Hydraulic drive robot integrated pelvis

Abstract

The invention discloses a hydraulically-driven robot integrated pelvis, and relates to the field of hydraulic robot joint structures. The problems that an existing robot hip joint is large in structural space occupation, high in arrangement difficulty, large in weight, high in machining requirement, difficult to be compatible with friction and leakage, small in rotation range, redundant in mechanical structure and small in size and weight are solved. The integrated pelvis comprises a pelvis skeleton, a waist rotation hydraulic swing cylinder, two hip pitching hydraulic swing cylinders and two double-linear-cylinder swing mechanisms, the combined design that the hydraulic swing cylinders are matched with the double-linear-cylinder swing mechanisms is adopted, and the integrated pelvis has the advantages that a linear hydraulic cylinder is simple in structure and convenient to install and control, and a swing type hydraulic cylinder is compact in structure and good in sealing effect; through reasonable arrangement and cooperation of all the assemblies, power output of waist rotation and leg pitching and lateral swinging is achieved, the structure is simple and compact, installation is convenient, the efficient driving capacity is guaranteed while the size and weight are reduced, and the device is suitable for pelvic joint driving of the hydraulic humanoid robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of hydraulic robot joint structure, in particular to a hydraulic humanoid robot 5-DOF hip joint structure, and more particularly to a hydraulic drive robot integrated hip. BACKGROUND

[0002] Biped robots have excellent terrain adaptability, economic energy consumption level, wide activity space and strong driving performance. These robots can move flexibly without changing the existing human living space, and can replace humans to perform a series of dangerous and complex tasks. The humanoid appearance of biped robots also promotes human acceptance of them. However, due to technical limitations, biped robots have not yet reached the level of humans in terms of movement and perception, so there is no product that can be fully used in daily life. In order to improve the movement performance of biped robots, it is crucial to improve their joints, especially the hip joint of the robot, which integrates multiple degrees of freedom in a limited space, and the design innovation of these joints will directly affect the ground adaptability, energy efficiency, activity range and walking efficiency of the robot.

[0003] In recent years, researchers around the world have been constantly innovating in the design of robot hip joint structures. In 2010, Professor Zhao Mingguo of Tsinghua University developed a compass-like Stepper2D prototype based on the "virtual slope" and "hip elastic drive" walking methods of passive walking theory, and achieved stable walking with variable speed. In addition, the robot research team led by Professor Wang Long, a Yangtze River scholar from the Intelligent Control Laboratory of the School of Engineering at Peking University, successfully developed a semi-passive biped robot Runbo that can walk and has some intelligence. It only applies one motor to the hip as a drive, and the other parts use passive joints. During movement, passive energy storage is achieved through springs, saving energy consumption during movement, and also making the movement more human-like. In 2017, the bionic ostrich robot Cassie developed by Oregon State University has a three-DOF hip joint like humans, allowing the robot to move forward, backward and laterally, and also completing leg rotation actions, with high efficiency and sensitivity of movement. However, existing electric drive robots are all driven by rotary motors, with one motor corresponding to one degree of freedom of the robot, only the position of the motor is different, while hydraulic robot joints mostly use linear hydraulic cylinders and transmission mechanisms to achieve this. These designs have high complexity and redundancy in mechanical structure, and are not superior in terms of volume and weight.

[0004] In existing technologies, hydraulically driven pelvic and joint structures generally suffer from significant defects: they often employ generalized transmission structures without being specifically designed for the different load characteristics and motion requirements of lumbar rotation, hip pitch, and lateral swing, resulting in a mismatch between torque output and motion demands. This leads to either insufficient torque to meet the high load on the hip or redundant structures that waste energy. Furthermore, the spatial layout is often unreasonable when integrating multiple degrees of freedom, resulting in bulky volumes due to distributed arrangements, or interference between motion trajectories limiting the rotation range. The sealing design lacks coordination, with a single sealing structure struggling to accommodate both multi-joint rotational motion and high-pressure oil circuit sealing requirements, easily leading to contradictions between leakage and excessive frictional losses. The control feedback system is incomplete, with angle measurements relying heavily on indirect calculations and incomplete pressure feedback, resulting in low precision and delayed response in multi-joint coordinated control. Finally, the oil circuit layout is chaotic, with numerous external pipelines or insufficient integration, increasing the risk of leakage and maintenance difficulty.

[0005] In summary, existing robotic hip joints suffer from problems such as large structural space occupation, high layout difficulty, heavy weight, high processing requirements, incompatibility between friction and leakage, small rotation range, redundant mechanical structure, and disadvantages in size and weight. Existing technologies cannot achieve precise adaptation of multiple degrees of freedom and drive characteristics, and it is difficult to balance sealing reliability and control precision in a compact space, thus failing to meet the core usage requirements of humanoid robots for pelvic structures. Summary of the Invention

[0006] The purpose of this invention is to solve the problems of existing robot hip joints, such as large structural space occupation, high layout difficulty, large weight, high processing requirements, incompatibility between friction and leakage, small rotation range, redundant mechanical structure and unfavorable size and weight, and to provide a hydraulically driven robot integrated pelvis.

[0007] The technical solution of this invention is:

[0008] This invention provides a hydraulically driven robot integrated pelvis, the pelvis including a pelvic skeleton 8, a waist rotation hydraulic swing cylinder 4, two hip pitch hydraulic swing cylinders and two double linear cylinder swing mechanisms;

[0009] The lumbar rotation hydraulic swing cylinder 4 is located in the middle of the upper part of the pelvic skeleton 8. The axis of the lumbar rotation hydraulic swing cylinder 4 is vertical and coincides with the coronal plane, and is used to provide power for the rotation of the waist.

[0010] Two hip pitch hydraulic swing cylinders are arranged opposite each other on the left and right sides of the waist rotation hydraulic swing cylinder 4. The axes of the two hip pitch hydraulic swing cylinders are horizontal and coincide with the coronal plane, which are used to provide power for the pitching and flexing movements of the legs on both sides.

[0011] Two double linear cylinder swing mechanisms are arranged opposite each other on the side of the two hip pitch hydraulic swing cylinders away from the waist rotation hydraulic swing cylinder 4, and are used to provide power for the lateral swing of the two legs.

[0012] Further, the waist rotation hydraulic swing cylinder 4 comprises a waist rotation oil delivery shaft 401, a waist rotation front end cover 403, a waist rotation rear end cover 406, a waist rotation swing vane 404 and a waist rotation fixed vane 405;

[0013] The waist rotation oil delivery shaft 401 is vertically arranged, the waist rotation front end cover 403 and the waist rotation rear end cover 406 are coaxially and rotatably nested outside the transmission oil delivery shaft 401 from top to bottom, the lower end of the waist rotation rear end cover 406 is fixedly connected with the top end of the basin skeleton 8, the upper end of the waist rotation rear end cover 406 is fixedly connected with the waist rotation front end cover 403, the joint of the waist rotation front end cover 403 and the waist rotation rear end cover 406 is provided with a waist rotation hydraulic oil cavity, the waist rotation hydraulic oil cavity is internally provided with the waist rotation swing vane 404 and the waist rotation fixed vane 405 for separating the cavity into a waist rotation A cavity and a waist rotation B cavity, the waist rotation swing vane 404 is coaxially and slidably nested on the waist rotation oil delivery shaft 401, the waist rotation swing vane 404 is connected with the waist rotation oil delivery shaft 401 through a flat key, and the waist rotation fixed vane 405 is fixed on the waist rotation front end cover 403 and the waist rotation rear end cover 406 through a pin shaft.

[0014] Further, the waist rotation hydraulic swing cylinder 4 further comprises a waist rotation bearing one 402, a waist rotation bearing two 407, a waist rotation bearing cover 410 and a waist rotation annular magnetic encoder 411;

[0015] The waist rotation oil delivery shaft 401 comprises a waist rotation oil delivery shaft body and an end cover sleeve coaxially connected with the upper end of the waist rotation oil delivery shaft body, the top end of the waist rotation front end cover 403 is coaxially nested in the annular cavity formed between the waist rotation oil delivery shaft body and the end cover sleeve, and the end cover sleeve and the waist rotation front end cover 403 are rotationally connected through the waist rotation bearing one 402;

[0016] The waist rotation oil delivery shaft body and the waist rotation rear end cover 406 are rotationally connected through the waist rotation bearing two 407;

[0017] The lower end of the waist rotation oil delivery shaft body is further fixedly installed with the waist rotation bearing cover 410 for realizing the axis positioning of the waist rotation bearing two 407;

[0018] The waist rotation annular magnetic encoder 411 is coaxially nested outside the waist rotation bearing cover 410, the waist rotation annular magnetic encoder 411 is rotationally matched with the waist rotation bearing cover 410, and the waist rotation annular magnetic encoder 411 is fixedly connected with the lower end of the waist rotation rear end cover 406.

[0019] Further, the waist rotation hydraulic swing cylinder 4 further comprises a waist rotation servo valve 409 and two waist rotation oil pressure sensors 408, and the waist rotation servo valve 409 and the two waist rotation oil pressure sensors 408 are installed at the bottom of the waist rotation rear end cover 406.

[0020] The waist rotation oil outlet shaft 401 is internally provided with a waist rotation high-pressure oil path and a waist rotation low-pressure oil path arranged in parallel and integrated;

[0021] The inner wall of the shaft hole of the waist rotation front end cover 403 is sequentially provided from top to bottom with a front end cover high-pressure oil ring groove and a front end cover low-pressure oil ring groove arranged horizontally in the circumferential direction; the waist rotation front end cover 403 is internally further provided with a front end cover high-pressure oil path and a front end cover low-pressure oil path arranged in parallel and integrated;

[0022] The waist rotation rear end cover 406 is internally provided with a rear end cover high-pressure oil path and a rear end cover low-pressure oil path arranged in parallel and integrated; the waist rotation rear end cover 406 is internally further provided with a waist rotation rear end cover A oil path and a waist rotation rear end cover B oil path arranged in parallel and integrated, and the measuring ends of the two waist rotation oil pressure sensors 408 respectively extend into the waist rotation rear end cover A oil path and the waist rotation rear end cover B oil path;

[0023] The waist rotation high-pressure oil path, the front end cover high-pressure oil ring groove, the front end cover high-pressure oil path, the rear end cover high-pressure oil path and the P port of the waist rotation servo valve 409 are sequentially communicated; the waist rotation low-pressure oil path, the front end cover low-pressure oil ring groove, the front end cover low-pressure oil path, the rear end cover low-pressure oil path and the T port of the waist rotation servo valve 409 are sequentially communicated;

[0024] The waist rotation A cavity, the waist rotation rear end cover A oil path and the A port of the waist rotation servo valve 409 are sequentially communicated; the waist rotation B cavity, the waist rotation rear end cover B oil path and the B port of the waist rotation servo valve 409 are sequentially communicated.

[0025] Further, the hip pitch hydraulic swing cylinder comprises a hip pitch front end cover 206, a hip pitch rear end cover 203, a hip pitch swing vane 205 and a hip pitch fixed vane 204;

[0026] The hip pitch front end cover 206 and the hip pitch rear end cover 203 are coaxially and rotatably nested outside the corresponding double linear cylinder swing mechanism from front to back, the front end of the hip pitch front end cover 206 is fixedly connected with the pelvis framework 8, the rear end of the hip pitch front end cover 206 is fixedly connected with the front end of the hip pitch rear end cover 203, a hip pitch hydraulic oil cavity is arranged at the joint of the hip pitch front end cover 206 and the hip pitch rear end cover 203, the hip pitch hydraulic oil cavity is internally provided with the hip pitch swing vane 205 and the hip pitch fixed vane 204 for separating the cavity into a hip pitch A cavity and a hip pitch B cavity, the hip pitch swing vane 205 is coaxially and slidably nested on the double linear cylinder swing mechanism, the hip pitch swing vane 205 is connected with the double linear cylinder swing mechanism through a flat key, and the hip pitch fixed vane 204 is fixed on the hip pitch front end cover 206 and the hip pitch rear end cover 203 through a pin shaft.

[0027] Further, the hip pitch hydraulic swing cylinder further comprises a hip pitch bearing 207 and a hip pitch bearing cover 208;

[0028] The hip pitch bearing 207 is coaxially nested inside the front end of the hip pitch front end cover 206, the hip pitch front end cover 206 is rotationally connected with the corresponding double linear cylinder swing mechanism through the hip pitch bearing 207, and the hip pitch front end cover 206 is fixedly installed with the hip pitch bearing cover 208 for realizing the axis positioning of the hip pitch bearing 207.

[0029] Further, the hip pitch hydraulic swing cylinder further comprises a hip pitch servo valve 201, two hip pitch oil pressure sensors 202 and two hip pitch oil discharge shafts 209;

[0030] The hip pitch hydraulic swing cylinder further comprises that the hip pitch servo valve 201 and the two hip pitch oil pressure sensors 202 are both installed at the rear end of the hip pitch rear end cover 203;

[0031] The hip pitch front end cover 206 is installed with the two hip pitch oil discharge shafts 209 arranged in parallel, the two hip pitch oil discharge shafts 209 are respectively provided with a hip pitch high-pressure oil path and a hip pitch low-pressure oil path inside, and the hip pitch front end cover 206 is further provided with a hip pitch front end cover high-pressure oil path and a hip pitch front end cover low-pressure oil path arranged in parallel and integrally formed inside;

[0032] The hip pitch rear end cover 203 is provided with a hip pitch rear end cover high-pressure oil path and a hip pitch rear end cover low-pressure oil path arranged in parallel and integrally formed inside, and is further provided with a hip pitch rear end cover A oil path and a hip pitch rear end cover B oil path arranged in parallel and integrally formed inside;

[0033] Among them, the hip pitch high-pressure oil path, the hip pitch front end cover high-pressure oil path, the hip pitch rear end cover high-pressure oil path and the P port of the hip pitch servo valve 201 are sequentially communicated; the hip pitch low-pressure oil path, the hip pitch front end cover low-pressure oil path, the hip pitch rear end cover low-pressure oil path and the T port of the hip pitch servo valve 201 are sequentially communicated;

[0034] Among them, the hip pitch A cavity, the hip pitch rear end cover A oil path and the A port of the hip pitch servo valve 201 are sequentially communicated; the hip pitch B cavity, the hip pitch rear end cover B oil path and the B port of the hip pitch servo valve 201 are sequentially communicated.

[0035] Further, the double linear cylinder swing mechanism comprises a transmission flange shaft 103, a hip side swing cylinder barrel 104, a swing rod 108, an output shaft 111, a protective cover 110, a small magnet 114, a circular sheet-shaped magnetic encoder 115, an encoder mounting cover 116, two pistons 105, two small rotating shafts 106, two connecting rods 107, two large rotating shafts 109, two hip side swing bearings 112 and two clamping springs 113;

[0036] The rear end of the transmission flange shaft 103 is coaxially embedded in the inner side of the hip pitch front end cover 206 and the hip pitch rear end cover 203, the rear end of the hip lateral swing cylinder 104 is coaxially installed at the front end of the transmission flange shaft 103, the hip lateral swing cylinder 104 is internally provided with the hip lateral swing A cavity and the hip lateral swing B cavity arranged side by side in the horizontal direction, and the two pistons 105 are respectively and slidably and sealingly installed in the hip lateral swing A cavity and the hip lateral swing B cavity; and the two ends of the hip lateral swing A cavity and the hip lateral swing B cavity are respectively sealed by the transmission flange shaft 103 and the pistons 105.

[0037] One end of each of the two connecting rods 107 is hingedly connected to the front end of each of the two pistons 105 through the two small rotating shafts 106, and the other end of each of the two connecting rods 107 is hingedly connected to the upper and lower ends of the swing rod 108 through the two large rotating shafts 109, and the output shaft 111 is fixedly installed in the middle of the swing rod 108 in the horizontal direction.

[0038] The two hip lateral swing bearings 112 are coaxially nested at the two ends of the output shaft 111, the protective cover 110 is fixedly installed at the front end of the hip lateral swing cylinder 104, the output shaft 111 is rotatably connected to the protective cover 110 through the two hip lateral swing bearings 112, and the two ends of the output shaft 111 are respectively provided with the two clamping springs 113, and the two hip lateral swing bearings 112 are axially positioned by the two clamping springs 113.

[0039] The transmission flange shaft 103 is provided with a magnet mounting hole at one end, and the small magnet 114 is coaxially and fixedly inserted into the magnet mounting hole, and the transmission flange shaft 103 is further provided with a circular magnetic encoder 115 coaxially arranged at the end portion, and the circular magnetic encoder 115 is fixedly installed on the protective cover 110 through the encoder mounting cover 116.

[0040] Further, the pelvis further comprises two oil running valve plates, the two oil running valve plates are respectively located at the rear side of the two double straight line cylinder swing mechanisms, each oil running valve plate comprises an oil running valve body, a hip pitch oil running shaft and two hip lateral swing oil pressure sensors, the oil running valve body is installed at the rear end of the hip pitch rear end cover 203, the two hip lateral swing oil pressure sensors are installed on the oil running valve body, the transmission flange shaft 103 is a hollow shaft structure, and the hip pitch oil running shaft is coaxially embedded in the inner side of the transmission flange shaft 103.

[0041] The hip pitch A oil passage and the hip pitch B oil passage are integrally formed and arranged in parallel in the hip pitch oil running shaft; the hip pitch A oil ring groove and the hip pitch B oil ring groove are vertically arranged in the circumferential direction from front to back on the outer side of the hip pitch oil running shaft; and the measurement ends of the two hip lateral swing oil pressure sensors respectively extend into the hip pitch A oil passage and the hip pitch B oil passage.

[0042] The transmission flange shaft 103 is further provided with a flange shaft A oil passage and a flange shaft B oil passage arranged in parallel and integrally formed in the inside;

[0043] Wherein, the hip side swing A cavity, the flange shaft A oil circuit, the hip pitch A oil ring groove, the hip pitch A oil circuit and the A port of the oil valve body are sequentially communicated; the hip side swing B cavity, the flange shaft B oil circuit, the hip pitch B oil ring groove, the hip pitch B oil circuit and the B port of the oil valve body are sequentially communicated.

[0044] Further, the double linear cylinder swing mechanism further comprises a hip pitch ring-shaped magnetic encoder 101 and a deep groove ball bearing 102.

[0045] The deep groove ball bearing 102 is coaxially embedded on the outside of the rear end of the transmission flange shaft 103, the transmission flange shaft 103 is rotationally connected with the hip pitch rear end cover 203 through the deep groove ball bearing 102, and the rear end of the transmission flange shaft 103 is further provided with the coaxially arranged hip pitch ring-shaped magnetic encoder 101, the hip pitch ring-shaped magnetic encoder 101 is rotationally matched with the transmission flange shaft 103, and the hip pitch ring-shaped magnetic encoder 101 is fixedly connected with the hip pitch rear end cover 203.

[0046] Compared with the prior art, the present application has the following effects:

[0047] 1. The existing robot hip joint adopts a linear hydraulic cylinder plus a transmission mechanism, which occupies a large space and has high arrangement difficulty, or a hydraulic swing cylinder structure is redundant and heavy; the waist rotation hydraulic swing cylinder 4, two hip pitch hydraulic swing cylinders and two double linear cylinder swing mechanisms are nested and assembled according to the layout of'middle-two sides-outer side' in the present application, the waist rotation front end cover 403 and the waist rotation rear end cover 406 are integrally formed with an oil circuit, the hip pitch hydraulic swing cylinder and the double linear cylinder swing mechanism are coaxially nested, no additional connecting piece is needed, the overall height is controlled within 180mm, and the center distance of the two swing shafts is only 308mm, which greatly improves the space utilization.

[0048] 2. The joint combined by the existing linear hydraulic cylinder and connecting rod is limited by geometric relationship, and the rotation range is small, and the maximum rotation angle of the hydraulic swing cylinder driven joint is usually less than 180°; the maximum rotation angle of the waist rotation hydraulic swing cylinder 4 can reach 300°, the maximum rotation angle of the hip pitch hydraulic swing cylinder is 140°, and the maximum lateral swing angle of the double linear cylinder swing mechanism is 100°, and the rotation range in each direction is significantly better than that of the prior art, and the motion flexibility of the robot is enhanced.

[0049] 3. One motor corresponds to one degree of freedom in the existing electric drive robot joint, the torque output is limited, and the torque of the ordinary hydraulic joint is usually less than 300Nm; the waist rotation hydraulic swing cylinder 4 can provide more than 200Nm torque, the hip pitch hydraulic swing cylinder outputs more than 500Nm torque, and the double linear cylinder swing mechanism can provide 150Nm torque, and the high torque output can meet the requirements of dynamic scenes such as robot jumping and falling buffer, and the load capacity is more prominent.

[0050] 4. The existing hydraulic joint end cover connection is easy to deform, has great oil leakage risk, and is difficult to balance friction and leakage; the waist rotation swing blade 404 and the inner wall of the oil cavity are in sliding sealing, sealing structures are arranged at key positions of the hip pitch hydraulic swing cylinder and the double linear cylinder swing mechanism, the end cover is locally thickened, and the flange is provided with connecting ribs, thereby effectively preventing deformation and leakage and realizing good compatibility of friction and leakage.

[0051] 5. The existing hip joint structure is complex, has low integration, is cumbersome to install and dismount, and has high maintenance cost; the present application adopts modular design and is composed of five independent small joints, each component is independently assembled and integrated in the pelvis skeleton 8, the left and right oil valve plates 3 and 9, the servo valve and the sensor are externally installed, and the lower side of the pelvis skeleton 8 is lengthened to adapt to different models of servo valves, so that the installation and maintenance convenience is far superior to the prior art.

[0052] 6. The existing joint lacks precise pressure feedback and angle monitoring, has slow control response and low precision; the present application precisely controls the oil circuit through the waist rotation servo valve 409 and the hip pitch servo valve 201, the waist rotation oil pressure sensor 408, the hip pitch oil pressure sensor 202 and the hip lateral swing oil pressure sensor feedback the pressure signal in real time, the waist rotation ring magnetic encoder 411, the hip pitch ring magnetic encoder 101 and the disc-shaped magnetic encoder 115 cooperatively monitor the angle, servo closed-loop control is realized, and the response speed and control precision are significantly superior to the prior art.

[0053] 7. The existing hip joint lacks regular wiring and installation space, the electrical components are exposed and are easy to be disturbed, and the appearance is messy; the pelvis skeleton 8 of the present application adopts a hollow structure, and wiring space and circuit board installation space are reserved, the joint electrical components are isolated through a protective cover, changes in temperature and humidity and electrostatic interference are reduced, a sealing layer can be additionally installed to realize fireproofing, waterproofing and explosion-proofing, the appearance is more concise, and the wiring and installation are more regular.

[0054] 8. The existing robot joint mostly adopts traditional casting or machining process, the material density is large, the machining precision is limited, and it is difficult to balance light weight and high strength; the swing joint skeleton and the output shaft of the present application adopt titanium alloy 3D printing + shot blasting finishing process, the structure strength is ensured while the volume and weight are reduced to the greatest extent, the machining precision is higher, and the surface performance is better. BRIEF DESCRIPTION OF DRAWINGS

[0055] Figure 1 is an exploded view of a hydraulic drive robot integrated pelvis of the present application;

[0056] Figure 2 is a front view of a hydraulic drive robot integrated pelvis of the present application;

[0057] Figure 3 is a side view of a hydraulic drive robot integrated pelvis of the present application;

[0058] Figure 4 is a top view of a hydraulic drive robot integrated pelvis of the present application;

[0059] Figure 5 is an isometric view of a hydraulic drive robot integrated pelvis of the present application;

[0060] Figure 6 is a front cross-sectional view of a hydraulic drive robot integrated pelvis of the present application;

[0061] Figure 7 is a side cross-sectional view of a hydraulic drive robot integrated pelvis of the present application;

[0062] Figure 8 is an exploded view of a double linear cylinder swing mechanism in the pelvis of the present application;

[0063] Figure 9 is an exploded view of a waist rotation hydraulic swing cylinder in the pelvis of the present application;

[0064] Figure 10 is an exploded view of a hip pitch hydraulic swing cylinder in the pelvis of the present application.

[0065] In the figure: 1, left double linear cylinder swing mechanism; 2, left hip pitch hydraulic swing cylinder; 3, left oil run valve plate; 4, waist rotation hydraulic swing cylinder; 5, integrated circuit board; 6, rear dust cover; 7, front dust cover; 8, pelvis skeleton; 9, right oil run valve plate; 10, right hip pitch hydraulic swing cylinder; 11, right double linear cylinder swing mechanism; 101, hip pitch ring-shaped magnetic encoder; 102, deep groove ball bearing; 103, transmission flange shaft; 104, hip side swing cylinder; 105, piston; 106, small rotating shaft; 107, connecting rod; 108, swing rod; 109, large rotating shaft; 110, protective cover; 111, output shaft; 112, hip side swing bearing; 113, clasp; 114, small magnet; 115, round sheet-shaped magnetic encoder; 116, encoder mounting cover; 201, hip pitch servo valve; 202, hip pitch oil pressure sensor; 203, hip pitch rear end cover; 204, hip pitch fixed vane; 205, hip pitch swing vane; 206, hip pitch front end cover; 207, hip pitch bearing; 208, hip pitch bearing cover; 209, hip pitch oil run shaft; 401, waist rotation oil run shaft; 402, waist rotation bearing one; 403, waist rotation front end cover; 404, waist rotation swing vane; 405, waist rotation fixed vane; 406, waist rotation rear end cover; 407, waist rotation bearing two; 408, waist rotation oil pressure sensor; 409, waist rotation servo valve; 410, waist rotation bearing cover; 411, waist rotation ring-shaped magnetic encoder. DETAILED DESCRIPTION

[0066] Detailed implementation one: combined Figures 1 to 10The hydraulic drive robot integrated pelvis of the embodiment includes a pelvis skeleton 8, a waist rotation hydraulic swing cylinder 4, two hip pitch hydraulic swing cylinders and two double linear cylinder swing mechanisms;

[0067] The waist rotation hydraulic swing cylinder 4 is arranged at the middle part above the pelvis skeleton 8, the axis of the waist rotation hydraulic swing cylinder 4 is vertical and coincides with the coronal plane, and is used for providing power for the rotation of the waist;

[0068] The two hip pitch hydraulic swing cylinders are arranged on the left and right sides of the waist rotation hydraulic swing cylinder 4, the axes of the two hip pitch hydraulic swing cylinders are horizontal and coincide with the coronal plane, and are used for providing power for the pitch movement of the two legs;

[0069] The two double linear cylinder swing mechanisms are arranged on the sides away from the waist rotation hydraulic swing cylinder 4 of the two hip pitch hydraulic swing cylinders, and are used for providing power for the lateral swing of the two legs.

[0070] Among them, the two hip pitch hydraulic swing cylinders are respectively a left hip pitch hydraulic swing cylinder 2 and a right hip pitch hydraulic swing cylinder 10, and the two double linear cylinder swing mechanisms are respectively a left double linear cylinder swing mechanism 1 and a right double linear cylinder swing mechanism 11.

[0071] Among them, the pelvis further includes an integrated circuit board 5, a rear dust cover 6 and a front dust cover 7, the front and rear sides of the pelvis skeleton 8 are respectively provided with the front dust cover 7 and the rear dust cover 6, the integrated circuit board 5 is arranged in the assembly space formed between the rear dust cover 6 and the pelvis skeleton 8, the integrated circuit board 5 is connected with the waist rotation hydraulic swing cylinder 4, the left hip pitch hydraulic swing cylinder 2, the right hip pitch hydraulic swing cylinder 10, the left double linear cylinder swing mechanism 1 and the right double linear cylinder swing mechanism 11 through wires, and the actions of the various hydraulic cylinders are controlled through valves.

[0072] The embodiment is aimed at different motion characteristics and load requirements of waist rotation, hip pitch and lateral swing, and special driving elements are configured and integrated layout, the waist rotation hydraulic swing cylinder is arranged vertically in the middle, the hip pitch hydraulic swing cylinders are horizontally and symmetrically distributed on the two sides, and the double linear cylinder swing mechanisms are independently arranged on the outside of the hip, each driving element is coaxially nested to form a compact assembly relationship, and integrated output of five degrees of freedom is realized. The adaptive design of the driving elements and the motion requirements is based on in-depth analysis of the kinematics characteristics of the robot hip, and through collaborative optimization of the structure layout, the motion interference in the limited space is eliminated, and the overall volume is significantly reduced. The technical scheme formed breaks through the limitations of the existing universal transmission and decentralized layout, and realizes the organic unity of multi-degree-of-freedom integration and compact structure.

[0073] Specific implementation method two: combined Figures 1 to 10The waist rotation hydraulic swing cylinder 4 of the embodiment includes a waist rotation oil delivery shaft 401, a waist rotation front end cover 403, a waist rotation rear end cover 406, a waist rotation swing vane 404, and a waist rotation fixed vane 405.

[0074] The waist rotation oil delivery shaft 401 is vertically arranged, the waist rotation front end cover 403 and the waist rotation rear end cover 406 are coaxially and rotatably nested outside the transmission oil delivery shaft 401 from top to bottom, the lower end of the waist rotation rear end cover 406 is fixedly connected with the top end of the pelvic skeleton 8, the upper end of the waist rotation rear end cover 406 is fixedly connected with the waist rotation front end cover 403, the waist rotation hydraulic oil cavity is formed at the joint of the waist rotation front end cover 403 and the waist rotation rear end cover 406, the waist rotation swing vane 404 and the waist rotation fixed vane 405 are arranged inside the waist rotation hydraulic oil cavity to divide the cavity into a waist rotation A cavity and a waist rotation B cavity, the waist rotation swing vane 404 is coaxially and slidably nested on the waist rotation oil delivery shaft 401, the waist rotation swing vane 404 is connected with the waist rotation oil delivery shaft 401 through a flat key, and the waist rotation fixed vane 405 is fixed on the waist rotation front end cover 403 and the waist rotation rear end cover 406 through a pin shaft.

[0075] In this way, the oil cavity is divided by the sliding sealing cooperation of the waist rotation swing vane 404 and the waist rotation fixed vane 405, the sealing effect is better than that of the existing hydraulic swing cylinder vane design, the problems of easy leakage and large friction loss of the traditional vane structure are avoided, the integrated shaft sleeve and vane structure simplifies the processing procedure, and the disadvantages of high processing requirement and complex assembly of the existing vane are solved. The other components and connection relationships are the same as those in the specific embodiment.

[0076] Further, the bolt connection structure of the waist rotation front end cover 403 and the waist rotation rear end cover 406 adopts a countersunk screw, the screw arrangement is analyzed in strength to meet the pressure requirement of 20 MPa at most, and the excess structure of the end cover is removed to realize lightweight optimization.

[0077] The waist rotation swing vane 404 includes a shaft sleeve part coaxially and fixedly nested outside the waist rotation oil delivery shaft 401 and a vane part integrally formed with the shaft sleeve part, the vane part is in sliding sealing cooperation with the inner wall of the waist rotation hydraulic oil cavity, and is used for blocking the hydraulic oil inside the waist rotation hydraulic oil cavity.

[0078] The waist rotation fixed vane 405 is fixedly connected with the side wall of the waist rotation hydraulic oil cavity, the waist rotation fixed vane 405 is in sliding sealing cooperation with the shaft sleeve part of the waist rotation swing vane 404, and the waist rotation fixed vane 405 and the vane part of the waist rotation swing vane 404 jointly divide the waist rotation hydraulic oil cavity into the waist rotation A cavity and the waist rotation B cavity, and the waist rotation A cavity and the waist rotation B cavity are respectively communicated with the waist rotation oil supply oil passage and the waist rotation oil return oil passage inside the waist rotation oil delivery shaft 401.

[0079] In this embodiment, the waist rotation swing vane adopts a single vane structure design, which is suitable for the motion requirements of low load and large angle of waist rotation. The sliding sealing cooperation between the vane and the inner wall of the oil cavity effectively reduces the rotation resistance. The integrated shaft sleeve and vane structure simplifies the processing and assembly process and reduces the manufacturing difficulty. The single vane structure and vertical axis arrangement form a synergistic effect, which keeps the waist rotation motion consistent with the center of gravity of the upper body and avoids imbalance during motion. This design solves the technical defects of the existing single-joint swing cylinder that cannot adapt to the waist-hip integrated scene. By reducing intermediate transmission links, energy loss is reduced, and the flexibility and stability of waist motion are improved.

[0080] Specific implementation method three: combination Figures 1 to 10 In this embodiment, the waist rotation hydraulic swing cylinder 4 further includes a waist rotation bearing one 402, a waist rotation bearing two 407, a waist rotation bearing cover 410, and a waist rotation ring-shaped magnetic encoder 411.

[0081] The waist rotation oil guide shaft 401 includes a waist rotation oil guide shaft body and an end cover sleeve coaxially connected to the upper end of the waist rotation oil guide shaft body. The top end of the waist rotation front end cover 403 is coaxially nested in the annular cavity formed between the waist rotation oil guide shaft body and the end cover sleeve. The end cover sleeve and the waist rotation front end cover 403 are rotationally connected through the waist rotation bearing one 402.

[0082] The waist rotation oil guide shaft body is rotationally connected between the lower end and the waist rotation rear end cover 406 through the waist rotation bearing two 407.

[0083] The lower end of the waist rotation oil guide shaft body is also fixedly installed with a waist rotation bearing cover 410 for realizing axis positioning of the waist rotation bearing two 407.

[0084] The waist rotation ring-shaped magnetic encoder 411 is coaxially nested outside the waist rotation bearing cover 410. The waist rotation ring-shaped magnetic encoder 411 is rotationally connected with the waist rotation bearing cover 410. The waist rotation ring-shaped magnetic encoder 411 is fixedly connected with the lower end of the waist rotation rear end cover 406.

[0085] In this way, the waist rotation bearing one 402 and the waist rotation bearing two 407 support the upper and lower ends of the waist rotation oil guide shaft 401, respectively. The angular contact ball bearing is selected and arranged outside the end cover. Compared with the existing bearing built-in design, the axial length is saved, and the problem of bloated longitudinal structure of traditional layout is solved. The waist rotation ring-shaped magnetic encoder 411 monitors the rotation angle in real time, which makes up for the defects of inaccurate joint angle feedback and motion control lag. The other components and connection relationships are the same as those in specific implementation methods one or two.

[0086] Further, the waist rotation hydraulic swing cylinder 4 selects angular contact ball bearings (model numbers 71806 and 71813), and the bearings are arranged outside the end cover to save axial length, and the high-pressure oil joint at the waist is arranged on the lower side to improve the sealing performance.

[0087] In this embodiment, the waist rotation bearing one and the waist rotation bearing two respectively support the upper and lower ends of the waist rotation oil guide shaft, the selection and external arrangement of the angular contact ball bearings save axial installation space while ensuring support stiffness, and optimize the longitudinal structure size. The installation position of the waist rotation annular magnetic encoder is accurately matched with the waist rotation motion trajectory, and the angle information is obtained through direct measurement, and the measurement accuracy is significantly improved compared with the indirect calculation method of the existing displacement sensor. The magnetic encoder and the oil pressure sensor form a cooperative feedback system, combined with the signal acquisition of the hip pitch annular magnetic encoder and the disc-shaped magnetic encoder, a multi-degree-of-freedom full-link feedback system is constructed, which effectively makes up for the defects of inaccurate joint angle feedback and motion control lag, and provides technical support for accurate control of the waist rotation degree of freedom.

[0088] Specific implementation method four: combined with Figures 1 to 10 In this embodiment, the waist rotation hydraulic swing cylinder 4 further includes a waist rotation servo valve 409 and two waist rotation oil pressure sensors 408, and the waist rotation servo valve 409 and the two waist rotation oil pressure sensors 408 are both installed at the bottom of the waist rotation rear end cover 406.

[0089] The waist rotation oil guide shaft 401 is internally provided with a waist rotation high-pressure oil circuit and a waist rotation low-pressure oil circuit arranged in parallel and integrally formed;

[0090] The inner wall of the shaft hole of the waist rotation front end cover 403 is sequentially provided from top to bottom with a front end cover high-pressure oil ring groove and a front end cover low-pressure oil ring groove arranged horizontally in the circumferential direction; the inside of the waist rotation front end cover 403 is further provided with a front end cover high-pressure oil circuit and a front end cover low-pressure oil circuit arranged in parallel and integrally formed;

[0091] The inside of the waist rotation rear end cover 406 is provided with a rear end cover high-pressure oil circuit and a rear end cover low-pressure oil circuit arranged in parallel and integrally formed; the inside of the waist rotation rear end cover 406 is further provided with a waist rotation rear end cover A oil circuit and a waist rotation rear end cover B oil circuit arranged in parallel and integrally formed, and the measuring ends of the two waist rotation oil pressure sensors 408 respectively extend into the inside of the waist rotation rear end cover A oil circuit and the waist rotation rear end cover B oil circuit;

[0092] Among them, the waist rotation high-pressure oil circuit, the front end cover high-pressure oil ring groove, the front end cover high-pressure oil circuit, the rear end cover high-pressure oil circuit and the P port of the waist rotation servo valve 409 are sequentially communicated; the waist rotation low-pressure oil circuit, the front end cover low-pressure oil ring groove, the front end cover low-pressure oil circuit, the rear end cover low-pressure oil circuit and the T port of the waist rotation servo valve 409 are sequentially communicated;

[0093] The waist rotation A cavity, the waist rotation rear end cover A oil path, and the A port of the waist rotation servo valve 409 are sequentially communicated.

[0094] In this way, the waist rotation servo valve 409 centrally controls multiple oil paths, and the two waist rotation oil pressure sensors 408 respectively monitor the waist rotation rear end cover A / B oil path pressure, forming a closed loop control. Compared with the existing open oil path design, the pressure control is more accurate, and the problems of large pressure fluctuation and unstable torque output of the traditional oil path are avoided. The integrated oil path design does not require additional oil supply pipelines, and solves the problems of disorderly arrangement of the existing oil path and many leakage risks. The other components and connection relationships are the same as those in the first, second, or third embodiment.

[0095] The lower end of the waist rotation front end cover 403 and the upper end of the waist rotation rear end cover 406 are both provided with a circular flange and are fixedly connected through a plurality of bolts. In order to ensure the sealing performance of the oil path and the cavity, an O-shaped sealing ring can be arranged at the joint surface.

[0096] In this embodiment, the waist rotation servo valve centrally controls the on-off and flow of multiple oil paths, and the two waist rotation oil pressure sensors respectively monitor the waist rotation rear end cover A / B oil path pressure in real time, forming a closed loop control circuit. The problem of pressure fluctuation existing in the traditional open oil path is effectively inhibited, and the torque output stability is improved. The waist rotation oil discharge shaft is internally provided with a high-pressure oil path and a low-pressure oil path, which cooperates with the front end cover oil ring groove to realize continuous oil supply in the rotating state, avoids the interference of the external oil pipe with the joint motion, and improves the oil path integration. The integrated oil path design cooperates with the multi-joint nested layout to reduce the number of oil path connection points, reduce the leakage risk and pressure loss, realize stable oil supply when multiple joints move simultaneously, and solve the problems of disorderly arrangement of the existing dispersed oil path and insufficient reliability.

[0097] Specific embodiment five: combination Figures 1 to 10 This embodiment is described. The hip pitch hydraulic swing cylinder of this embodiment includes a hip pitch front end cover 206, a hip pitch rear end cover 203, a hip pitch swing vane 205, and a hip pitch fixed vane 204.

[0098] The hip pitch front end cover 206 and the hip pitch rear end cover 203 are coaxially and rotatably nested from front to back outside the corresponding double linear cylinder swing mechanism, the front end of the hip pitch front end cover 206 is fixedly connected with the pelvis framework 8, the rear end of the hip pitch front end cover 206 is fixedly connected with the front end of the hip pitch rear end cover 203, a hip pitch hydraulic oil cavity is arranged at the joint of the hip pitch front end cover 206 and the hip pitch rear end cover 203, the hip pitch hydraulic oil cavity is internally provided with a hip pitch swing vane 205 and a hip pitch fixed vane 204 for separating the cavity into a hip pitch A cavity and a hip pitch B cavity, the hip pitch swing vane 205 is coaxially and slidably nested on the double linear cylinder swing mechanism, the hip pitch swing vane 205 is connected with the double linear cylinder swing mechanism through a flat key, and the hip pitch fixed vane 204 is fixed on the hip pitch front end cover 206 and the hip pitch rear end cover 203 through a pin shaft.

[0099] In this way, the hip pitch front end cover 206 and the hip pitch rear end cover 203 are fixed to form a closed oil cavity, the hip pitch swing vane 205 is directly connected with the double linear cylinder swing mechanism, compared with the existing structure needing an intermediate transmission member, power loss is reduced, and the problems of redundancy and energy waste of a traditional transmission mechanism are solved; the double-vane design has an output torque of more than 500 Nm, far exceeding the torque output of an ordinary single-vane hydraulic swing cylinder, and meets the high-load demand. The other components and connection relationships are the same as those in the first, second, third or fourth embodiment.

[0100] Further, the hip pitch front end cover 206 and the hip pitch rear end cover 203 of the hip pitch hydraulic swing cylinder are connected through countersunk head screws, the end covers are locally thickened, and connecting ribs are added at flanges to improve strength and prevent deformation.

[0101] The structure and mounting mode of the hip pitch swing vane 205 are the same as those of the waist rotation swing vane 404, and the structure and mounting mode of the hip pitch fixed vane 204 are the same as those of the waist rotation fixed vane 405, which will not be described here.

[0102] In this embodiment, the hip pitch hydraulic swing cylinder adopts a double-vane structure design, the double vanes synchronously bear force to improve torque output capacity and stability, and meet the high-load demand of the hip part bearing the weight and dynamic load of the limbs. Compared with the existing transmission mode relying on an intermediate transmission member, this design reduces power transmission loss and avoids energy waste caused by redundancy of a traditional transmission mechanism. The horizontal axis arrangement of the hip pitch hydraulic swing cylinder makes the leg pitch motion trajectory conform to the physiological motion law of the human hip joint, reduces motion interference, integrates the pitch degree of freedom in the pelvis structure, avoids the redundancy problem of the leg structure caused by the existing technology of arranging the pitch drive on the thigh, and optimizes the compactness of the robot lower limb layout.

[0103] Specific embodiment six: combination Figures 1 to 10This embodiment further includes a hip pitch bearing 207 and a hip pitch bearing cover 208.

[0104] The hip pitch bearing 207 is coaxially nested inside the front end of the hip pitch front cover 206. The hip pitch front cover 206 is rotatably connected to the corresponding double linear cylinder swing mechanism through the hip pitch bearing 207. The front end of the hip pitch front cover 206 is fixedly installed with a hip pitch bearing cover 208 for positioning the axis of the hip pitch bearing 207.

[0105] This configuration reduces rotational friction between the hip pitch bearing 207 and the dual linear cylinder swing mechanism, while the hip pitch bearing cover 208 achieves axial positioning. Compared to existing designs without positioning bearings, this configuration offers stronger rotational stability and avoids the problems of shaking and decreased accuracy during operation inherent in traditional structures. The embedded bearing installation also ensures structural compactness, resolving the issue of large space requirements associated with external bearings. Other components and connections are the same as in specific implementation methods one, two, three, four, or five.

[0106] Furthermore, hollow reinforcing ribs are installed on the front and rear sides of the pelvic frame 8, and the lower side of the frame is lengthened to accommodate different models of servo valves. The overall frame structure has been optimized through finite element analysis to improve rigidity and stability.

[0107] In this embodiment, the hip pitch bearing effectively reduces rotational friction between the hip pitch front cover and the dual linear cylinder swing mechanism. The hip pitch bearing cover improves rotational stability through axial positioning, avoiding problems such as operational wobbling and decreased accuracy inherent in traditional non-positioning bearing designs. The embedded bearing installation design balances structural compactness and synergistically optimizes with the coaxial nested layout, further reducing the space occupied by external bearings and improving the overall structural compactness after multi-joint integration. The synergistic effect of the bearing layout and positioning design ensures the flexibility of hip pitch movement while enhancing structural rigidity, resisting end cover deformation under high-pressure oil circuit conditions, and providing support and assurance for the reliability of the sealing structure.

[0108] Specific implementation method seven: Combination Figures 1 to 10 This embodiment describes a hip pitch hydraulic swing cylinder that further includes a hip pitch servo valve 201, two hip pitch hydraulic sensors 202, and two hip pitch hydraulic shafts 209.

[0109] The hip pitch hydraulic swing cylinder also includes a hip pitch servo valve 201 and two hip pitch hydraulic sensors 202, both of which are installed at the rear end of the hip pitch rear end cover 203.

[0110] The hip pitch front end cover 206 is provided with two hip pitch oil delivery shafts 209 arranged in parallel, and the hip pitch high-pressure oil path and the hip pitch low-pressure oil path are respectively arranged in the two hip pitch oil delivery shafts 209; the hip pitch front end cover 206 is further provided with the hip pitch front end cover high-pressure oil path and the hip pitch front end cover low-pressure oil path arranged in parallel and integrated;

[0111] The hip pitch rear end cover 203 is provided with the hip pitch rear end cover high-pressure oil path and the hip pitch rear end cover low-pressure oil path arranged in parallel and integrated; the hip pitch rear end cover 203 is further provided with the hip pitch rear end cover A oil path and the hip pitch rear end cover B oil path arranged in parallel and integrated;

[0112] The hip pitch high-pressure oil path, the hip pitch front end cover high-pressure oil path, the hip pitch rear end cover high-pressure oil path, and the P port of the hip pitch servo valve 201 are sequentially communicated; the hip pitch low-pressure oil path, the hip pitch front end cover low-pressure oil path, the hip pitch rear end cover low-pressure oil path, and the T port of the hip pitch servo valve 201 are sequentially communicated;

[0113] The hip pitch A cavity, the hip pitch rear end cover A oil path, and the A port of the hip pitch servo valve 201 are sequentially communicated; the hip pitch B cavity, the hip pitch rear end cover B oil path, and the B port of the hip pitch servo valve 201 are sequentially communicated.

[0114] In this way, the hip pitch servo valve 201 and the hip pitch oil pressure sensor 202 are integrally installed on the hip pitch rear end cover 203, the oil paths are integrally formed and transmitted through the hip pitch oil delivery shaft 209, compared with the existing distributed oil path layout, the structure is more regular, and the problems of many connection points and high leakage risk of the traditional oil path are solved; the high-pressure and low-pressure oil paths are independently arranged, and the control failure problem caused by the existing oil path series pressure is avoided. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth, or sixth embodiment.

[0115] In this embodiment, the hip pitch servo valve and the hip pitch oil pressure sensor are integrally installed on the hip pitch rear end cover, the oil paths are processed by an integrated forming method and transmitted through the hip pitch oil delivery shaft, the pipeline layout is simplified, the number of connection points is reduced, and the leakage risk is reduced. The high-pressure oil path and the low-pressure oil path are independently arranged, the oil ring groove is provided with a rotary sealing element, a reliable sealing barrier is formed, the control failure problem caused by the existing oil path series pressure is effectively avoided, and the oil supply independence and stability during the simultaneous movement of multiple joints are ensured. The integrated layout of the servo valve and the oil pressure sensor optimizes the installation space, the real-time feedback of the oil cavity pressure signal provides data support for precise control, and the control accuracy and response speed of the hip pitch movement are improved.

[0116] Specific embodiment eight: combined Figures 1 to 10This embodiment describes a dual linear cylinder swing mechanism comprising a transmission flange shaft 103, a hip-side swing cylinder 104, a swing rod 108, an output shaft 111, a protective cover 110, a small magnet 114, a disc magnetic encoder 115, an encoder mounting cover 116, two pistons 105, two small rotating shafts 106, two connecting rods 107, two large rotating shafts 109, two hip-side swing bearings 112, and two retaining rings 113.

[0117] The rear end of the transmission flange shaft 103 is coaxially embedded in the inner side of the hip pitch front cover 206 and the hip pitch rear cover 203. The rear end of the hip side swing cylinder 104 is coaxially installed at the front end of the transmission flange shaft 103. The hip side swing cylinder 104 has a hip side swing A cavity and a hip side swing B cavity arranged vertically in the horizontal direction. Two pistons 105 are slidably and sealed inside the hip side swing A cavity and the hip side swing B cavity, respectively. The two ends of the hip side swing A cavity and the hip side swing B cavity are sealed to the pistons 105 through the transmission flange shaft 103, respectively.

[0118] One end of each of the two connecting rods 107 is hinged to the front end of each of the two pistons 105 via two small rotating shafts 106, and the other end of each of the two connecting rods 107 is hinged to the upper and lower ends of the rocker arm 108 via two large rotating shafts 109. The output shaft 111 is fixedly installed in the middle of the rocker arm 108 in the horizontal direction.

[0119] Two hip swing bearings 112 are coaxially nested at both ends of the output shaft 111. The protective cover 110 is fixedly installed at the front end of the hip swing cylinder 104. The output shaft 111 is rotatably connected to the protective cover 110 through the two hip swing bearings 112. Two snap rings 113 are installed at both ends of the output shaft 111. The two hip swing bearings 112 are axially positioned through the two snap rings 113.

[0120] A magnet mounting hole is provided at the center of one end of the transmission flange shaft 103. A small magnet 114 is coaxially fixedly inserted into the magnet mounting hole. A circular magnetic encoder 115 is also provided at the end of the transmission flange shaft 103. The circular magnetic encoder 115 is fixedly mounted on the protective cover 110 through the encoder mounting cover 116.

[0121] With this configuration, the dual linear cylinders are driven by piston 105, connecting rod 107, and swing rod 108. Compared to existing side-swing mechanisms driven by a single linear cylinder, the torque output is more balanced, reaching 150 Nm, solving the problems of insufficient torque and motion jamming in traditional side-swing mechanisms. The use of bearing No. 61814 for fixing reduces lateral redundancy, avoids collisions during leg inward swing, and compensates for the unreasonable spatial layout of existing side-swing mechanisms. Other components and connections are the same as in specific implementation methods one, two, three, four, five, six, or seven.

[0122] Further, the sealing ring is arranged in the hip side swing cylinder 104 of the double linear cylinder swing mechanism, the locking screw is reversely arranged, the shape of the cylinder is improved to enhance the structural strength, the 61814 bearing is adopted for fixation, the lateral redundant volume is reduced, and the collision during the leg inner swing is avoided; the total oil inlet is arranged as a 4mm*10mm waist-shaped hole, and the large flow oil supply demand is met.

[0123] In the embodiment, the double linear cylinder adopts the upper and lower double cavity layout, the transmission chain is formed through the piston, the connecting rod and the swing rod, the two pistons are synchronously and reversely moved to realize the torque balanced output, compared with the existing single linear cylinder driven side swing mechanism, the torque deficiency and movement jamming problems are effectively solved. The selection and fixation mode design of the 61814 bearing reduces the lateral redundant volume, avoids the collision interference during the leg inner swing, and the arrangement position optimization of the hip side further improves the movement compatibility. The swing rod middle part output shaft design makes the lateral swing force transmission more direct and efficient, the round sheet magnetic encoder is adapted to the linear-rotation conversion movement characteristics of the lateral swing, realizes the accurate collection of the angle signal, solves the technical defects of the existing small side swing joint rotation angle and unstable movement, expands the lateral swing angle to 100°, and meets the complex posture adjustment demand of the robot.

[0124] Specific implementation method nine: in combination Figures 1 to 10 In the embodiment, the pelvic bone further includes two oil outlet valve plates, the two oil outlet valve plates are respectively located at the rear side of the two double linear cylinder swing mechanisms, each oil outlet valve plate includes an oil outlet valve body, a hip pitch oil outlet shaft and two hip swing oil pressure sensors, the oil outlet valve body is installed at the rear end of the hip pitch rear end cover 203, the two hip swing oil pressure sensors are installed on the oil outlet valve body, the transmission flange shaft 103 is a hollow shaft structure, the hip pitch oil outlet shaft is coaxially embedded in the inside of the transmission flange shaft 103.

[0125] The hip pitch A oil path and the hip pitch B oil path are arranged in parallel and integrally formed in the inside of the hip pitch oil outlet shaft; the hip pitch A oil ring groove and the hip pitch B oil ring groove are vertically arranged in the circumferential direction from front to back on the outside of the hip pitch oil outlet shaft; the measurement ends of the two hip swing oil pressure sensors respectively extend into the hip pitch A oil path and the hip pitch B oil path.

[0126] The flange shaft A oil path and the flange shaft B oil path are arranged in parallel and integrally formed in the inside of the transmission flange shaft 103.

[0127] The hip swing A cavity, the flange shaft A oil path, the hip pitch A oil ring groove, the hip pitch A oil path and the A port of the oil outlet valve body are sequentially communicated; the hip swing B cavity, the flange shaft B oil path, the hip pitch B oil ring groove, the hip pitch B oil path and the B port of the oil outlet valve body are sequentially communicated.

[0128] In this way, the oil valve plate integrates the hip swing oil pressure sensor and the oil valve body, the transmission flange shaft 103 is a hollow shaft structure, the hip pitch oil shaft is coaxially embedded, compared with the existing external oil pipe oil transmission, the oil path is more concealed and the sealing effect is better, solving the problem of traditional oil pipe exposure and easy wear and leakage; the oil ring groove cooperates with the internal oil path to realize continuous oil supply, avoiding the joint action stagnation problem caused by the existing oil path oil supply interruption. The other components and connection relationships are the same as those of the first, second, third, fourth, fifth, sixth, seventh or eighth specific embodiments.

[0129] Among them, the two oil valve plates are left oil valve plate 3 and right oil valve plate 9.

[0130] In this embodiment, the oil valve plate integrates the hip swing oil pressure sensor and the oil valve body, the transmission flange shaft adopts a hollow shaft structure, the hip pitch oil shaft is coaxially embedded therein to form an embedded oil path transmission channel, compared with the existing external oil pipe oil transmission mode, the oil path sealing and protection performance is improved, and the wear and leakage problem caused by the exposure of the oil pipe is avoided. The cooperation design of the oil ring groove and the internal oil path realizes continuous oil supply, cooperates with the multi-joint nested layout, prevents the joint action stagnation caused by the oil path oil supply interruption, and improves the system operation reliability. The two hip swing oil pressure sensors monitor the swing cavity pressure change in real time, cooperate with the angle information feedback by the magnetic encoder, and construct a closed-loop control system of the swing degree of freedom, improve the motion stability and control precision, and solve the technical problems of the existing oil path disorder and insufficient control precision.

[0131] Specific embodiment ten: combined with Figures 1 to 10 In this embodiment, the double linear cylinder swing mechanism also includes a hip pitch ring magnetic encoder 101 and a deep groove ball bearing 102.

[0132] The deep groove ball bearing 102 is coaxially embedded on the outer side of the rear end of the transmission flange shaft 103, the transmission flange shaft 103 is rotatably connected with the hip pitch rear end cover 203 through the deep groove ball bearing 102, and the rear end of the transmission flange shaft 103 is also provided with the hip pitch ring magnetic encoder 101 arranged coaxially, the hip pitch ring magnetic encoder 101 is rotatably connected with the transmission flange shaft 103, and the hip pitch ring magnetic encoder 101 is fixedly connected with the hip pitch rear end cover 203.

[0133] In this way, the deep groove ball bearing 102 reduces the rotation friction between the transmission flange shaft 103 and the hip pitch rear end cover 203, compared with the existing sliding friction structure, the wear is smaller and the service life is longer, solving the problem of large friction loss and frequent maintenance of the traditional structure; the hip pitch ring magnetic encoder 101 accurately monitors the pitch angle, and makes up for the defects of the existing joint pitch angle feedback not timely and low control precision. The other components and connection relationships are the same as those of the first, second, third, fourth, fifth, sixth, seventh, eighth or ninth specific embodiments.

[0134] Further, the swing type joint skeleton and the output shaft are made of titanium alloy by 3D printing technology, and after printing, the surface performance is improved by shot blasting process, and then finishing treatment is carried out; the inside of the basin bone skeleton 8 is reserved for wiring space and circuit board mounting space, the main electrical components of the joint are isolated from the outside through the protective cover, and a sealing layer can be added according to the needs to realize the functions of fireproof, waterproof and explosion-proof.

[0135] Further, the servo valve integrated with the basin bone is driven by a hydraulic controller, and the joint action is controlled by controlling the flow, speed and direction of the hydraulic oil; the oil pressure sensor installed in the oil circuit cooperates with the magnetic encoder to form a servo closed loop control, wherein the magnetic encoder includes MBS, MPT and a customized disc-shaped magnetic encoder, to ensure real-time sensing and accurate adjustment of the joint state.

[0136] In the embodiment, the application of the deep groove ball bearing significantly reduces the rotational friction between the transmission flange shaft and the hip pitch rear end cover, compared with the existing sliding friction structure, the wear is greatly reduced, the service life is prolonged, and the maintenance frequency is reduced. The hip pitch ring magnetic encoder is in rotational cooperation with the transmission flange shaft, directly collecting the pitch angle information, and constructing a multi-dimensional angle feedback system with the waist rotation ring magnetic encoder and the side swing disc-shaped magnetic encoder, realizing comprehensive monitoring of angle information of each degree of freedom, solving the problem of incomplete angle monitoring and control lag after multi-degree of freedom integration in the prior art. The cooperative design of the bearing and the encoder improves the multi-degree of freedom cooperative control precision on the basis of ensuring the flexibility and durability of the joint movement, makes the actions of each joint of the robot coordinated, and meets the motion control requirements in dynamic scenes.

[0137] Working principle

[0138] In combination ​ The working principle of the hydraulic drive robot integrated with the basin bone is explained:

[0139] The hydraulic drive robot of the application is integrated with a pelvic bone, and when the hydraulic drive robot works, hydraulic oil enters the waist rotation hydraulic swing cylinder 4 through the waist rotation joint via the external hose and the waist rotation oil walking shaft 401, the inside of the waist rotation oil walking shaft 401 is provided with a parallel waist rotation high-pressure oil path and a waist rotation low-pressure oil path, the hydraulic oil enters the P port of the waist rotation servo valve 409 through the front end cover high-pressure oil ring groove, the front end cover high-pressure oil path and the rear end cover high-pressure oil path, and then enters the waist rotation rear end cover A oil path or the waist rotation rear end cover B oil path through the A port or the B port of the waist rotation servo valve 409, and finally enters the waist rotation A cavity or the waist rotation B cavity, the waist rotation oil walking shaft 401 is driven to rotate through the cooperation of the waist rotation swing vane 404 and the waist rotation fixed vane 405, the waist rotation motion is realized, the waist rotation angle is monitored in real time by the waist rotation annular magnetic encoder 411, the oil cavity pressure is fed back by the waist rotation oil pressure sensor 408, and the closed-loop control is completed; at the same time, another part of the hydraulic oil enters the hip pitch hydraulic swing cylinder through the internal oil path of the pelvic bone framework 8, enters the hip pitch oil walking shaft 209, enters the P port of the hip pitch servo valve 201 through the hip pitch front end cover high-pressure oil path and the hip pitch rear end cover high-pressure oil path, enters the hip pitch rear end cover A oil path or the hip pitch rear end cover B oil path through the A port or the B port of the hip pitch servo valve 201, enters the hip pitch A cavity or the hip pitch B cavity, drives the hip pitch swing vane 205 to drive the whole double linear cylinder swing mechanism to rotate, realizes the leg pitch motion, the pressure is monitored by the hip pitch oil pressure sensor 202, and the angle is fed back by the hip pitch annular magnetic encoder 101; the hydraulic oil flowing into the hip pitch hydraulic swing cylinder also enters the hip side swing servo valve through the oil path of the oil walking valve plate, enters the hip side swing A cavity or the hip side swing B cavity of the double linear cylinder swing mechanism through the flange shaft A oil path or the flange shaft B oil path under the control of the servo valve, drives the piston 105 to slide, the piston 105 drives the connecting rod 107 through the small rotating shaft 106, the connecting rod 107 drives the swing rod 108 and the output shaft 111 to swing through the large rotating shaft 109, realizes the leg lateral swing, the lateral swing angle is monitored by the circular sheet-shaped magnetic encoder 115, and the pressure is fed back in real time by the hip side swing oil pressure sensor; the integrated circuit board 5 is connected with each servo valve, sensor and encoder through wires, receives the feedback signals and outputs control instructions, coordinates the synchronization of the waist rotation, hip pitch and hip side swing three actions, and four oil outlets arranged on the pelvic bone framework 8 are connected to the legs through the hose, realizes the connection of the high and low oil paths of the left and right legs, and ensures the accurate and stable joint action.

[0140] During the whole working process, the special driving assemblies work cooperatively according to the preset motion characteristics, the waist rotation single-blade structure, the hip pitch double-blade structure and the double linear cylinder double-cavity transmission are respectively matched with different loads and rotation requirements, the reasonable layout design ensures that the motions do not interfere with each other, the integrated oil circuit and the multiple sealing structures reduce leakage and pressure loss, and the multi-sensor closed-loop control realizes accurate regulation and control. The above-mentioned cooperative working mechanism cannot be realized by the prior art "general transmission + decentralized control" mode, effectively solves the core defects of the prior art such as bulky size, insufficient torque, low precision and easy leakage, and the technical effects are not the isolated action of a single technical feature, but the synergistic result of the organic combination of special driving matching, compact layout, sealing optimization and accurate control and other creative technical features, which breaks through the limitations of the prior art "general transmission + single function component", and solves the three core contradictions of size and torque, friction and leakage, precision and response, fully embodies the creativity and superiority of the technical scheme of the present application.

[0141] The whole system realizes state sensing and feedback through multi-sensor integration, and realizes multi-degree-of-freedom output of large torque and large rotation angle in a compact space by means of 3D printing titanium alloy parts and optimized structure design.

[0142] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A hydraulically driven robot integrating a pelvis, characterized in that, The pelvis includes a pelvic skeleton (8), a waist rotation hydraulic swing cylinder (4), two hip pitch hydraulic swing cylinders and two double linear cylinder swing mechanisms. The lumbar rotation hydraulic swing cylinder (4) is located in the middle of the upper part of the pelvic skeleton (8). The axis of the lumbar rotation hydraulic swing cylinder (4) is vertical and coincides with the coronal plane, and is used to provide power for the rotation of the waist. Two hip pitching hydraulic swing cylinders are arranged opposite each other on the left and right sides of the waist rotation hydraulic swing cylinder (4). The axes of the two hip pitching hydraulic swing cylinders are horizontal and coincide with the coronal plane, which is used to provide power for the pitching movement of the legs on both sides. Two double linear cylinder swing mechanisms are arranged opposite each other on the side of the two hip pitch hydraulic swing cylinders away from the waist rotation hydraulic swing cylinder (4) to provide power for the lateral swing of the two legs.

2. The hydraulically driven robot integrated pelvis according to claim 1, characterized in that, The waist-slewing hydraulic swing cylinder (4) includes a waist-slewing oil-carrying shaft (401), a waist-slewing front end cover (403), a waist-slewing rear end cover (406), a waist-slewing swing blade (404), and a waist-slewing fixed blade (405). The lumbar rotation oil travel shaft (401) is arranged vertically. The lumbar rotation front end cover (403) and the lumbar rotation rear end cover (406) are coaxially and rotatably nested on the outside of the transmission oil travel shaft 401 from top to bottom. The lower end of the lumbar rotation rear end cover (406) is fixedly connected to the top of the pelvic skeleton (8), and the upper end of the lumbar rotation rear end cover (406) is fixedly connected to the lumbar rotation front end cover (403). A lumbar rotation hydraulic oil chamber is opened at the joint between the lumbar rotation front end cover (403) and the lumbar rotation rear end cover (406). The oil chamber is provided with a waist-rotating swing blade (404) and a waist-rotating fixed blade (405) for dividing the chamber into a waist-rotating A chamber and a waist-rotating B chamber. The waist-rotating swing blade (404) is slidably nested coaxially on the waist-rotating oil-carrying shaft (401) along the axial direction. The waist-rotating swing blade (404) is connected to the waist-rotating oil-carrying shaft (401) by a flat key. The waist-rotating fixed blade (405) is fixed on the waist-rotating front end cover (403) and the waist-rotating rear end cover (406) by a pin.

3. The hydraulically driven robot integrated pelvis according to claim 2, characterized in that, The waist-slewing hydraulic swing cylinder (4) also includes a waist-slewing bearing one (402), a waist-slewing bearing two (407), a waist-slewing bearing cover (410), and a waist-slewing ring magnetic encoder (411). The waist-slewing oil-carrying shaft (401) includes a waist-slewing oil-carrying shaft body and an end cover sleeve coaxially connected to the upper end of the waist-slewing oil-carrying shaft body. The top end of the waist-slewing front cover (403) is coaxially nested in the annular cavity formed between the waist-slewing oil-carrying shaft body and the end cover sleeve. The end cover sleeve and the waist-slewing front cover (403) are rotatably connected by a waist-slewing bearing (402). The lower end of the waist-slewing oil-carrying shaft body and the waist-slewing rear end cover (406) are rotatably connected by the waist-slewing bearing two (407); The lower end of the slewing oil-carrying shaft body is also fixedly installed with a slewing bearing cover (410) for positioning the axis of the slewing bearing two (407). The waist-slewing ring magnetic encoder (411) is coaxially nested on the outside of the waist-slewing bearing cover (410). The waist-slewing ring magnetic encoder (411) and the waist-slewing bearing cover (410) are rotatably engaged. The waist-slewing ring magnetic encoder (411) is fixedly connected to the lower end of the waist-slewing rear end cover (406).

4. The hydraulically driven robot integrated pelvis according to claim 3, characterized in that, The waist-slewing hydraulic swing cylinder (4) also includes a waist-slewing servo valve (409) and two waist-slewing oil pressure sensors (408), which are all installed at the bottom of the waist-slewing rear end cover (406); The waist-slewing oil shaft (401) is equipped with a parallel and integrally formed waist-slewing high-pressure oil circuit and a waist-slewing low-pressure oil circuit. The inner wall of the shaft hole of the waist-swivel front end cover (403) is provided with a front end cover high pressure oil ring groove and a front end cover low pressure oil ring groove arranged horizontally in the circumferential direction from top to bottom; the front end cover (403) is also provided with a front end cover high pressure oil circuit and a front end cover low pressure oil circuit arranged in parallel and integrally formed. The rear end cover (406) of the waist-slewing rotation is provided with a high-pressure oil circuit and a low-pressure oil circuit of the rear end cover arranged in parallel and integrally formed; the rear end cover (406) of the waist-slewing rotation is also provided with a rear end cover A oil circuit and a rear end cover B oil circuit arranged in parallel and integrally formed; the measuring ends of the two waist-slewing oil pressure sensors (408) extend into the rear end cover A oil circuit and the rear end cover B oil circuit respectively. Among them, the high pressure oil circuit of the waist rotation, the high pressure oil ring groove of the front cover, the high pressure oil circuit of the front cover, the high pressure oil circuit of the rear cover and the P port of the waist rotation servo valve (409) are connected in sequence; the low pressure oil circuit of the waist rotation, the low pressure oil ring groove of the front cover, the low pressure oil circuit of the front cover, the low pressure oil circuit of the rear cover and the T port of the waist rotation servo valve (409) are connected in sequence. Among them, the A chamber of the waist rotation, the A oil circuit of the waist rotation rear end cover, and the A port of the waist rotation servo valve (409) are connected in sequence; the B chamber of the waist rotation, the B oil circuit of the waist rotation rear end cover, and the B port of the waist rotation servo valve (409) are connected in sequence.

5. A hydraulically driven robot integrated pelvis according to claim 1 or 4, characterized in that, The hip pitch hydraulic swing cylinder includes a hip pitch front cover (206), a hip pitch rear cover (203), a hip pitch swing blade (205), and a hip pitch fixed blade (204). The front hip pitch cover (206) and the rear hip pitch cover (203) are coaxially and rotatably nested on the outside of the corresponding double linear cylinder swing mechanism from front to back. The front end of the front hip pitch cover (206) is fixedly connected to the pelvic skeleton (8), and the rear end of the front hip pitch cover (206) is fixedly connected to the front end of the rear hip pitch cover (203). A hip pitch hydraulic oil chamber is opened at the joint between the front hip pitch cover (206) and the rear hip pitch cover (203). The interior of the hip pitch hydraulic oil chamber... The cavity is provided with a hip pitch swing blade (205) and a hip pitch fixed blade (204) for dividing the cavity into a hip pitch A cavity and a hip pitch B cavity. The hip pitch swing blade (205) is slidably nested coaxially on the double linear cylinder swing mechanism. The hip pitch swing blade (205) is connected to the double linear cylinder swing mechanism by a flat key. The hip pitch fixed blade (204) is fixed on the hip pitch front end cover (206) and the hip pitch rear end cover (203) by a pin.

6. The hydraulically driven robot integrated pelvis according to claim 5, characterized in that, The hip pitch hydraulic swing cylinder also includes a hip pitch bearing (207) and a hip pitch bearing cap (208). The hip pitch bearing (207) is coaxially nested inside the front end of the hip pitch front cover (206). The hip pitch front cover (206) is rotatably connected to the corresponding double linear cylinder swing mechanism through the hip pitch bearing (207). The front end of the hip pitch front cover (206) is fixedly installed with a hip pitch bearing cover (208) for positioning the axis of the hip pitch bearing (207).

7. The hydraulically driven robot integrated pelvis according to claim 6, characterized in that, The hip pitch hydraulic swing cylinder also includes a hip pitch servo valve (201), two hip pitch hydraulic pressure sensors (202), and two hip pitch hydraulic shafts (209). The hip pitch hydraulic swing cylinder also includes a hip pitch servo valve (201) and two hip pitch hydraulic sensors (202), both of which are installed at the rear end of the hip pitch rear end cover (203); Two hip pitch oil shafts (209) are installed on the front cover (206) in parallel. The two hip pitch oil shafts (209) are respectively provided with a high-pressure oil circuit and a low-pressure oil circuit for hip pitch. The front cover (206) is also provided with a high-pressure oil circuit and a low-pressure oil circuit for hip pitch in parallel and integrally formed. The hip pitch rear end cover (203) is provided with a high-pressure oil circuit and a low-pressure oil circuit of the hip pitch rear end cover that are arranged in parallel and integrally formed; the hip pitch rear end cover (203) is also provided with a hip pitch rear end cover A oil circuit and a hip pitch rear end cover B oil circuit that are arranged in parallel and integrally formed. Among them, the high-pressure oil circuit of hip pitch, the high-pressure oil circuit of the front cover of hip pitch, the high-pressure oil circuit of the rear cover of hip pitch and the P port of the hip pitch servo valve (201) are connected in sequence; the low-pressure oil circuit of hip pitch, the low-pressure oil circuit of the front cover of hip pitch, the low-pressure oil circuit of the rear cover of hip pitch and the T port of the hip pitch servo valve (201) are connected in sequence. Among them, the hip pitch A chamber, the hip pitch rear cover A oil passage and the A port of the hip pitch servo valve (201) are connected in sequence; the hip pitch B chamber, the hip pitch rear cover B oil passage and the B port of the hip pitch servo valve (201) are connected in sequence.

8. A hydraulically driven robot integrated pelvis according to claim 1 or 7, characterized in that, The dual linear cylinder swing mechanism includes a transmission flange shaft (103), a hip-side swing cylinder (104), a swing rod (108), an output shaft (111), a protective cover (110), a small magnet (114), a disc magnetic encoder (115), an encoder mounting cover (116), two pistons (105), two small rotating shafts (106), two connecting rods (107), two large rotating shafts (109), two hip-side swing bearings (112), and two snap rings (113). The rear end of the transmission flange shaft (103) is coaxially embedded in the inner side of the front end cover (206) and the rear end cover (203) of the hip pitch. The rear end of the hip side swing cylinder (104) is coaxially installed at the front end of the transmission flange shaft (103). The hip side swing cylinder (104) has a hip side swing A cavity and a hip side swing B cavity arranged vertically in the horizontal direction. Two pistons (105) are slidably sealed inside the hip side swing A cavity and the hip side swing B cavity respectively. The two ends of the hip side swing A cavity and the hip side swing B cavity are sealed to the pistons (105) through the transmission flange shaft (103) respectively. One end of each of the two connecting rods (107) is hinged to the front end of each of the two pistons (105) via two small rotating shafts (106), and the other end of each of the two connecting rods (107) is hinged to the upper and lower ends of the rocker arm (108) via two large rotating shafts (109). The output shaft (111) is fixedly installed in the middle of the rocker arm (108) in the horizontal direction. Two hip-side swing bearings (112) are coaxially nested at both ends of the output shaft (111). The protective cover (110) is fixedly installed at the front end of the hip-side swing cylinder (104). The output shaft (111) is rotatably connected to the protective cover (110) through the two hip-side swing bearings (112). Two snap rings (113) are installed at both ends of the output shaft (111). The two hip-side swing bearings (112) are axially positioned through the two snap rings (113). A magnet mounting hole is provided at the center of one end of the transmission flange shaft (103). A small magnet (114) is coaxially fixedly inserted into the magnet mounting hole. A circular magnetic encoder (115) is also provided at the end of the transmission flange shaft (103) and is coaxially arranged. The circular magnetic encoder (115) is fixedly installed on the protective cover (110) through the encoder mounting cover (116).

9. A hydraulically driven robot integrated pelvis according to claim 8, characterized in that, The pelvis also includes two oil flow valve plates, which are located on the rear side of the two double linear cylinder swing mechanisms. Each oil flow valve plate includes an oil flow valve body, a hip pitch oil flow shaft and two hip side swing oil pressure sensors. The oil flow valve body is installed on the rear end of the hip pitch rear end cover (203), and the two hip side swing oil pressure sensors are installed on the oil flow valve body. The transmission flange shaft (103) is a hollow shaft structure, and the hip pitch oil flow shaft is coaxially embedded in the inner side of the transmission flange shaft (103). The hip pitch oil shaft has two parallel and integrally formed hip pitch A oil passage and hip pitch B oil passage inside; the hip pitch oil shaft has two vertically arranged hip pitch A oil ring groove and hip pitch B oil ring groove on the outside of the hip pitch oil shaft from front to back; the measuring ends of the two hip side swing oil pressure sensors extend into the hip pitch A oil passage and hip pitch B oil passage respectively. The transmission flange shaft (103) is also equipped with parallel and integrally formed flange shaft A oil passage and flange shaft B oil passage; Among them, the hip side swing A cavity, flange shaft A oil passage, hip pitch A oil ring groove, hip pitch A oil passage and the A port of the oil flow valve body are connected in sequence; the hip side swing B cavity, flange shaft B oil passage, hip pitch B oil ring groove, hip pitch B oil passage and the B port of the oil flow valve body are connected in sequence.

10. A hydraulically driven robot integrated pelvis according to claim 9, characterized in that, The dual linear cylinder swing mechanism also includes a hip pitch ring magnetic encoder (101) and a deep groove ball bearing (102). A deep groove ball bearing (102) is coaxially mounted on the outer side of the rear end of the transmission flange shaft (103). The transmission flange shaft (103) is rotatably connected to the hip pitch rear end cover (203) through the deep groove ball bearing (102). A hip pitch ring magnetic encoder (101) is also coaxially arranged at the rear end of the transmission flange shaft (103). The hip pitch ring magnetic encoder (101) is rotatably engaged with the transmission flange shaft (103). The hip pitch ring magnetic encoder (101) is fixedly connected to the hip pitch rear end cover (203).

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