Double freedom swing axis mechanism, hip mechanism, electro-hydraulic limb and heavy load robot

Abstract

The application discloses a double-freedom swing shaft mechanism, a hip joint mechanism, an electro-hydraulic limb and a heavy-load robot. The swing shaft is axially connected with an X-direction rotation driver, and a fixedly connected hinge shaft is arranged along the radial direction of the swing shaft. A pinion is fixed on the hinge shaft and is driven by a Y-rack linear driver perpendicular to the swing shaft, so that the swing shaft rotates around its own axis and swings around the hinge shaft axis, realizing double-freedom movement. The hip joint mechanism is provided with a limb base, which comprises a cavity accommodating the X-direction rotation driver, a rack hole for displacement of the Y-rack, a meshing cavity accommodating the pinion and a position hole for the swing shaft to pass through. The opening of the cavity and the space of the position hole satisfy the swing of the swing shaft within a preset angle range. The electro-hydraulic limb is provided with a driving leg connected with the swing shaft, the driving leg is rotationally connected with a driven leg and is hingedly connected with a linear driving device. The heavy-load robot is provided with a docking male head at four corners of a carrying platform, and the limb base is provided with a matching female docking head. Electrical contacts are arranged at the docking position to realize electrical connection of a battery with each driver and sensor of the limb. The application has compact structure, high integration degree, supports quick disassembly and assembly of the limb and electrical integration.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically a two-degree-of-freedom swing axis mechanism, a hip joint mechanism, an electro-hydraulic limb, and a heavy-duty robot. Background Technology

[0002] With the development of embodied intelligent robots and the electric energy revolution, there is a wide demand for robot and electromechanical applications. Existing robot drives generally use electric motors for rotary drive and electric cylinders powered by electric motors for linear drive. Although this is easy to control, it has the following drawbacks: the low torque of electric motors makes it impossible to achieve high load-bearing capacity when applied to robot joints; similarly, the linear drive of robots using electric cylinders cannot achieve high load-bearing capacity; although the lead screw and nut transmission structure of electric cylinders achieves precise transmission, it cannot achieve the ability to adapt to variable loads under high loads and the ability to withstand high load impacts. Therefore, existing robots generally only have the ability to operate or bear loads in the kilogram range, and cannot achieve the application of loads in the ton or hundreds of tons. Existing electromechanical devices, such as various electric engineering machinery, although they have large load-bearing capacity, generally use the original energy conversion path: engine-traditional hydraulic system-hydraulic cylinder drive path, or motor-traditional hydraulic system-hydraulic cylinder drive path. The system is cumbersome, with poor agility and convenience, limited applicable scenarios, and pseudo-energy saving. Therefore, solving the above problems and achieving agile load-bearing capacity of robots in various postures is key to limb drive and the scene adaptability of the drive method. A hydraulic actuator that is easy to control the robot by electric drive is needed. Summary of the Invention

[0003] To address the issues of sluggish response and insufficient agility of pure electric drive under heavy-duty conditions, this invention provides a two-degree-of-freedom swing axis mechanism, a hip joint mechanism, an electro-hydraulic limb, and a heavy-duty robot.

[0004] The present invention adopts the following technical solution: A two-degree-of-freedom pendulum mechanism includes a pendulum shaft axially connected to an X-axis rotary driver, and a hinge shaft radially connected to the pendulum shaft. A pinion is fixedly mounted on the hinge shaft, and the pinion is driven by a Y-rack perpendicular to the pendulum shaft, enabling the pendulum shaft to rotate around its axis and oscillate around the hinge shaft axis.

[0005] The Y-rack is driven by a Y-axis driver, which is a linear drive mechanism.

[0006] The X-axis rotary actuator includes an outer cylinder and a piston body. The piston body is located between the swing shaft and the outer cylinder. The inner wall of the outer cylinder, the inner and outer walls of the piston body, and the outer wall of the swing shaft are all provided with helical teeth. The helical teeth on the inner wall of the outer cylinder mesh with the helical teeth on the outer wall of the piston body, and the helical teeth on the inner wall of the piston body mesh with the helical teeth on the outer wall of the swing shaft. The helical lines of the helical teeth on the inner and outer walls of the piston body are opposite. A push flange is provided on the swing shaft. Two thrust bearings are installed inside the outer cylinder. The two thrust bearings are respectively installed on both sides of the push flange to fix the swing shaft and the outer cylinder axially.

[0007] The piston body has a rodless chamber and a rod chamber on each side, with the rodless chamber located on the side closer to the pendulum shaft and the rod chamber located on the side farther from the pendulum shaft.

[0008] The outer cylinder has an end cap on the side extending away from the swing shaft. The end cap has oil passages L1 and L2. The swing shaft has an oil passage L4. One oil port of oil passage L1 is connected to the outside and the other oil port is connected to oil passage L4. One oil port of oil passage L4 is connected to oil passage L1 and the other oil port is connected to the rodless cavity. One oil port of L2 is connected to the outside and the other oil port is connected to the rod cavity.

[0009] The end cap body is fitted with a logic valve circuit with liquid replenishment and safety protection, including a first hydraulically controlled check valve, a second hydraulically controlled check valve, a first check valve, a second check valve, and an overflow valve. Oil passage L3 is unidirectionally connected to oil passage L1 through the first hydraulically controlled check valve, and oil passage L3 is unidirectionally connected to oil passage L2 through the second hydraulically controlled check valve. The control oil of the first hydraulically controlled check valve is connected to the outlet of the second hydraulically controlled check valve, and the control oil of the second hydraulically controlled check valve is connected to the outlet of the first hydraulically controlled check valve. Oil passage L1 is unidirectionally connected to the second check valve and the overflow valve to oil passage L3, and oil passage L2 is unidirectionally connected to the first check valve and the overflow valve to oil passage L3. The swing shaft is provided with a liquid replenishment cavity, which is connected to the outlet of the overflow valve.

[0010] The outer cylinder is provided with three-stage stepped holes, which are the first stepped hole, the second stepped hole, and the third stepped hole in sequence from the side extending out of the swing shaft. Among them, the two thrust bearings are installed in the first stepped hole, the second stepped hole is adapted to the outer circle of the piston body, and the third stepped hole is provided with helical teeth.

[0011] An annular groove is provided on the inner side of the end cap body, with a boss at the center of the groove. A rotating cavity is provided on the inner side of the swing shaft. The inner end of the swing shaft is adapted to the annular groove on the inner side of the end cap body, and the rotating cavity is adapted to the boss at the center of the annular groove on the inner side of the end cap body. An oil passage L3 is provided in the boss to connect the overflow valve outlet and the rotating cavity. An oil passage is provided in the swing shaft to connect the replenishment cavity and the rotating cavity, thereby realizing the connection between the replenishment cavity and the flow valve outlet. The interface between oil passage L4 and oil passage L1 is opened on the circumference of the inner end of the swing shaft and matched with an annular oil guide groove. The position of the oil guide groove is adapted to the opening position of oil passage L1.

[0012] The hip joint mechanism, employing the aforementioned two-degree-of-freedom swing axis mechanism, also includes a limb base, which is provided with: Cavity: Used to accommodate and mount the X-axis rotary driver; Y-axis rack hole: connected to the cavity, in which a Y-rack is set and can be displaced along its extension direction; Meshing cavity: located at the connection between the cavity and the Y-direction rack hole, used to accommodate the pinion; The swing shaft hole connects to the cavity, and the swing shaft passes through the swing shaft hole; The cavity opening and the internal space of the swing shaft hole allow the swing shaft and the X-axis rotary drive to swing around the hinge axis within a preset angle range.

[0013] The Y-direction rack holes all use a cross-section with anti-rotation function.

[0014] The Y-direction rack hole has a polygonal cross-section.

[0015] The outer side of the limb base is provided with an adjacent front seat surface and a rear seat surface. The cavity extends inward from the front seat surface, and the Y-direction rack hole extends inward from the rear seat surface.

[0016] The cavity has hinge holes on both the upper and lower sides. On one side of the hinge hole, an angle sensor is installed at the corresponding opening on the outer side of the limb base to detect the hinge rotation angle.

[0017] The Y-axis rack hole penetrates the limb base, the Y-axis actuator is located on one side of the rear seat surface, and the rack displacement monitoring element is installed on the opening of the Y-axis rack hole away from the rear seat surface.

[0018] The electrohydraulic limb includes the aforementioned hip joint mechanism, with a swing shaft connecting to an active support leg. The active support leg is rotatably connected to a driven support leg structure, and the active support leg is hinged to a linear drive device. The drive end of the linear drive device is hinged to the driven support leg structure.

[0019] The driven outriggers are equipped with wheels and / or track wheels at their ends.

[0020] The wheels and / or track wheels are equipped with wheel drive motors.

[0021] The linear drive unit, hinged to the active and driven outriggers, is the main electro-hydraulic actuator, comprising: The cylinder has a piston rod that is an integral part of the rod and piston inside its cavity. The piston divides the cavity into a rod chamber and a rodless chamber. The power source, located inside the piston, is used to output pressure to the rod chamber and / or rodless chamber in both forward and reverse directions; The liquid replenishment cavity is located on the driven leg structure and is equipped with an isolation piston. The isolation piston divides the liquid replenishment cavity into a spring cavity and a liquid cavity, and a spring is installed in the spring cavity. The fluid replenishment channel is a fluid chamber that connects the rod chamber and the fluid replenishment cavity. The fluid replenishment channel includes a cylinder body channel disposed on the cylinder body, a pin shaft channel disposed in the pin shaft, and a leg channel disposed in the driven leg structure. A servo motor, driven by a transmission mechanism, is connected to a power source and used to control the forward and reverse output pressure of the power source. The rod chamber and the rodless chamber have a volume difference. During the extension and retraction of the piston rod, the replenishment channel is used to replenish the liquid in the replenishment chamber to the rod chamber and / or the rodless chamber to compensate for the volume difference.

[0022] The power source is a gear-type power source, which includes an internal meshing gear structure or an external meshing gear structure.

[0023] The power source is a plunger-type power source, including: a piston body, the outer circle of which is provided with a sealing groove, and a sealing element is installed in the sealing groove; The cover, when fastened to the piston body, forms a closed cavity; The swash plate is coaxially disposed within a closed cavity and fixed to the piston body; The return plate is coaxially mounted within a closed cavity. The plunger distribution assembly is coaxially disposed within a closed cavity; The distribution plate is fixed to the cover. The oil passages of the distribution plate are connected to the rod chamber and the rodless chamber respectively through the oil passages provided on the cover and the piston body. Multiple plungers, each plunger's slipper end is movably connected to the distribution plate, and each plunger is telescopically adapted and installed on the plunger distribution assembly; The splined shaft passes through the piston body, swashplate, return plate, plunger distribution assembly, distribution plate, and cover. The rotation of the splined shaft drives the plunger and plunger distribution assembly to output pressure to the rod chamber or rodless chamber in both directions.

[0024] The circuit from the rod chamber to the replenishment chamber is also a temperature control circuit, through which heat from the cylinder is transferred to the driven leg structure to achieve rapid heat dissipation.

[0025] The heavy-duty robot employing the aforementioned electro-hydraulic limbs includes a transport platform with a battery inside. Each of the four corners of the transport platform has a docking surface, and each docking surface has a male connector. The limb base has a docking end body, and the end face of the docking end body has a female connector that matches the male connector. Both the male and female connectors have electrical contacts at their docking points. The electrical contacts on one side of the male connector are electrically connected to the battery, and the electrical contacts on one side of the female connector are electrically connected to an X-axis rotary actuator, a Y-axis actuator, an angle sensor, a rack displacement monitoring element, a wheel drive motor, and a linear drive device mounted on the active outriggers of the electro-hydraulic limbs.

[0026] The female connector has a stepped hole structure, and its electrical contacts are installed in the small stepped holes.

[0027] In stepped holes, the large stepped hole is a square hole, and the small stepped hole is a tetrahedral conical hole.

[0028] The mating surface is equipped with two protective cavities, and the space of the protective cavities is adapted to the mounting structure of the X-axis driver and the Y-axis driver.

[0029] Compared with existing technologies, the present invention can achieve the following technical effects: The robot adopts distributed electro-hydraulic drive, and each joint has a large load driving capability. The servo electro-hydraulic drive improves the power density ratio of the drive unit and saves energy, realizing heavy-load drive by direct electricity in a small volume. It has the high integration, high efficiency, high load, modularity and intelligence of motion load platforms such as robots, and also lays a new technical development direction for various electric engineering machinery. Especially in linear drive, it can cover various heavy-load drive scenarios. Its drive structure and control can also be used in humanoid robots, such as hip joint mechanisms, electro-hydraulic limbs, etc. The use of distributed electric drive with built-in closed hydraulic power system can greatly improve the driving capability of robots and heavy-load robots. It is a disruptive breakthrough similar to the Boston Dynamics robot drive method, improving the driving capability while possessing the flexibility of the Unitree robot.

[0030] The electro-hydraulic heavy-duty robot of this invention is adaptable to various application scenarios in modern industry. It can install and disassemble electro-hydraulic limbs using conventional lifting tools, or it can achieve manual on-site installation of a fourth electro-hydraulic limb through its own three-legged drive and coordinated movements. It has good scene adaptability and human-machine collaboration capabilities. When used as a motion load platform, the transport platform can be equipped with various non-standard interfaces to carry and transport items such as batteries and heavy components, install various robotic arms, weapon workstations, and maintenance platforms, and can be equipped with personnel seats to transport personnel for off-road, transportation, and relocation.

[0031] This invention achieves the most direct and energy-efficient conversion of energy between electricity, hydraulics, and mechanics, realizes the best energy amplification effect under a compact structure, takes into account the temperature control measures of each energy conversion element under heavy loads, has modularity, quick plug-and-play adaptability, is suitable for robot adaptation scenarios in industrial engineering, has controllable cost, and fills the existing market demand gap. Attached Figure Description

[0032] Figure 1 This is a three-dimensional structural diagram of the heavy-duty robot of the present invention; Figure 2 This is a schematic diagram of the electro-hydraulic limb structure of the present invention; Figure 3 This is a top view schematic diagram of the electrohydraulic limb of the present invention; Figure 4 This is a partial three-dimensional schematic diagram of the hip joint mechanism of the present invention; Figure 5 This is a front view schematic diagram of the hip joint mechanism of the present invention; Figure 6 This is a top view schematic diagram of the hip joint mechanism of the present invention; Figure 7 yes Figure 6 Enlarged view at point A; Figure 8 This is a three-dimensional structural diagram of the carrier platform of the present invention; Figure 9 This is a schematic diagram of the linear electro-hydraulic actuator with a cooling or temperature control circuit according to the present invention; Figure 10 This is a partial cross-sectional schematic diagram of the spline shaft of the present invention; Figure 11 This is a schematic diagram of the X-axis rotary actuator or Y-axis actuator structure of the present invention; Figure 12 This is a schematic diagram of the linear electro-hydraulic actuator with a replenishment circuit according to the present invention; Figure 13 This is a schematic diagram of the linear electro-hydraulic actuator with a replenishment circuit that combines the functions of hydraulic transmission and lead screw transmission according to the present invention. Figure 14 This is a schematic diagram of the cross-sectional structure of the internal meshing power source of the present invention; Figure 15 This is a schematic diagram of the cross-sectional structure of the external meshing power source of the present invention; Figure 16 This is a schematic diagram of the cross-sectional structure of the plunger-type power source of the present invention; Figure 17 This is a front view schematic diagram of the carrier platform of the present invention; Figure 18 This is a top-view schematic diagram of the carrier platform of the present invention; Figure 19 This is the present invention. Figure 18 Enlarged view of section B; Figure 20 This is a three-dimensional structural diagram of the heavy-duty robot of the present invention in a standing position; Figure 21 This is a block diagram of the heavy-duty robot control system of the present invention; Figure 22 This is a three-dimensional structural diagram of the heavy-duty robot of the present invention in a retracted and folded state; Figure 23 This is a schematic diagram of the X-axis rotary actuator structure of the present invention; Figure 24 This is a schematic diagram of the end cap insert valve circuit principle of the present invention; Figure 25 This is a schematic diagram of the annular groove and cylindrical boss of the end cap body of the present invention.

[0033] Among them, 1-electrohydraulic limb, 2-transport platform, 101-limb base, 102-X-axis rotary actuator, 103-Y-axis actuator, 105-active outrigger structure, 106-main electrohydraulic actuator, 107-driven outrigger structure, 108-wheel, 109-wheel drive motor, 110-Y rack, 111-Y-axis rack hole, 112-cavity, 113-pinion, 114-swing shaft hole, 115-angle sensor, 116-photoelectric displacement sensor, 117-swing shaft, 118-square hole, 119-tetrahedral conical hole, 120-seal, 121-elastic electrical contact, 122-upper seat surface, 123-front seat surface, 124-rear seat surface. 1061-Power source, 1062-Splined shaft, 1063-Rod chamber, 1064-Rodless chamber, 1065-Aftercooler chamber, 1066-Backlash channel, 1067-Channel, 1068-Servo motor, 1069-Connecting oil passage, 10610-Front cooler chamber, 10611-Replenishment channel, 10612-Splined screw shaft, 10613-Screw nut, 10614-Piston body, 10615-Seal, 10616-Cover, 10617-Swashplate, 10618-Return plate, 10619-Plunger, 10620-Plunger distribution assembly, 10621-Distribution plate 117-1-Replenishment cavity, 117-2-Push flange, 117-3-Rotating cavity, 117-4-Oil guide groove. 201-Body, 202-Male connector, 203-Protective cavity, 204-Battery, 205-Control system, 206-Thermal cycle system, 207-Cold cycle system, 208-Volume compensator, 209-Electrical contact, 210-Quick-change connector, 211-Control valve, 212-Pin hole, 102-1 Outer cylinder, 102-2 Thrust bearing, 102-3 Isolation sleeve, 102-4 Piston body, 102-5 End cap body, 102-6 Bidirectional pump power body, 102-7 End motor, 102-8 Isolation piston, 102-9 First hydraulic check valve, 102-10 Second hydraulic check valve, 102-11 First check valve, 102-12 Second check valve, 102-13 Overflow valve, 102-14 Annular groove, 102-15 Cylindrical boss. Detailed Implementation

[0034] like Figure 1-22A heavy-duty electro-hydraulic robot includes a transport platform 2 and electro-hydraulic limbs 1. The electro-hydraulic limbs 1 include: a hip joint mechanism, a leg flexion-extension mechanism, and wheels 108. The transport platform 2 has hip joint mechanisms at its four corners. The drive end of each hip joint mechanism is connected to a leg flexion-extension mechanism, and wheels 108 are located at the lower end of each leg flexion-extension mechanism. Wheels 108 can be tracked wheels, such as anti-sinking triangular tracked wheels. The hip joint mechanism includes: a limb base 101, and X-axis rotation drive. Device 102, Y-axis actuator 103, Y-axis rack 110, Y-axis rack hole 111, swing shaft hole 114, photoelectric displacement sensor 116, swing shaft 117, limb base 101 is provided with upper seat surface 122, front seat surface 123, rear seat surface 124 and seat body, the seat body and the front seat surface 123 are provided with cavity 112, the front seat surface 123 is provided with swing shaft hole 114, the swing shaft hole 114 communicates with cavity 112, the cavity 112 is adapted to be rotated in the X direction. The X-axis rotary actuator 102 is equipped with a swing shaft 117 and a hinge shaft. A pinion 113 is mounted on one end of the hinge shaft. Two hinge shaft holes, adapted to the hinge shaft of the X-axis rotary actuator 102, are provided on the upper and lower sides of the cavity 112. The X-axis rotary actuator 102 is mounted within the cavity 112 via the hinge shaft. The swing shaft 117 extends from the swing shaft hole 114. A mounting surface is provided on the opposite surface parallel to the rear seat surface 124 of the limb base 101, and a Y-axis... The actuator 103 has a Y-axis rack hole 111 in its housing. The Y-axis rack hole 111 intersects with the hinge shaft hole on the lower side of the cavity 112. A meshing cavity for accommodating a pinion 113 is provided at the intersection. A Y-axis rack 110 is provided in the Y-axis rack hole 111. The Y-axis rack 110 moves axially along the Y-axis rack hole 111. The Y-axis rack hole 111 is polygonal and is adapted to constrain the Y-axis rack 110 to prevent rotation. The Y-axis rack 110 meshes with the pinion 113. The Y-axis rack hole 111 extends inward from the rear seat surface 124, passes through the meshing cavity and penetrates the limb base 101, and a Y-axis rack 110 is installed inside the Y-axis rack hole 111. The Y-axis rack 110 is driven by a Y-axis driver 103 installed on one side of the rear seat surface 124, and the output direction of the driver is consistent with the extension direction of its corresponding rack hole. The Y-axis rack hole 111 has a polygonal cross-section to prevent the rack from rotating.

[0035] In this embodiment, the Y-axis driver 103 is a linear drive mechanism, but this does not mean that the Y rack 110 can only be driven by a linear drive mechanism. Other mechanisms, such as gear mechanisms, can also drive its linear motion, and are also within the scope of protection of this application.

[0036] like Figure 4-5As shown, the cross-section of the Y-axis rack hole 111 is square. The tooth surface of the Y-axis rack 110 meshes with the pinion 113. A photoelectric displacement sensor 116 is installed at the end of the Y-axis rack hole 111 away from the drive side. The photoelectric displacement sensor 116 can also be other ranging sensors, such as a pull rope sensor, a magnetic grating sensor, a magnetostrictive displacement sensor, a radar ranging sensor, etc. Any device or component that can monitor the displacement difference generated by the extension and retraction of the X-axis rack 115 and the Y-axis rack 110. An angle sensor 115 is also provided on the upper seat surface 122. The angle sensor 115 is connected to the upper hinge shaft of the X-axis rotary driver 102 through the hinge shaft hole. The angle sensor 115 determines the swing angle of the X-axis rotary driver 102 around the center of the hinge shaft. The angle sensor 115 can also be other sensors that measure angles or rotation, such as a rotary encoder.

[0037] like Figure 6 The Y-axis actuator 103 drives the Y-rack 110 to mesh with the pinion 113 and rotate, causing the X-axis rotary actuator 102 to rotate around the hinge axis center, thereby realizing the reciprocating oscillation of the X-axis rotary actuator 102 in the H direction. The X-axis rotary actuator 102 drives the pendulum shaft 117 to rotate, causing the pendulum shaft 117 and the electro-hydraulic limb 1 to rotate around the center of the pendulum shaft 117 in the S direction. Figure 6-7 The limb base 101 extends symmetrically along the centerline of the X-axis rotary actuator 102 and the Y-axis actuator 103, and is provided with a docking end body. The end face of the docking end body is provided with a female connector. The female connector is a mating interface with a large stepped hole transitioning to a small stepped hole and has a quick-connect and plug-in connection function. The large stepped hole is a square hole 118, and the small stepped hole is a four-sided conical hole 119. The connection end face of the square hole 118 and the small stepped hole is provided with a seal 120. The inner side of the four-sided conical hole 119 is provided with an elastic electrical contact 121. Preferably, the symmetrically arranged X-axis rotary actuator 102 and Y-axis actuator 103 motors are adjacent, and the elastic electrical contact 121 is electrically connected to the X-axis rotary actuator. The motors of the actuator 102 and the Y-axis actuator 103 have through pin holes on their docking ends. The highly integrated external structure of the limb base 101 realizes the compact and high-strength connection of the leg flexion and extension mechanism, the X-axis rotary actuator 102, the Y-axis actuator 103, and the external transport platform 2. This not only ensures a large range of motion space for the leg flexion and extension mechanism, but also facilitates the installation and disassembly of the X-axis rotary actuator 102 and the Y-axis actuator 103, and protects the motors of the X-axis rotary actuator 102 and the Y-axis actuator 103 from accidental external damage. The limb base 101 has highly integrated pipeline channels, which facilitate docking with the transport platform 2 without being exposed.

[0038] like Figure 2 , Figure 12The leg extension mechanism includes: an active outrigger structure 105, a main electro-hydraulic actuator 106, and a driven outrigger structure 107. The driven outrigger structure 107 has a double-ear fork 1074 at its upper end, and a single ear extends from the upper end of the double-ear fork 1074. The active outrigger structure 105 houses the main electro-hydraulic actuator 106, which can be movably connected to the active outrigger structure 105 via a hinge or other means. The lower end of the active outrigger structure 105 has double ears that are connected to the single ear trunnion of the driven outrigger structure 107. The telescopic end of the main electro-hydraulic actuator 106 has a single ear that is connected to the trunnion of the double-ear fork 1074 of the driven outrigger structure 107.

[0039] like Figure 2 The lower section of the driven outrigger structure 107 is equipped with a wheel 108 and a wheel drive motor 109, which drives the connecting wheel 108.

[0040] The main electro-hydraulic actuator 106 and the Y-axis drive 103 are linear electro-hydraulic actuators with cooling or temperature control circuits, such as... Figure 9-11 The linear electro-hydraulic actuator includes: a self-contained linear electro-hydraulic actuator with an eyelet connected to the driven outrigger structure 107 at the front; a piston rod integrated with the piston and rod inside the cylinder cavity; the cylinder body being placed inside the active outrigger structure 105; a swing shaft 117 connected to the active outrigger structure 105; and a built-in power source 1061 in the piston. The power source 1061 is gear-type or similar. Figure 16 Plunger type, gear type including such Figure 14 The internal meshing structure and such Figure 15The cylinder features an external meshing structure, which can be an involute gear or a helical gear. A cavity is located within the rod, housing a small piston. The small piston divides the cavity into a rodless cavity 1064 and a front cooling cavity 10610. A rotatable splined shaft 1062 is fixedly mounted at the cylinder bottom. The splined shaft 1062 passes through a power source 1061 and is movably connected to the small piston. The splined shaft 1062 drives the power source 1061. The piston rod divides the cylinder cavity into a rod cavity 1063 and a rear cooling cavity 1065. The front cooling cavity 10610 and rear cooling cavity 1065 are heat-conducting cavities. A servo motor 1068 is located on one side of the cylinder bottom. A transmission mechanism is located at the tail end of the splined shaft 1062 and is connected to the drive shaft of the servo motor 1068. Teeth are pre-set in the splined holes of the splined shaft 1062 and the drive shaft of the power source 1061. The cylinder has a backlash channel 1066, a channel 1067 inside the splined shaft 1062, and an oil passage 1069 in the piston rod body. The servo motor 1068 drives the splined shaft 1062 to rotate forward and backward, causing the power source 1061 to output pressure to the rod chamber 1063 and the rodless chamber 1064 in both directions. The cross-sectional areas of the rod chamber 1063 and the rodless chamber 1064 are equal. The cylinder body has a connection inlet and outlet for connecting to the main circulation system. The cylinder body has a channel connecting to the channel 1067 of the splined shaft 1062. Coolant or lubricant enters the cylinder body channel, channel 1067, front cooling chamber 10610, backlash channel 1066, and rear cooling chamber 1065 in sequence and then exits. The above constitutes a cooling or temperature control circuit. The cylinder body has a pressure sensor connecting the rod chamber 1063 and the rodless chamber 1064.

[0041] Figure 11 and Figure 9 The structural difference is that the servo motor 1068 is side-mounted and drives the spline shaft 1062 to rotate through gear transmission or belt transmission. This allows for better axial space reservation. For example, the front flange connection structure is suitable for the Y-axis drive 103. The cylinder body is placed inside the active support leg structure 105 and can be used as the main electro-hydraulic actuator 106.

[0042] The main electro-hydraulic actuator 106 can be a linear electro-hydraulic actuator with a replenishment circuit, such as... Figure 12 , Figure 13 The driven outrigger structure 107 is provided with a fluid replenishment cavity 1071. An isolation piston 1072 is installed within the fluid replenishment cavity 1071, dividing the fluid replenishment cavity 1071 into a spring cavity and a fluid cavity. A spring 1073 is installed within the spring cavity. A piston rod, which is an integral part of the piston and rod, is installed within the cylinder body. A power source 1061 is built into the piston. The power source 1061 is a gear-type or similar type. Figure 16 Plunger type, gear type including such Figure 14 The internal meshing structure and such Figure 15The cylinder features an external meshing structure, which can be an involute gear or a helical gear. A rotatable splined shaft 1062 is fixedly mounted at the bottom of the cylinder. The splined shaft 1062 passes through the power source 1061 and is movably connected to the small piston. The splined shaft 1062 drives the power source 1061. A transmission mechanism is located at the tail end of the splined shaft 1062 and is connected to the drive shaft of the servo motor 1068. The servo motor 1068 drives the splined shaft 1062 to rotate forward and backward, causing the power source 1061 to output pressure in both directions to the rod chamber 1063 and the rodless chamber 1064. The rod chamber 1063 and the rodless chamber 1064 have a volume difference. The rod chamber 1063 is connected to the power source 1064 via a fluid replenishment channel 16011 and a pin shaft. The channel of the driven outrigger structure 107 is connected to the replenishment cavity 1071, thereby replenishing the volume difference during the extension and retraction of the rod. Rotary seals 1075 are provided on both sides of the inner hole of the rod end lug and double lug fork 1074. A pin channel is provided in the pin shaft and the channel is closed to enable pressurized liquid transmission. The circuit from the rod cavity 1063 to the replenishment cavity 1071 can also be used for temperature control. When the linear electro-hydraulic actuator operates frequently, the heat in the cylinder can be introduced into the driven outrigger structure 107 through this circuit to allow it to dissipate heat quickly. The spring cavity can also be filled with high-pressure gas. The cylinder body is equipped with a pressure sensor that connects the rod cavity 1063 and the rodless cavity 1064.

[0043] like Figure 16 A plunger-type power source 106 includes a piston body 110614, a seal 10615, a cover 10616, a swashplate 10617, a return plate 10618, a plunger 10619, a plunger distribution assembly 10620, and a distribution plate 10621. The piston body 110614 and the cover 10616 form a closed cavity. The swashplate 10617, return plate 10618, plunger distribution assembly 10620, and distribution plate 10621 are coaxially arranged within the cavity. A splined shaft 1062 passes through the piston body 110614, swashplate 10617, return plate 10618, plunger distribution assembly 10620, distribution plate 10621, cover 10616, and plunger 10619. The 19th slipper end is movably connected to the distribution plate 10621. Several plungers 10619 are telescopically adapted and installed on the plunger distribution assembly 10620. The distribution plate 10621 is fixed to the cover 10616. The swash plate 10617 is fixed to the piston body 110614. The outer circle of the piston body 110614 is provided with a sealing groove, and a seal 10615 is installed in the sealing groove. The oil passage of the distribution plate 10621 is connected to the rod chamber 1063 and the rodless chamber 1064 respectively through the oil passages provided in the cover 10616 and the piston body 110614. The forward and reverse rotation of the spline shaft 1062 causes the plungers 10619 and the plunger distribution assembly 10620 to output pressure to the rod chamber 1063 or the rodless chamber 1064 in both directions.

[0044] like Figure 12 , Figure 13The structural difference between the two is that the spline shaft 1062 is a spline lead screw shaft 10612, with a lead screw nut 10613 fixed inside the rod. The servo motor 1068 drives the spline lead screw shaft 10612 to rotate forward and backward, so that the power source 1061 outputs pressure to the rod chamber 1063 and the rodless chamber 1064 in both directions. At the same time, the spline lead screw shaft 10612 also cooperates with the lead screw nut 10613 for transmission, so that it has both hydraulic transmission and lead screw transmission dual drive performance, which is more efficient and the telescopic position detection is more accurate and convenient. The servo motor 1068 can also be an axial flux motor or a stepper motor.

[0045] like Figure 8 , Figure 17-19 The transport platform 2 includes: a main body 201, a male connector 202, a protective cavity 203, a battery 204, a control system 205, a thermal circulation system 206, a cold circulation system 207, and a volume compensator 208. The main body 201 has end faces at its four corners, each end face equipped with a male connector 202 for quick-connect insertion. The male connector 202 is adapted to the female connector of the hip joint mechanism. The conical surface of the male connector 202 has electrical contacts 209, which are adapted to mate with the elastic electrical contacts 121. The male connector 202 also has a pin hole 212, which is adapted to a through pin hole on the mating end body. Inserting the pin locks the connection between the transport platform 2 and the hip joint mechanism. The end face also has a protective cavity 203, which is spaced to accommodate the X-axis rotary actuator 102 and the Y-axis actuator 103. The motor is protected from external damage. The main body 201 has a built-in battery 204. The main body 201 also includes a thermal circulation system 206, a cold circulation system 207, and a volume compensator 208 to ensure the healthy operation of the battery 204. The volume compensator 208 connects to the thermal circulation system 206 and the cold circulation system 207. Control valves 211 are installed between the thermal circulation system 206 and the cold circulation system 207, and at their respective outlets. The main body 201 also includes a control system 205, which connects to and controls each control valve 211 and the battery 204. Quick-connect couplings 210 are installed at the ports of the thermal circulation system 206 and the cold circulation system 207 exiting the main body 201. The quick-connect couplings 210 are used for quick connection to the main circulation system inlet and outlet of a linear electro-hydraulic actuator cylinder with a cooling or temperature control circuit, such as... Figure 2 Battery 204 is connected to the motor of main electro-hydraulic actuator 106 and wheel drive motor 109 through the electrical circuit of male connector 202 and female connector.

[0046] like Figure 23-24The X-axis rotary actuator 102 includes: a swing shaft 117, a hinge shaft, an outer cylinder 102-1, a thrust bearing 102-2, an isolation sleeve 102-3, a piston body 102-4, an end cap body 102-5, a bidirectional pump power unit 102-6, an end motor 102-7, an isolation piston 102-8, a first hydraulic control check valve 102-9, a second hydraulic control check valve 102-10, a first check valve 102-11, a second check valve 102-12, and an overflow valve 102-13. The swing shaft 117 is a stepped shaft. The first stepped shaft is provided with a push flange 117-2, the outer circumference of the second stepped shaft is provided with helical teeth, the outer circumference of the third stepped shaft is provided with an oil guide groove 117-4, and the end face of the third stepped shaft is provided with a rotating cavity 117-3. The orifice 117-3 has a sealing groove and an internal rotary seal. The body of the swing shaft 117 has a liquid replenishment cavity 117-1, which contains a small isolating piston 102-8 divided into left and right chambers. The left chamber is equipped with a spring or inflatable chamber. The outer cylinder 102-1 has an inner stepped hole. Two thrust bearings 102-2 are installed in the first stepped hole, clamping the push flange 117-2 and restricting the axial movement of the swing shaft 117. The hinge shaft has an end face that adapts to the large stepped hole and a hole that adapts to the first stepped shaft of the swing shaft 117. The exposed shaft end of the swing shaft 117 passes through the hole. The second stepped hole of the outer cylinder 102-1 adapts to the outer diameter of the piston in the piston body 102-4. The third stepped hole of the outer cylinder 102-1 is an inner spiral sleeve hole. The piston body 102-4 is equipped with helical teeth. Its inner bore is adapted to the first-step shaft of the swing shaft 117. The piston outer circle and inner bore of the piston body 102-4 are sealed. The piston rod end of the piston body 102-4 has helical teeth on its outer circle that mesh with the helical teeth of the outer cylinder 102-1 to form a helical pair. The piston rod end of the piston body 102-4 has an inner hole sleeve with helical teeth that mesh with the helical teeth of the swing shaft 117 to form a helical pair. The helix direction of the helical teeth of the outer cylinder 102-1 is opposite to the helix direction of the inner helical teeth of the piston body 102-4. The end cap 102-5 has a sealing boss on its left side, which is adapted to and engages with the outer cylinder 102-1. The swing shaft 117, the isolation sleeve 102-3, the piston body 102-4, and the outer cylinder 102-1 constitute a seamless... The rod cavity W1, the swing shaft 117, the piston body 102-4, the outer cylinder 102-1, and the end cap 102-5 constitute the rod cavity W2. The end cap 102-5 also has an annular groove 102-14 on its left side. The center of the annular groove 102-14 is a cylindrical boss 102-15. Two sealing grooves are provided within the annular groove 102-14, each containing a rotary seal. The right end of the swing shaft 117 is adapted to engage with the annular groove 102-14 and the cylindrical boss 102-15 of the end cap 102-5. The rotating cavity 117-3 is adapted to the cylindrical boss 102-15. The end cap 102-5 has an oil passage L3 that connects to the rotating cavity 117-3 via the cylindrical boss. The swing shaft 117 has an oil passage connecting the rotating cavity 117-3 and the replenishment cavity 117-1.The swing shaft 117 has an oil passage L4 connecting the rodless chamber W1 and the oil guide groove 117-4. The end cap 102-5 has an oil passage L1 connecting the oil guide groove 117-4 and an oil passage L2 connecting the rod chamber W2. The end cap 102-5 is equipped with a logic valve circuit with fluid replenishment and safety protection, including a first hydraulically controlled check valve 102-9, a second hydraulically controlled check valve 102-10, a first check valve 102-11, a second check valve 102-12, and an overflow valve 102-13. The oil passage L3 is unidirectionally connected to the oil passage L1 through the first hydraulically controlled check valve 102-9, and the oil passage L3 is unidirectionally connected to the oil passage L2 through the second hydraulically controlled check valve 102-10. The control oil of the first hydraulic check valve 102-9 is connected to the outlet of the second hydraulic check valve 102-10. The control oil of the second hydraulic check valve 102-10 is connected to the outlet of the first hydraulic check valve 102-9. Oil passage L1 is unidirectionally connected to the second check valve 102-12 and the overflow valve 102-13 to oil passage L3. Oil passage L2 is unidirectionally connected to the first check valve 102-11 and the overflow valve 102-13 to oil passage L3. The bidirectional pump power unit 102-6 is stacked adjacent to the right side of the end cap 102-5. The motor 102-7 is stacked adjacent to the right side of the bidirectional pump power unit 102-6. The bidirectional pump power unit 102-6 is fixed to the outer cylinder 102-1 by screws. The connection surface between the bidirectional pump power unit 102-6 and the end cover 102-5 is provided with external interfaces for oil passages L3 and L2. The pump outlet of the bidirectional pump power unit 102-6 is connected to oil passages L3 and L2 respectively. The drive shaft of the bidirectional pump power unit 102-6 is connected to the drive shaft of the end motor 102-7. The end motor 102-7 can be a servo motor, axial flux motor, stepper motor, etc. The outer cylinder 102-1 is provided with pressure sensors connected to the rodless chamber W1 and the rod chamber W2 respectively. The bidirectional pump power unit 102-6 can be... Figure 14-16 Gear-type or plunger-type.

[0047] The working method is as follows: like Figure 1-22The control logic and component composition are as follows: The carrier platform 2 is equipped with a battery, control valve, temperature sensor, vision sensor, attitude sensor, and remote control module connected to the control system 205, and can also connect to external modules. The electro-hydraulic limb 1 is equipped with a pressure sensor, displacement sensor, angle sensor, and motor connected to the control system 205. The pressure sensor is mainly used to collect pressure data from the rod chamber 1063, rodless chamber 1064, rodless chamber W1, and rod chamber W2 and feed it back to the control system 205. The instantaneous pressure of the two chambers of the main electro-hydraulic actuator 106, X-axis rotary driver 102, and Y-axis driver 103 during operation is the force generated by load changes. The control system 205 can control the force by outputting torque to the motor based on the feedback pressure. Combined with the data from the displacement sensor feedback to the control system 205, the spatial position and angle state of each part of the electro-hydraulic limb 1 can be determined. Combined with the data from the vision sensor and attitude sensor, the control system 205 can perform calculations based on the data from each sensor to realize the robot's posture and actions. The displacement sensor can be magnetostrictive, rope-type, photoelectric, or radar-type. Figure 9-13 The servo motor 1068 drives the spline shaft 1062 to rotate in both directions, causing the power source 1061 to output pressure to the rod chamber 1063 and the rodless chamber 1064 in both directions. The power source 1061 outputs a fixed amount of pressurized oil. Therefore, the servo motor 1068 outputs a corresponding proportion of hydraulic oil to the rod chamber 1063 and the rodless chamber 1064 per revolution. The volume change is the piston rod extension and retraction. Therefore, the piston rod extension and retraction can be determined based on the number of rotations of the motor in one direction. This data can be fed back to the control system 205.

[0048] Execution of the action: The extension and retraction of the main electro-hydraulic actuator 106, such as Figure 11-12 The servo motor 1068 drives the splined shaft 1062 to rotate forward and backward, causing the power source 1061 to work in both directions and output pressure to the rod chamber 1063 and the rodless chamber 1064. When the piston rod extends and retracts, and the rodless chamber 1064 has a volume difference, the rod chamber 1063 connects to the fluid replenishment chamber 1071 through the fluid replenishment channel 16011, the pin channel, and the channel of the driven leg structure 107, thus replenishing fluid and adjusting and replenishing the volume difference during the rod extension and retraction process. Figure 9-10The rod-mounted cavity 1063 and the rodless cavity 1064 have equal volumes. The driven outrigger structure 107 is a solid component. The application scenarios for the two structures are as follows: When a fluid replenishment structure is present, the heat dissipation circuits of the main electro-hydraulic actuator 106 and the driven outrigger structure 107 can effectively dissipate heat, making it particularly suitable for high-frequency operation and low-load scenarios. When a fluid replenishment structure is absent, the main electro-hydraulic actuator 106 and the driven outrigger structure 107 have a more robust appearance and higher structural strength, making them suitable for low-frequency operation and ultra-high-load scenarios. The extension and retraction of 06 enables the amplitude-changing action of the active outrigger structure 105 and the driven outrigger structure 107. The main electro-hydraulic actuator 106 is hinged to the active outrigger structure 105. With the connection point between the active outrigger structure 105 and the driven outrigger structure 107 as the center, the displacement opening and closing of the wheel 108 or the lifting of the robot body is realized. During the operation, the attitude, spatial position and force are driven and controlled based on the feedback data of the pressure sensor and displacement sensor connected in the rod cavity 1063 and the rodless cavity 1064.

[0049] For horizontal steering of electrohydraulic limb 1, such as Figure 2 , Figure 4-6 , Figure 20 The Y-axis actuator 103 extends or retracts, driving the Y-rack 110 to axially extend and retract within the Y-axis rack hole 111. The pinion 113 meshing with the Y-rack 110 rotates, causing the swing shaft 117 of the X-axis rotary actuator 102 to swing along the H-axis. The leg flexion and extension mechanism connected to the swing shaft 117 follows suit, and the wheel 108 achieves steering. For the circumferential rotation of the electrohydraulic limb 1, such as... Figure 2 , Figure 4-6 , Figure 20 , Figure 23-24The X-axis rotary actuator 102 operates, and the end motor 102-7 drives the bidirectional pump power unit 102-6 to operate. The bidirectional pump rotates forward and reverse. When the output pressure oil reaches the rodless chamber W1, it passes through oil passage L1, the guide groove 117-4, and the connecting oil passage. When the output pressure reaches the rod chamber W2, it passes through oil passage L2. During the forward and reverse rotation of the bidirectional pump, the two circuits act as a high-pressure circuit and a low-pressure oil supply circuit to each other. The rodless chamber W1 and the rod chamber W2 have a volume difference; therefore, during the forward and reverse rotation of the bidirectional pump, fluid replenishment can be achieved. For example, if oil passage L1 is high-pressure... When pressure is applied, oil passage L2 opens for replenishment via the second hydraulically controlled check valve 102-10, allowing the stored oil in replenishment chamber 117-1 to be replenished to oil passage L2 via the rotating orifice chamber 117-3 and oil passage L3. Simultaneously, the high pressure in oil passage L1 is relieved via the second check valve 102-12 and overflow valve 102-13. If oil passage L2 is under high pressure, oil passage L2 opens for replenishment via the first hydraulically controlled check valve 102-9, allowing the stored oil in replenishment chamber 117-1 to be replenished to oil passage L1 via the rotating orifice chamber 117-3 and oil passage L3. Simultaneously, oil passage L... The high pressure of valve 2 is unloaded through the second check valve 102-12 and the relief valve 102-13. When the pressure is input to the rodless chamber W1 or the rod chamber W2, the piston body 102-4 moves axially and rotates relative to the helical sleeve under hydraulic action. Since the inner helical sleeve hole of the third step hole of the outer cylinder 102-1 is fixed, the combined motion of the piston body 102-4 forces the swing shaft 117 to generate rotational motion, thereby outputting torque. The two thrust bearings 102-2 clamp the push flange 117-2, restricting the axial movement of the swing shaft 117. The rodless chamber W1 or the rod chamber W2 is open. The pressure sensor provides feedback data, and the rotation angle is fed back by the angle sensor 115. The swing shaft 117 rotates circumferentially along the S direction, and the leg flexion and extension mechanism connected to the swing shaft 117 rotates accordingly. The internal working process of the Y-axis actuator 103 extension and retraction is the same as that of the main electro-hydraulic actuator 106. During the operation, the pressure sensor and the photoelectric displacement sensor 116 monitor the distance difference generated by the extension and retraction of the Y rack 110 based on the connection between the rod cavity 1063 and the rodless cavity 1064. The feedback data from the motor is used to drive and control the angle, attitude, spatial position, and force.

[0050] The wheel 108 travels, and the lower end of the leg flexion and extension mechanism is equipped with the wheel 108. The hip joint mechanism drives the leg flexion and extension mechanism and the wheel 108 to steer. The control system 205 drives the wheel drive motor 109 based on the data transmitted from the vision sensor, posture sensor, and remote control module, as well as its own calculations. The wheel drive motor 109 drives the connected wheel 108 to output torque. The four wheels 108 work together to achieve acceleration, deceleration, and clamping. When clamping, the wheel 108 is used as a fixed foot for the robot. The wheel 108 can also be replaced with tracked wheels, such as anti-sinking triangular tracked wheels, which can be used in different ground environments.

[0051] Driving stability and shock absorption: The four-legged vehicle platform 2 can be stably controlled according to different road conditions. Based on data from vision sensors, attitude sensors, and human input, combined with the robot's motion state and posture, control is achieved. For example, when the wheel 108 accelerates or decelerates, the robot body tends to lean backward or forward due to inertia. This can be achieved by the slight extension and retraction of the main electro-hydraulic actuator 106 and the pressure sensor changes connected to the rod-side cavity 1063 and the rodless cavity 1064, which monitors the movement of the load center of gravity and controls one or more of the four legs to apply force, i.e., the output driven by the servo motor 1068. This ensures that the load cavity of the main electro-hydraulic actuator 106 has sufficient force to overcome the increased load. Similarly, the control of climbing, descending, and lateral slopes is the same. Large-angle slopes can be controlled by the left and right sides, front and rear sides. The main electro-hydraulic actuator 106 extends or retracts in a large proportion, maintaining the transport platform 2 within a reasonable and safe center of gravity range. However, during movement, uneven road surfaces can cause balance fluctuations and vibrations in the transport platform 2. To mitigate the adverse effects on the robot under heavy load, the main electro-hydraulic actuator 106, or the main electro-hydraulic actuator 106 and / or the X-axis rotary actuator 102, monitor pressure changes through displacement sensors of the main electro-hydraulic actuator 106 and pressure sensors connected to the rod-side cavity 1063 and the rodless cavity 1064. This drives the servo motor 1068 to rotate in both directions, enabling the main electro-hydraulic actuator 106 to extend and retract accordingly. Simultaneously, the X-axis rotary actuator 102 coordinates to control the electro-hydraulic limb 1 to rotate slightly in the circumferential positive and negative angles, thus achieving overall stability and vibration reduction of the transport platform 2.

[0052] Energy recovery: Under the influence of external load, the passive extension and retraction of the main electro-hydraulic actuator 106 and the Y-axis drive 103, as well as the braking of the wheel 108, can all realize the recovery and storage of electrical energy in the battery 204. Taking the passive extension and retraction of the main electro-hydraulic actuator 106 as an example, the piston rod extends and retracts, and a pressure difference is generated between the rod chamber 1063 and the rodless chamber 1064. The pressure oil in the high-pressure chamber passes through the power source 1061, and the power source 1061 outputs torque by rotating in both directions, which is transmitted to the spline shaft 1062 and the servo motor 1068, thereby generating electrical energy to realize power generation.

[0053] Temperature control: When the main electro-hydraulic actuator 106 and the Y-axis actuator 103 are linear electro-hydraulic actuators with cooling or temperature control circuits, the piston rod continuously extends and retracts, generating a large amount of heat inside the cylinder. This heat is directly conducted to the rear cooling chamber 1065 and the front cooling chamber 10610, causing the liquid inside to absorb heat. When the piston rod extends and retracts, the rear cooling chamber 1065 and the front cooling chamber 10610 are led out through the cylinder body channel, the orifice 1067, and the tooth clearance channel 1066 to the quick-connect coupling 210. Through the control valve 211, they are connected to the thermal circulation system 206, the cold circulation system 207, and the volume compensator 208. The control system 205 monitors and controls the logic opening and closing of multiple control valves 211 and throttling control based on the temperature control sensor to realize the circulation of the liquid. Heat exchange control of the body; when the main electro-hydraulic actuator 106 can be a linear electro-hydraulic actuator with a replenishment circuit, the piston rod continuously extends and retracts, generating a large amount of heat in the cylinder. The heat pressure liquid exchanges through the rod chamber 1063 and the rodless chamber 1064. The rod chamber 1063 and the rodless chamber 1064 have a volume difference. The heat pressure liquid is connected to the replenishment cavity 1071 through the replenishment channel 16011, the pin channel, and the channel of the driven leg structure 107. Through this circuit, the heat in the cylinder is introduced into the driven leg structure 107 for rapid heat dissipation. The driven leg structure 107, as a swinging component, achieves good heat dissipation capacity by accelerating the surface airflow. Heat dissipation fins can be set on the surface of the driven leg structure 107 to further improve the heat dissipation effect.

[0054] Quick-change and quick-disassembly: This mainly refers to the connection between the carrier platform 2 and the electro-hydraulic limb 1, where the carrier platform 2 is in a ground-contact state, such as... Figure 21 The electro-hydraulic limb 1 can retract using the ground as a common reference plane. External tools or equipment are used to bring the electro-hydraulic limb 1 closer to the corresponding mounting position on the transport platform 2. Specifically, the female connector and male connector 202 of the limb base 101 are paired and inserted. The conical surface of the male connector 202 is provided with electrical contacts 209, which are adapted to mate with the elastic electrical contacts 121. The male connector 202 is provided with a pin hole 212, which is adapted to a through pin hole on the docking end body. Inserting the pin locks the connection between the transport platform 2 and the hip joint mechanism. The seal 120 prevents liquid from entering and causing an electrical short circuit. The transport platform 2 can also be in a working raised state, such as... Figure 1The electro-hydraulic limb 1 is lifted by lifting points on the limb base 101, allowing it to be brought close to the corresponding installation position on the transport platform 2 using external lifting tools, external lifting modules on the transport platform 2 itself, or other engineering equipment, and the aforementioned steps are performed. For quick disassembly, the process is reversed. Meanwhile, quick-change connectors 210 are provided at the ports of the hot circulation system 206 and cold circulation system 207 exiting the main body 201. These quick-change connectors 210 are used for quick plug-and-play connections to the main circulation system inlet and outlet, which are located on the linear electro-hydraulic actuator cylinder and have cooling or temperature control circuits. This quick-change and quick-disassembly allows for rapid on-site replacement of the electro-hydraulic limb 1 during actual operation, providing high maintainability and field applicability.

Claims

1. A two-degree-of-freedom pendulum mechanism, including a pendulum shaft (117), characterized in that: The pendulum shaft (117) is axially connected to an X-axis rotary driver (102), and a hinge shaft is radially arranged and fixedly connected to the pendulum shaft (117). A pinion (113) is fixedly mounted on the hinge shaft. The pinion (113) is driven by a Y-rack (110) perpendicular to the pendulum shaft (117), so that the pendulum shaft (117) can rotate around its axis and swing around the hinge shaft axis.

2. The two-degree-of-freedom pendulum mechanism according to claim 1, characterized in that: The Y rack (110) is driven by a Y-axis driver (103), which is a linear drive mechanism.

3. The two-degree-of-freedom pendulum mechanism according to claim 1 or 2, characterized in that: The X-axis rotary actuator (102) includes an outer cylinder (102-1) and a piston body (102-4). The piston body (102-4) is disposed between the swing shaft (117) and the outer cylinder (102-1). The inner wall of the outer cylinder (102-1), the inner and outer walls of the piston body (102-4), and the outer wall of the swing shaft (117) are all provided with helical teeth. The helical teeth of the inner wall of the outer cylinder (102-1) mesh with the outer wall of the piston body (102-4). The inner wall of the piston body (102-4) meshes with the helical teeth on the outer wall of the swing shaft (117). The helical lines of the inner and outer walls of the piston body (102-4) are opposite. The swing shaft (117) is provided with a push flange (117-2). Two thrust bearings (102-2) are installed inside the outer cylinder (102-1). The two thrust bearings (102-2) are respectively installed on both sides of the push flange (117-2) to fix the swing shaft (117) and the outer cylinder (102-1) axially.

4. The two-degree-of-freedom pendulum mechanism according to claim 3, characterized in that: The piston body (102-4) has a rodless chamber and a rod chamber on both sides, respectively. The rodless chamber is located on the side extending from the swing shaft (117), and the rod chamber is located on the side extending away from the swing shaft (117).

5. The two-degree-of-freedom pendulum mechanism according to claim 4, characterized in that: The outer cylinder (102-1) has an end cap (102-5) on the side extending away from the swing shaft (117). The end cap has oil passages L1 and L2. The swing shaft (117) has an oil passage L4. One oil port of oil passage L1 is connected to the outside and the other oil port is connected to oil passage L4. One oil port of oil passage L4 is connected to oil passage L1 and the other oil port is connected to the rodless cavity. One oil port of L2 is connected to the outside and the other oil port is connected to the rod cavity.

6. The two-degree-of-freedom pendulum mechanism according to claim 5, characterized in that: The end cap body (102-5) is fitted with a logic valve circuit for fluid replenishment and safety protection, including a first hydraulically controlled check valve (102-9), a second hydraulically controlled check valve (102-10), a first check valve (102-11), a second check valve (102-12), and an overflow valve (102-13). Oil passage L3 is unidirectionally connected to oil passage L1 through the first hydraulically controlled check valve (102-9), and oil passage L3 is unidirectionally connected to oil passage L2 through the second hydraulically controlled check valve (102-10). The first hydraulically controlled check valve (102-9) controls the oil flow. The outlet of the second hydraulic check valve (102-10) is connected to the outlet of the first hydraulic check valve (102-9). The oil passage L1 is connected in one direction to the second check valve (102-12) and the overflow valve (102-13) to the oil passage L3. The oil passage L2 is connected in one direction to the first check valve (102-11) and the overflow valve (102-13) to the oil passage L3. The swing shaft (117) is provided with a replenishing fluid chamber (117-1). The replenishing fluid chamber (117-1) is connected to the outlet of the overflow valve (102-13).

7. The two-degree-of-freedom pendulum mechanism according to claim 3, characterized in that: The outer cylinder (102-1) is provided with three-stage stepped holes, which are the first stepped hole, the second stepped hole, and the third stepped hole in sequence from the side extending out of the swing shaft. Two thrust bearings (102-2) are installed in the first stepped hole, the second stepped hole is adapted to the outer circle of the piston body (102-4), and the third stepped hole is provided with helical teeth.

8. The two-degree-of-freedom pendulum mechanism according to claim 6, characterized in that: The inner surface of the end cap (102-5) is provided with an annular groove, the center of which is a boss. The inner surface of the swing shaft is provided with a rotating cavity (117-3). The inner end of the swing shaft is adapted to the annular groove on the inner surface of the end cap (102-5), and the rotating cavity (117-3) is adapted to the boss at the center of the annular groove on the inner surface of the end cap (102-5). The boss is provided with an oil passage L3 connecting the outlet of the overflow valve (102-13) and the rotating cavity (117-3). 17-3), the swing shaft (117) is provided with an oil passage connecting the replenishment cavity (117-1) and the rotating cavity (117-3), thereby realizing the connection between the replenishment cavity (117-1) and the outlet of the flow valve (102-13); the interface between the oil passage L4 and the oil passage L1 is opened on the inner end circumference of the swing shaft and matched with an annular oil guide groove (117-4), the position of the oil guide groove (117-4) is adapted to the opening position of the oil passage L1.

9. A hip joint mechanism, employing the two-degree-of-freedom swing shaft mechanism as described in claim 1, characterized in that: It also includes a limb base (101), wherein the limb base (101) is provided with: Cavity (112): for accommodating the mounting of the X-axis rotary actuator (102); Y-axis rack hole (111): connected to cavity (112), where Y rack (110) is disposed and can be displaced along its extension direction; Meshing cavity: located at the connection between the cavity (112) and the Y-direction rack hole (111), for accommodating the pinion (113). Swing shaft hole (114): connects to cavity (112), through which swing shaft (117) passes; The cavity (112) opening and the internal space of the swing shaft hole (114) satisfy the swing shaft (117) and the X-axis rotation driver (102) to swing around the hinge axis within a preset angle range.

10. The hip joint mechanism according to claim 9, characterized in that: The Y-direction rack holes (111) all adopt a cross section with anti-rotation function.

11. The hip joint mechanism according to claim 10, characterized in that: The Y-direction rack hole (111) has a polygonal cross section.

12. The hip joint mechanism according to any one of claims 9-11, characterized in that: The limb base (101) has an adjacent front seat surface (123) and a rear seat surface (124) on its outer side. The cavity (112) extends inward from the front seat surface (123), and the Y-direction rack hole (111) extends inward from the rear seat surface (124).

13. The hip joint mechanism according to claim 12, characterized in that: The cavity (112) has hinge holes on both the upper and lower sides. An angle sensor (115) for detecting the hinge angle is set at the corresponding opening on the outer side of the limb base (101) of one hinge hole.

14. The hip joint mechanism according to claim 12, characterized in that: The Y-axis rack hole (111) penetrates the limb base (101), the Y-axis actuator (103) is located on one side of the rear seat surface (124), and the rack displacement monitoring element is installed on the side of the Y-axis rack hole (111) away from the rear seat surface (124).

15. An electrohydraulic limb, including the hip joint mechanism as described in any one of claims 9-14, characterized in that: The swing shaft (117) is connected to the active support leg (105), the active support leg (105) is rotatably connected to the driven support leg structure (107), the active support leg (105) is hinged to a linear drive device, and the drive end of the linear drive device is hinged to the driven support leg structure (107).

16. The electro-hydraulic limb according to claim 15, characterized in that: The driven outrigger is provided with a wheel (108) and / or a track wheel at its end.

17. The electrohydraulic limb according to claim 16, characterized in that: The wheel (108) and / or track wheel are matched with a wheel drive motor (109).

18. The electro-hydraulic limb according to claim 15, characterized in that: The linear drive unit, hinged to the active outrigger (105) and the driven outrigger structure (107), is the main electro-hydraulic actuator (106), comprising: The cylinder has a piston rod that is an integral part of the rod and piston in its inner cavity. The piston divides the inner cavity into a rod chamber (1063) and a rodless chamber (1064). A power source (1061) is located inside the piston and is used to output pressure to the rod chamber (1063) and / or the rodless chamber (1064) in both directions. A liquid replenishment cavity (1071) is provided on the driven leg structure (107), and an isolation piston (1072) is provided inside it. The isolation piston (1072) divides the liquid replenishment cavity (1071) into a spring cavity and a liquid cavity, and a spring (1073) is provided inside the spring cavity. The fluid replenishment channel (16011) is a fluid chamber that connects the rod chamber (1063) and the fluid replenishment container (1071). The fluid replenishment channel includes a cylinder body channel disposed on the cylinder body, a pin shaft channel disposed in the pin shaft, and a leg channel disposed in the driven leg structure (107). A servo motor (1068) is driven by a power source (1061) through a transmission mechanism to control the forward and reverse output pressure of the power source (1061); The rod chamber (1063) and the rodless chamber (1064) have a volume difference. During the extension and retraction of the piston rod, the replenishment channel (16011) is used to replenish the liquid in the replenishment chamber (1071) to the rod chamber (1063) and / or the rodless chamber (1064) to compensate for the volume difference.

19. The electro-hydraulic limb according to claim 18, characterized in that: The power source (1061) is a gear-type power source, which includes an internal meshing gear structure or an external meshing gear structure.

20. The electro-hydraulic limb according to claim 18, characterized in that: The power source (1061) is a plunger-type power source (106), including: The piston body (110614) has a sealing groove on its outer circle, and a sealing element (10615) is installed in the sealing groove. The cover (10616) is fastened to the piston body (110614) to form a closed cavity; The swash plate (10617) is coaxially disposed in the closed cavity and fixed to the piston body (110614). The return plate (10618) is coaxially mounted in the closed cavity; The plunger distribution assembly (10620) is coaxially disposed within a closed cavity; The distribution plate (10621) is fixed to the cover (10616). The oil passage of the distribution plate (10621) is connected to the rod chamber (1063) and the rodless chamber (1064) respectively through the oil passages provided on the cover (10616) and the piston body (110614). Multiple plungers (10619) are provided, with the slipper end of each plunger (10619) being movably connected to the distribution plate (10621). Each plunger (10619) is telescopically adapted and installed on the plunger distribution assembly (10620). A splined shaft (1062) passes through a piston body (110614), a swashplate (10617), a return plate (10618), a plunger distribution assembly (10620), a distribution plate (10621), and a cover (10616). The rotation of the splined shaft (1062) drives the plunger (10619) and the plunger distribution assembly (10620) to output pressure to the rod chamber (1063) or the rodless chamber (1064) in both directions.

21. The electro-hydraulic limb according to claim 18, characterized in that: The circuit from the rod chamber (1063) to the liquid replenishment chamber (1071) is also a temperature control circuit, through which heat in the cylinder is introduced into the driven leg structure (107) to achieve rapid heat dissipation.

22. A heavy-duty robot employing the aforementioned electro-hydraulic limbs, characterized in that: The system includes a transport platform (2), which contains a battery. The four corners of the transport platform (2) are provided with docking surfaces, and each docking surface is provided with a male docking head (202). The limb base (101) is provided with a docking end body, and the end face of the docking end body is provided with a female connector that matches the male docking head (202). Both the male docking head (202) and the female connector are provided with electrical contacts. The electrical contacts on one side of the male docking head (202) are electrically connected to the battery, and the electrical contacts on one side of the female connector are electrically connected to the X-axis rotary actuator (102), Y-axis actuator (103), angle sensor (115), rack displacement monitoring element, wheel drive motor (109), and linear drive device installed on the active outrigger (105) on the electro-hydraulic limb.

23. The heavy-duty robot according to claim 12, characterized in that: The female connector has a stepped hole structure, and its electrical contacts are installed in the small stepped holes.

24. The heavy-duty robot according to claim 13, characterized in that: Of the stepped holes, the larger stepped holes are square holes, and the smaller stepped holes are tetrahedral conical holes.

25. The heavy-duty robot according to claim 12, characterized in that: The docking surface is provided with two protective cavities (203), and the space of the protective cavity (203) is adapted to the mounting structure of the X-axis driver (102) and the Y-axis driver (103).

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