 extends into the wheel axle 243. The copper ring 248 is fitted between the inner wall of the wheel axle sleeve and the shaft section for explosion protection. Furthermore, the explosion-proof connector of the present invention also includes an oil seal 2414 and a wheel retaining ring 2413. The oil seal 2414 is installed on the outside of the copper ring 248, and the wheel retaining ring 2413 is installed between the bushing end of the wheel axle 243 and the axle end cap 2423. Furthermore, the explosion-proof connector of the present invention also includes a sealing ring 2419, with a sealing ring 2419 installed between the wheel axle 243 and the mounting cap 247 and the wheel support 244, respectively.

[0038] This configuration enables efficient force transmission and structural connection of the leg connection components, modular design ensures strength and rigidity, carbon materials reduce leg inertia, and simplify disassembly and maintenance; the wheel's protective mesh isolates foreign objects, the honeycomb tires require no inflation and provide shock absorption and anti-slip properties, adapting to complex working conditions; the wheel hub's heat dissipation blades achieve forced convection cooling, ensuring thermal stability under high loads; explosion-proof cable connectors ensure safe cable entry, avoiding the risk of ignition by electrical sparks; the drive unit's planetary reducer amplifies torque, the encoder and magnet improve positioning accuracy, and the circuit board is adaptable to harsh environments; explosion-proof connectors construct the main explosion-proof cavity and rotating explosion-proof structure to prevent explosion propagation, and oil seals, wheel retaining rings, and sealing rings ensure sealing protection, guaranteeing the explosion-proof safety and operational reliability of the wheel module.

[0039] Specific implementation method eight: Combination Figures 20 to 23 This embodiment describes a battery module 4 comprising: a cylindrical battery compartment 401, which has a cylindrical structure; a battery compartment top cover 402 and a battery compartment bottom cover 403 coaxially nested at the top and bottom of the cylindrical battery compartment 401, wherein the battery compartment top cover 402, the battery compartment bottom cover 403, and the cylindrical battery compartment 401 are assembled to form a first cylindrical cavity; an integrated battery cell 404 consisting of multiple battery cells connected in series and coaxially nested within the first cylindrical cavity; and a battery top cover 405 coaxially nested at the top of the battery compartment top cover 402, wherein the battery compartment top cover 402 and the battery top cover 405 are assembled to form a second cylindrical cavity. The circuit board is coaxially nested within the second cylindrical cavity and connected to the integrated battery cell 404 via multiple wires passing through the top cover 402 of the battery compartment. A battery reinforcing rib 406, serving as a core load-bearing and force-transmitting component, is also included. The reinforcing rib 406 is a hollow rod-shaped structure that coaxially passes through the cylindrical battery compartment 401 and the integrated battery cell 404. Both ends of the reinforcing rib 406 are detachably fixed to the top cover 405 and the bottom cover 403 of the battery compartment, thereby tightening the top cover 405, the cylindrical battery compartment 401, and the bottom cover 403 to form a highly rigid overall frame. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, or seven.

[0040] The battery reinforcing rib 406 of this invention integrates structural load-bearing, heat dissipation oil circuit, and explosion-proof reference axis functions, achieving integrated force, heat, and explosion safety performance. Its internal hollow structure forms a hydraulic pipeline, connected to the external main hydraulic system via oil-lined bolts 4025 and oil-lined studs 4026, serving both heat dissipation and pressure-bearing functions, achieving structural integration of battery energy and hydraulic power system. The battery module 4 conforms to GB3836 standard, achieving ExdIIC-T6Gb explosion-proof rating and IP67 protection rating. Core components adopt intrinsically safe / sealed explosion-proof technology, eliminating the risk of electric sparks and adapting to harsh environments such as flammable and explosive, dusty, and humid conditions. The integrated battery cell 404 uses a high-energy-density lithium iron phosphate battery pack with a capacity of 6Ah and a voltage of 300V, paired with a self-developed BMS (Battery Management System), achieving a high power density energy output with a peak power ≥10kW and a range of ≥4 hours.

[0041] Furthermore, the bottom end of the cylindrical battery compartment 401 is provided with a connecting flange 407 for fixing and restricting the axial movement of the battery compartment bottom cover 403; a first cylindrical explosion-proof mating surface 408 is formed between the outer side of the battery compartment bottom cover 403 and the inner side of the cylindrical battery compartment 401, and a first outer O-ring 409 is provided at the first cylindrical explosion-proof mating surface 408; a coaxially arranged threaded sleeve 4010 is provided at the top end of the battery compartment bottom cover 403, the threaded sleeve 4010 is threadedly connected to the bottom end of the battery reinforcing rib 406, and a first threaded explosion-proof mating surface (4011) is formed between the threaded sleeve 4010 and the battery reinforcing rib 406; a first central O-ring 4012 is provided between the battery compartment bottom cover 403 and the battery reinforcing rib 406. Furthermore, the outer side of the top of the battery compartment cover 402 is provided with a first stop 4013 for restricting the axial movement of the battery compartment cover 402; a second cylindrical explosion-proof mating surface 4014 is formed between the outer side of the battery compartment cover 402 and the inner side of the cylindrical battery compartment 401, and a second outer O-ring 4015 is provided at the second cylindrical explosion-proof mating surface 4014; a first sleeve 4016 is coaxially arranged at the center of the top of the battery compartment cover 402, and a third cylindrical explosion-proof mating surface 4017 is formed between the inner side of the first sleeve 4016 and the outer side of the battery reinforcing rib 406. Furthermore, a second stop 4018 for restricting the axial movement of the battery top cover 405 is provided on the outer side of the middle portion; a fourth cylindrical explosion-proof mating surface 4019 is formed between the outer side of the battery top cover 405 and the inner side of the cylindrical battery compartment 401, and a third outer O-ring 4020 is provided at the fourth cylindrical explosion-proof mating surface 4019; a second sleeve 4021 is coaxially arranged at the center of the bottom end of the battery top cover 405, and a fifth cylindrical explosion-proof mating surface 4022 is formed between the inner side of the second sleeve 4021 and the outer side of the battery reinforcing rib 406; a second central O-ring 4023 is provided between the battery top cover 405 and the battery reinforcing rib 406. Furthermore, the battery reinforcing rib 406 has an internal hydraulic line 4024 extending axially through its upper and lower ends. The upper end of the battery reinforcing rib 406 is threadedly connected to a bolt 4025 with an oil passage, the nut end face of which abuts against the top of the battery top cover 405. The lower end of the battery reinforcing rib 406 is threadedly connected to a stud 4026 with an oil passage. Furthermore, a first inner O-ring 4027 is provided between the outer surface of the bolt 4025 and the inner surface of the battery reinforcing rib 406; a second inner O-ring 4028 is provided between the outer surface of the stud 4026 and the inner surface of the battery reinforcing rib 406. Furthermore, the top end of the bolt 4025 has a first quick connector for connecting to an external pipeline; the bottom end of the stud 4026 has a second quick connector for connecting to an external pipeline.Furthermore, the top of the battery compartment cover 402 is provided with a third sleeve 4029, which is used to pass through and connect multiple wires connecting the integrated battery cell 404 and the circuit board. The multiple wires and the third sleeve 4029 are sealed with FV9007GS two-component epoxy potting compound. Furthermore, the top of the battery compartment cover 405 is provided with multiple metal explosion-proof cable connectors 4030, which are connected to the circuit board via multiple wires. The metal explosion-proof cable connectors 4030 are threadedly connected to the battery compartment cover 405. Furthermore, the electrochemical system of the integrated battery cell 404 is a lithium iron phosphate system.

[0042] This design creates multiple explosion-proof and sealing protection mechanisms, ensuring the explosion-proof integrity of the bottom, top, and center through-structure of the battery compartment; the battery reinforcing ribs serve both structural load-bearing and hydraulic pipeline functions, achieving efficient axial heat dissipation of the integrated cells; O-rings and quick connectors optimize oil circuit sealing and connection convenience; potting compound and metal explosion-proof cable connectors ensure the explosion-proof safety of wires passing through the compartment and connecting to the outside; the lithium iron phosphate system enhances the safety stability and service life of the cells in high-risk environments, supporting 24-hour shift operation of robots (including charging).

[0043] Specific Implementation Method Nine: Combining Figures 24 to 30This embodiment describes a hydraulic module 51 comprising: a torso front and rear plate 511, vertically arranged on the front or rear side of the robot torso 1 perpendicular to the robot's travel direction; a power assembly 512, disposed on the side of the torso front and rear plate 511 near the robot torso 1; four torso connecting rods 513, arranged in pairs on the upper and lower sides of the power assembly 512, with both ends of the connecting rods 513 fixedly connected to the robot torso 1 and the torso front and rear plate 511 respectively, and the upper and lower connecting rods 513 securing the power assembly 512; and a power assembly connector 514, both ends of which are connected to the torso front and rear plate 511 and the power assembly 512 respectively; wherein, the power assembly connector... The connector 514 has a through-hole high-pressure oil port. The front and rear plates 511 of the torso have a main high-pressure oil circuit and six branch high-pressure oil circuits connected to it. The two ends of the connector high-pressure oil port are connected to the high-pressure oil outlet of the power assembly 512 and the main high-pressure oil circuit of the torso. The hydraulic module 51 also includes: six explosion-proof servo valves 515, whose high-pressure oil inlets are connected to the main high-pressure oil circuit of the torso; and a front and rear axle connector 516, installed on the side of the front and rear plates 511 away from the robot torso 1, with eight parallel high-pressure oil circuits. The front and rear plates 511 of the torso are further provided with four parallel-arranged first front and rear plate working oil circuits and eight parallel-arranged second front and rear plate working oil circuits; the four first 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; the eight second 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; the hydraulic module 51 also includes: two hip-side swing oil-moving joints 517, 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 two hip-side swing oil-moving joints 517 are respectively connected to the four working oil circuits of the two side-swing hydraulic actuators 31 on the corresponding side. The eight high-pressure oil circuits of the hip-side swing joints of 7 are respectively connected to the other end of the high-pressure oil circuits of the eight front and rear axle connectors; the eight high-pressure oil circuits of the two hip-side swing joints 517 are respectively connected to 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 oil circuits of the thigh skeletal ribs of the two leg mechanisms 2 on the corresponding side and connects to the eight 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, which converge and flow through the radiator to finally reach the power assembly 512. Other components and connections are the same as those in specific embodiments one, two, three, four, five, six, seven or eight.

[0044] This invention employs a distributed hydraulic drive scheme, with two independent hydraulic power units providing hydraulic power to the front and rear legs respectively, achieving optimized power distribution and redundant design. In the event of a single unit failure, the system can switch to emergency mode, significantly improving system reliability. Six explosion-proof servo valves 515 are directly connected to the high-pressure main oil circuits of the front and rear plates, precisely controlling the oil flow and flow rate to meet the differentiated power requirements of various actuators, resulting in excellent control precision. The eight high-pressure oil circuits of the front and rear axle connectors 516 reliably connect the torso front and rear plates 511 to the hip side swing oil-carrying joint 517. Four working oil circuits of the first torso front and rear plates are directly connected to the side swing hydraulic actuator 31, shortening the power transmission path and reducing pressure loss. The built-in oil circuits and integrated connector design improve system sealing and compactness, avoiding interference from external pipeline leaks.

[0045] The eight high-pressure oil circuits of the hip lateral swing joint 517 of this invention are correspondingly connected to the oil circuits of the front and rear axle connectors 516, and together with the lateral swing pitch adapter, form a rotary sealed oil circuit, ensuring the oil circuit is sealed during leg joint movement, avoiding leakage caused by the pulling of traditional exposed pipes, and ensuring continuous power transmission. The six return oil circuits inside the front and rear torso plates 511 converge and flow back to the power assembly 512, realizing oil recycling, reducing waste and pollution, reducing pressure loss, and improving system energy efficiency.

[0046] Furthermore, the twelve return oil circuits of the front and rear torso plates of the two sets of hydraulic modules 51 converge and are also connected through the central hydraulic channel inside the battery module 4. Furthermore, each set of hydraulic modules 51 also includes: twelve pressure sensors 518, which are respectively connected to the twelve working oil circuits 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 front or rear sides. Furthermore, each set of hydraulic modules 51 also includes: a pressure gauge; the power component connector 514 is also provided with a pressure measuring pipe vertically connected to the high-pressure oil circuit of the connector, and the pressure gauge is installed at the end of the pressure measuring pipe. Furthermore, each set of hydraulic modules 51 also includes: a filter, which is coaxially embedded at the end of the high-pressure oil circuit of the power component connector 514. Further, the power assembly 512 includes: an oil tank 5121; a power unit, the oil suction port of which is connected to the oil tank 5121; a high-pressure accumulator 5122, the inlet of which is connected to the pressure oil port of the power unit, and the outlet of which is connected to the high-pressure oil inlet of the six explosion-proof servo valves 515; and a low-pressure accumulator 5123, the inlet of which is connected to the oil tank 5121, and the outlet of which is connected to the return oil circuit of the six explosion-proof servo valves 515. Further, the power unit includes: an electric motor 5124; a plunger pump 5125, driven by the electric motor 5124, the oil suction port of which is connected to the oil tank 5121, and the pressure oil port of the plunger pump 5125 connected to the high-pressure accumulator 5122 via a high-pressure oil circuit; and a one-way valve 5126 installed on the high-pressure oil circuit connecting the high-pressure accumulator 5122 and the plunger pump 5125. Furthermore, the distributed hydraulic drive system also includes a radiator 519, wherein the six return oil lines of the front and rear plates of the torso converge and flow through the radiator to the low-pressure accumulator 5123.

[0047] This configuration allows the central hydraulic channel to achieve unified circulation of return oil from both sets of hydraulic modules, balancing return oil pressure, saving installation space, and avoiding risks associated with external pipelines. Core components such as the 518 pressure sensor employ intrinsically safe / sealed design to eliminate the risk of electrical sparks, monitor the pressure of each oil circuit in real time, provide feedback for the control algorithm, and ensure system safety and operational stability. Pressure gauges facilitate quick monitoring of the oil supply status, reducing the difficulty of troubleshooting high-pressure oil circuit faults. Filters remove impurities from the high-pressure oil, protecting precision components and extending system life. The power unit, through the oil tank, accumulator, and power unit, achieves stable oil supply and pressure regulation, improving power transmission reliability. A plunger pump ensures heavy-duty power requirements, while a check valve prevents high-pressure oil backflow. A radiator lowers the return oil temperature, ensuring hydraulic oil performance and adapting to prolonged high-intensity operations.

[0048] Specific Implementation Method Ten: Combining Figures 1 to 3In this embodiment, the robot torso 1 further includes: a joint actuator module 6, located at the bottom of the hydraulic module 51, used to drive the lateral swing hydraulic actuator 31, thigh hydraulic actuator 32, and lower leg hydraulic actuator 33 of the four-leg mechanism 2, thereby realizing the lateral swing of the thigh 22 degrees of freedom, the pitch of the thigh 22 degrees of freedom, and the rotational freedom of the lower leg 24; a controller and explosion-proof laser radar module 7, located above the front hydraulic module 51, responsible for robot motion control; a brain controller and wireless communication module 8, located above the rear hydraulic module 51, used to transmit data from the robot during operation back to the cloud platform via wireless communication; a light alarm 9, located above the brain controller and wireless communication module 8, which alarms when the robot body encounters a fault and transmits the signal back; and a wireless charging electrode 10, located at the bottom of the robot torso 1, used to charge the battery module 4; wherein, the joint actuator module 6, the controller and explosion-proof laser radar module 7, and the brain controller and wireless communication module 8 are all housed in an explosion-proof box. Other components and connections are the same as those in embodiments one, two, three, four, five, six, seven, eight, or nine.

[0049] The joint actuator module 6 of this invention provides power to the hydraulic actuators of the leg mechanism 2, ensuring the precise lateral swing and pitch of the thigh 22 and the rotation of the lower leg 24. Combined with intelligent control algorithms and integrating data from joint position sensors and pressure sensors, the hydraulic servo system enables real-time adjustment of the motion posture, ensuring stability and flexibility in complex terrain. The controller and explosion-proof lidar module 7 work collaboratively with the brain controller and wireless communication module 8 to achieve motion control and data feedback, facilitating remote monitoring of the robot's operational status. The light alarm 9 provides timely warnings in case of malfunction, improving fault response efficiency. The wireless charging electrode 10 supports automatic docking with charging piles, simplifying the charging process, reducing charging time to ≤4 hours, minimizing manual intervention, and improving operational continuity. The robot also features a task payload interface, supporting rapid replacement of modular equipment such as inspection cameras, gas detectors, and robotic arms to meet diverse task requirements such as oil and gas field inspection, pipeline leak detection, material transportation, and emergency rescue. The collaborative work of each module significantly improves the robot's intelligence level and operational reliability, making it suitable for various explosion-proof environments such as petroleum, chemical, oil and gas fields, and mines.

[0050] Working principle

[0051] Combination Figures 1 to 30 Explanation of the working principle of the explosion-proof wheel-leg switching hydraulic quadruped robot of the present invention:

[0052] The working principle of this invention is based on the organic combination of hydraulic power transmission, explosion-proof safety protection and multi-module collaborative control, and is divided into four core links: power output, distribution, execution, recovery and safety monitoring.

[0053] During the power output phase, the integrated battery cell 404 of battery module 4 supplies power to the motor 5124 of power component 512. The motor 5124 drives the plunger pump 5125 to draw oil from the oil tank 5121 and pressurize it to form high-pressure oil, which is stored in the high-pressure accumulator 5122. A one-way valve 5126 prevents backflow, a filter filters impurities, and a pressure gauge monitors the oil pressure in real time. The integrated battery cell 404 uses a lithium iron phosphate system and is equipped with a self-developed BMS (Battery Management System) to achieve high power density energy output and ensure a continuous and stable power supply to the power component.

[0054] During the power distribution phase, high-pressure oil enters the high-pressure main oil circuit of the front and rear torso plates 511 via the power component connector 514, and is distributed to six explosion-proof servo valves 515 through six branch oil circuits. The explosion-proof servo valves 515 adjust the oil flow and direction according to the commands of the controller and the explosion-proof lidar module 7. One oil circuit drives the lateral swing hydraulic actuator 31 through the first front and rear torso plate working oil circuit to achieve lateral swing of the hip joint 21; another circuit delivers oil to the thigh hydraulic actuator 32 and the lower leg hydraulic actuator 33 through the second front and rear torso plate working oil circuit, the front and rear axle connector 516, the hip lateral swing oil-carrying joint 517, and the thigh skeleton 225 rib oil circuit, providing power for the hip joint 21's pitch and the knee joint 23's flexion and extension. The two sets of hydraulic modules 51 form a distributed drive redundancy, which can switch to emergency mode in case of a single unit failure, ensuring continuous power supply.

[0055] During the power execution phase, the thigh cylinder 3250 drives the hip joint 21 to pitch via the pitch lever shaft 324 and the hip lever 322; the lower leg cylinder 3353 drives the lower leg 24 to pitch around the knee joint 23 via the knee joint slider 3355 and the knee joint lever 3356. The lower leg 24 can be quickly switched between footed and wheeled modes through modular design: the footed mode retains 3 degrees of freedom, adapting to rugged terrain and stair climbing, with a maximum walking speed of 1.5m / s; the wheeled mode forms a four-wheel drive structure, with a maximum speed of 30km / h, meeting the needs of rapid transportation on flat roads. During movement, the hip joint encoder 2140 and magnetic encoder 2318 collect joint angles, and the pressure sensor 518 monitors the oil pressure. The data is fed back to the controller and the explosion-proof lidar module 7 to achieve posture correction, ensuring stable operation of the robot under complex conditions such as climbing slopes and overcoming obstacles.

[0056] During the recovery and safety monitoring phase, the returned oil flows through the return oil circuit of the front and rear plates 511 of the torso and the central hydraulic channel of the battery module 4, flows through the radiator 519 to cool down, and then flows back to the oil tank 5121, forming an oil circulation. The brain controller and the wireless communication module 8 transmit operation data, the light alarm 9 provides fault alarms, and the wireless charging electrode 10 supports automatic docking with the charging pile to replenish the battery module 4. All core electrical components (joint actuator module 6, controller, and explosion-proof lidar module 7, etc.) are housed in explosion-proof boxes. Key sensors adopt intrinsically safe / sealed explosion-proof technology, achieving an overall explosion-proof rating of IIC-T6Gb and an IP67 protection rating. The multiple explosion-proof protection structures ensure safe operation in high-risk environments, ensuring long-term stable operation of the robot in harsh environments such as flammable and explosive, dusty and humid conditions.

Claims

1. An explosion-proof, wheel-leg switching hydraulic quadruped robot, characterized in that, include: Robot torso (1); 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 calf (24) connected to the end of the thigh (22) via a knee joint (23). The hydraulic drive system (3) is used to drive the movement of each of the leg mechanisms (2). The hydraulic drive system (3) 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. The robot torso (1) integrates the following along its longitudinal direction: Battery module (4), which is arranged in the geometric center region of the robot torso (1); The distributed hydraulic drive system (5) includes two hydraulic modules (51) symmetrically arranged on the front and rear sides of the battery module (4). 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.

2. The explosion-proof wheel-leg switching hydraulic quadruped robot according to claim 1, characterized in that, The thigh (22) includes a thigh skeleton (225) and a lateral tilt adapter (221). The thigh skeleton (225) is integrally formed by 3D printing, and the thigh skeleton (225) is provided with ribs for conveying hydraulic oil. The upper part of the thigh skeleton (225) is equipped with a hip joint (21). The hip joint (21) is connected to the robot torso (1) through the lateral tilt adapter (221). The robot torso (1) drives the lateral tilt adapter (221) through the lateral tilt hydraulic actuator (31). The hip joint (21) is driven by the lateral tilt hydraulic actuator (31) to achieve lateral tilt. The thigh hydraulic actuator (32) is installed in the thigh skeleton (225) and drives the hip joint (21) to rotate in a hydraulic manner to achieve pitch.

3. The explosion-proof wheel-leg switching hydraulic quadruped robot according to claim 2, characterized in that, The hip joint (21) includes a hip magnet mount (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 on the thigh skeleton (225) in the width direction, the hip magnet mount (216) is mounted on the thigh skeleton (225) on the outside of the hip pitching oil-running joint (2110), and the hip joint encoder (2140) is mounted on the end of the hip magnet mount (216) and sealed and fixed by the hip joint encoder sealing cover (217).

4. The explosion-proof wheel-leg switching hydraulic quadruped robot according to claim 3, characterized in that, The thigh hydraulic actuator (32) includes a thigh cylinder (3250), a pitch two-force bar shaft (324), a pitch slider (3251), a hip two-force bar (322), a hip two-force bar shaft (323), a slide rail (3252), and a pitch block. The thigh cylinder (3250) is mounted 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 mounted on the extended end of the thigh cylinder (3250). At the front, one end of the hip two-force bar (322) is connected to the extended end of the thigh cylinder (3250) via the pitch two-force bar shaft (324), and the other end of the hip two-force bar (322) is connected to the pitch block installed on the hip pitch oil-running joint (2110) via the hip two-force bar 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).

5. The explosion-proof wheel-leg switching hydraulic quadruped robot according to claim 4, characterized in that, 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 magnet (2319) is covered with a knee joint sealing cover. The magnetic encoder (2318) is mounted on the knee joint sealing cover on the outside of the magnet (2319) and 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.

6. The explosion-proof, wheel-leg switching hydraulic quadruped robot according to claim 5, characterized in that, 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).

7. The explosion-proof wheel-leg switching hydraulic quadruped robot according to claim 6, characterized in that, The lower leg (24) is either a foot-type module or a wheel-type module; When the lower leg (24) is a foot-type module, the foot-type module includes a lower leg aluminum piece (2457), a foot body (2458) and a soft pad (2459). The upper part of the lower leg aluminum piece (2457) is connected to the knee joint (23), and the other end of the knee joint two-force bar (3356) is connected to the lower leg aluminum piece (2457), which drives the lower leg aluminum piece (2457) to achieve pitching. The upper part of the foot body (2458) is detachably installed on the lower leg aluminum piece (2457) through a mechanical interface, and the soft pad (2459) is installed at the lower end of the foot body (2458). When the lower leg (24) is a wheeled module, the wheeled module includes a leg connecting component, a wheel body and a drive component. The drive component is coaxially connected to the wheel body and drives the wheel body to rotate. The leg connecting component is connected to the drive component and the lower leg respectively. The drive component includes a wheel support bracket (244), a drive unit and an explosion-proof connector. The drive unit is embedded in the wheel support bracket (244) through the explosion-proof connector. The cylindrical joint surface of the explosion-proof connector and the wheel support bracket (244) is an explosion-proof surface, which is used to achieve explosion protection.

8. The explosion-proof wheel-leg switching hydraulic quadruped robot according to claim 7, characterized in that, Battery module (4) includes: Cylindrical battery compartment (401), wherein the cylindrical battery compartment (401) has a cylindrical structure; 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). The battery compartment top cover (402), the battery compartment bottom cover (403) and the cylindrical battery compartment (401) are assembled to form a first cylindrical cavity. An integrated battery cell (404) consisting of multiple battery cells connected in series and coaxially nested in the first cylindrical cavity. A battery top cover (405) is coaxially nested at the top of the battery compartment top cover (402). The battery top cover (402) and the battery top cover (405) are assembled to form a second cylindrical cavity. A circuit board, which is coaxially nested in the second cylindrical cavity, is connected to the integrated battery cell (404) through multiple wires passing through the top cover (402) of the battery compartment; 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 fixed to the top cover (405) of the battery compartment and the bottom cover (403) of the battery compartment, thereby tightening the top cover (405), the cylindrical battery compartment (401), and the bottom cover (403) of the battery compartment to form a highly rigid overall frame.

9. The explosion-proof, wheel-leg switching hydraulic quadruped robot according to claim 8, characterized in that, The hydraulic module (51) includes: The front and rear plates (511) of the torso are arranged vertically on the front or rear side of the robot torso (1) along the direction of robot travel; A power assembly (512) is disposed on the side of the front and rear plates (511) of the torso near the robot torso (1); 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). The power assembly connector (514) is connected at both ends to the front and rear plates of the torso (511) and the power assembly (512), respectively. The power component connector (514) has a through connector high-pressure oil hole inside, and the front and rear plates (511) of the torso have 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 hole 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 hydraulic module (51) also includes: Six explosion-proof servo valves (515), the high-pressure oil inlets of the six explosion-proof servo valves (515) are respectively connected to the high-pressure main oil circuit of the front and rear plates; The front and rear axle connectors (516) are installed on the side of the front and rear plates (511) of the torso away from the robot torso (1). The front and rear axle connectors (516) are provided with eight high-pressure oil circuits for the front and rear axle connectors arranged in parallel. The front and rear plates (511) of the torso are also provided with four parallel working oil circuits for the first front and rear plates of the torso and eight parallel working oil circuits for the second front and rear plates of the torso. The four working oil circuits of the first torso front and rear plates are respectively connected to the four working oil circuits of the two side-swing hydraulic actuators (31) on the corresponding sides; The eight working oil circuits of the second body front and rear plates are respectively connected to one end of the eight high-pressure oil circuits of the front and rear axle connectors (516); The hydraulic module (51) also includes: Two hip-side swing-out oil joints (517) are symmetrically installed at the left and right ends of the front and rear axle connectors (516). Each hip-side swing-out oil joint (517) is provided with four parallel hip-side swing-out oil joint high-pressure oil circuits. The eight hip-side swing-out oil joint high-pressure oil circuits of the two hip-side swing-out oil joints (517) are respectively connected to the other end of the eight front and rear axle connector high-pressure oil circuits. The eight high-pressure oil circuits of the two hip-side swing-out oil joints (517) are respectively connected with the eight high-pressure oil circuits of the side swing-up-down adapters of the two thighs (22) on the corresponding side to form a rotary sealing oil circuit, and then reach the eight 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. The front and rear plates (511) of the torso are provided with six parallel oil return channels. The six oil return channels converge and flow through the radiator to reach the power assembly (512).

10. The explosion-proof wheel-leg switching hydraulic quadruped robot according to claim 9, characterized in that, The robot torso (1) also includes: 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) degree of freedom side swing, thigh (22) degree of freedom pitch, and lower leg (24) degree of freedom rotation. The controller and explosion-proof lidar module (7) are located above the hydraulic module (51) on the front side and are responsible for robot motion control; The brain controller and wireless communication module (8) are located above the hydraulic module (51) on the rear side, and are used to transmit the data of the robot during operation back to the cloud platform via radio communication. The light alarm (9) is set above the brain controller and the wireless communication module (8). When the robot body encounters a fault, it will alarm and send the signal back. A wireless charging electrode (10) is disposed at the bottom of the robot body (1) for charging the battery module (4); The joint actuator module (6), controller and explosion-proof lidar module (7) and brain controller and wireless communication module (8) are all housed in an explosion-proof box.

Images