CN218141844U

CN218141844U - Hydraulic pump-controlled explosion-proof quadruped robot

Info

Publication number: CN218141844U
Application number: CN202222609655.1U
Authority: CN
Inventors: 朱冬; 袁征
Original assignee: Seven Teng Robot Co ltd
Current assignee: Seven Teng Robot Co ltd
Priority date: 2022-09-30
Filing date: 2022-09-30
Publication date: 2022-12-27
Anticipated expiration: 2032-09-30

Abstract

The utility model belongs to the technical field of quadruped robots, and provides a hydraulic pump-controlled explosion-proof quadruped robot, which comprises a hydraulic structure and a mechanical structure; the mechanical structure comprises an explosion-proof bin and 4 leg and foot assemblies; the 4 leg and foot components are respectively arranged at the bottom of the explosion-proof bin and comprise a side swing unit, a hip unit and a knee unit; the hydraulic structure comprises an energy accumulator and a driving unit, wherein the driving unit comprises a servo motor, a hydraulic pump and a hydraulic cylinder which are sequentially connected; the energy accumulator is respectively connected with the hydraulic pump and the hydraulic cylinder; each of the lateral swing unit, the hip unit or the knee unit is controlled by a drive unit. The problems of serious energy loss, large heat productivity, low cruising ability and low leg-foot flexibility of the quadruped robot in the prior art are solved.

Description

Hydraulic pump-controlled explosion-proof quadruped robot

Technical Field

The utility model belongs to the technical field of four-footed robot, concretely relates to explosion-proof four-footed robot of hydraulic pump accuse.

Background

High-temperature, high-pressure, flammable, explosive or toxic gas exists in petroleum and chemical enterprises, and if the gas leaks out of equipment and is accumulated to a certain degree, explosion or poisoning accidents are very easy to happen, so that immeasurable loss is caused to the life health of workers and the equipment; in the power industry, if an accident occurs in a certain link of a power system, a large-area power failure, casualties and disastrous accidents of whole network breakdown caused by equipment damage arrangement can be caused; therefore, in order to ensure safe production in the petroleum, chemical and electric power industries, daily inspection must be carried out, abnormity can be found in time, and accidents can be reduced and avoided.

In the prior art, a wheeled or tracked robot is generally used for daily inspection; however, due to the special structure and the driving mode of the wheel type crawler robot, the obstacle crossing of a complex accident site cannot be finished, the problem of adaptation of complex terrains such as going upstairs and downstairs on the inspection site is solved, manual approaching inspection is still needed, and workers are in potential safety hazards.

In order to solve the problems, in the prior art, a multi-path high-integration valve-controlled cylinder quadruped robot is mostly adopted to replace a wheel type crawler robot for inspection, as described in patent 202010566954.4; however, the valve control cylinder belongs to a throttling type system, and throttling loss is large; due to different walking gaits of the quadruped robot, the pressure/flow requirements of each joint on the driving system are different, so that the energy loss of the valve control hydraulic driving system is serious, and the quadruped robot has low cruising ability and large heat productivity; moreover, the existing hydraulic quadruped robot does not have an explosion-proof function, if the interior of the robot explodes, the flame leaks, and the inspection field is easy to cause accidents, so that the inspection requirement of the petrochemical industry and the electric power industry cannot be met.

Patent 202011015457.1 also provides a hydraulic control cheetah bionic quadruped robot, and although a pump control structure is adopted in a drive system of the bionic quadruped robot instead of a valve control structure, the drive system only controls the legs and feet of the robot through one hydraulic cylinder, so that the legs and feet of the robot have low freedom degree and low flexibility.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least, provide an explosion-proof quadruped robot of hydraulic pump accuse, each joint is to the difference nature of actuating system's pressure/flow demand when can satisfying the different walking gaits of quadruped robot, reduce quadruped robot hydraulic drive system's energy loss, reduce quadruped robot's calorific capacity, improve quadruped robot's duration, still improved quadruped robot's sufficient flexibility ratio of leg.

In order to achieve the above object of the present invention, according to a first aspect of the present invention, the present invention provides a hydraulic pump controlled explosion-proof quadruped robot, comprising a hydraulic structure and a mechanical structure; the mechanical structure comprises an explosion-proof bin and 4 leg and foot assemblies; the 4 leg and foot components are respectively arranged at the bottom of the explosion-proof bin and comprise a side swing unit, a hip unit and a knee unit; the hydraulic structure comprises an energy accumulator and a driving unit, wherein the driving unit comprises a servo motor, a hydraulic pump and a hydraulic cylinder which are sequentially connected; the energy accumulator is respectively connected with the hydraulic pump and the hydraulic cylinder; each of the lateral swing unit, the hip unit or the knee unit is controlled by a drive unit.

Furthermore, the hydraulic structure also comprises a controller, the controller is connected with the servo motor, and the controller is used for controlling parameters of the servo motor; the side swing unit comprises a first fixed block and a side swing joint; the first fixing block is connected with the bottom of the explosion-proof bin; the hip unit comprises a hip base, a hip joint and a thigh, and the knee unit comprises a knee joint and a shank; the first fixing block is hinged with the hip base through a side swing joint, the thigh is hinged with the hip base through a hip joint, and the shank is hinged with the thigh through a knee joint.

Further, the side swing unit also comprises a second fixed block, the second fixed block is connected with the bottom of the explosion-proof bin, the fixed end of the hydraulic cylinder of the side swing unit is hinged with the second fixed block, and the telescopic end of the hydraulic cylinder of the side swing unit is hinged with the hip base; the fixed end of the hydraulic cylinder of the hip unit is hinged with the hip base, and the telescopic end of the hydraulic cylinder of the hip unit is hinged with the thigh; the fixed end of the hydraulic cylinder of the knee unit is hinged with the thigh, and the telescopic end of the hydraulic cylinder of the knee unit is hinged with the shank.

Further, the leg and foot assembly further comprises an ankle; one end of the ankle is connected with the shank through a damping spring, and the other end of the ankle is also connected with a foot end; the leg and foot assembly further comprises a rotation stopping sheet, one end of the rotation stopping sheet is connected with the lower leg, and the other end of the rotation stopping sheet is connected with the ankle.

Furthermore, a force maintaining sensor is arranged between the foot end and the ankle and is connected with the controller; the end of the foot end which is not connected with the ankle is also provided with a rubber block.

Furthermore, the integrated block is installed on the outer side wall opposite to the explosion-proof bin, the servo motor and the hydraulic pump are respectively located at two ends of the integrated block, the servo motor is located inside the explosion-proof bin, the hydraulic pump is located outside the explosion-proof bin, and the servo motor and the hydraulic pump are connected through a coupler.

Furthermore, a temperature sensor is installed on the integrated block and connected with the controller.

Further, the energy accumulator is provided with a first oil port and a second oil port; the hydraulic pump further comprises a seventh oil port and an eighth oil port, the third oil port is communicated with the seventh oil port, the fourth oil port is communicated with the eighth oil port, and the fifth oil port is communicated with the sixth oil port; the hydraulic cylinder comprises a rod cavity oil port and a rodless cavity oil port; the first oil port is connected with the third oil port through a first pipeline, the fourth oil port is connected with the rodless cavity oil port through a second pipeline, the rod cavity oil port is connected with the sixth oil port through a second pipeline, and the fourth five oil port is connected with the second oil port through a first pipeline.

Further, a check valve is arranged between the first oil port and the third oil port, and an overflow valve is arranged between the rod cavity oil port and the sixth oil port.

Furthermore, the explosion-proof bin is provided with a bin opening, and a prestressed rod is connected between opposite side walls of the bin opening.

The technical principle and the beneficial effects of the utility model: the mechanical structure of the quadruped robot comprises an explosion-proof bin and four leg and foot components, a servo motor provides a power source for a hydraulic pump, the hydraulic pump drives a hydraulic cylinder to move through a piston, the hydraulic cylinder drives a side swing unit/hip unit/knee unit to move, and the side swing unit/hip unit/knee unit is controlled by one driving unit independently, so that the degree of freedom and the flexibility of the leg and the foot of the robot are improved, the difference of pressure/flow requirements of each joint on the driving system during different walking gaits of the robot is also met, compared with a valve-controlled quadruped robot, the energy loss of a hydraulic driving system of the quadruped robot is reduced, and the cruising ability of the quadruped robot is improved; and this scheme uses the pump accuse drive to replace prior art's valve accuse drive, and the pump accuse jar does not belong to throttle type system, and the throttle loss is less, compares with prior art, and this scheme has reduced hydraulic drive system's energy loss to the throttle loss of pump accuse jar is less, therefore this scheme has improved quadruped robot's duration, reduces quadruped robot's calorific capacity.

Drawings

Fig. 1 is a schematic structural view of the hydraulic pump-controlled explosion-proof quadruped robot of the present invention;

fig. 2 is a schematic structural view of the legs and feet of the hydraulic pump-controlled explosion-proof quadruped robot of the present invention;

FIG. 3 is a schematic view of part of an explosion-proof bin of the hydraulic pump-controlled explosion-proof quadruped robot with the structure of the utility model;

fig. 4 is a schematic diagram of the connection logic of the hydraulic structure of the hydraulic pump-controlled explosion-proof quadruped robot of the present invention;

fig. 5 is a control logic diagram of the driving unit of the leg-foot structure of the hydraulic pump-controlled explosion-proof quadruped robot.

Reference numerals are as follows: the hydraulic control system comprises an energy accumulator 1, a first oil port 11, a second oil port 12, a hydraulic pump 2, a third oil port 21, a fourth oil port 22, a fifth oil port 23, a sixth oil port 24, a servo motor 3, a hydraulic cylinder 41 of a side swing unit, a hydraulic cylinder 42 of a hip unit, a hydraulic cylinder 43 of a knee unit, a side swing unit 5, a first fixed block 51, a second fixed block 52, a side swing joint 53, a hip unit 6, a hip base 61, a hip joint 62, a thigh 63, a knee unit 7, a knee joint 71, a shank 72, a rotation stopping sheet 73, a spring 74, an ankle 75, a rubber block 76, a foot end 77, a check valve 8, a temperature sensor 9, an explosion-proof bin 10, a control system mounting plate 101, a manifold block 102, an end plate 103, a bin port 104, a prestress rod 105, a nut 106, a first pipeline 111 and a second pipeline 112.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, mechanically or electrically connected, or may be connected between two elements through an intermediate medium, or may be directly connected or indirectly connected, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.

As shown in the attached figure 1, the utility model provides a hydraulic pump controlled explosion-proof quadruped robot, which comprises a hydraulic structure and a mechanical structure;

the mechanical structure comprises an explosion-proof bin 10 and 4 leg and foot assemblies; 4 leg and foot components are respectively arranged at the bottom of the explosion-proof bin 10, and each leg and foot component comprises a side swing unit 5, a hip unit 6 and a knee unit 7;

the hydraulic structure comprises a controller, an energy accumulator 1 and a driving unit, wherein the driving unit comprises a servo motor 3, a hydraulic pump 2 and a hydraulic cylinder which are sequentially connected; the energy accumulator 1 is respectively connected with the hydraulic pump 2 and the hydraulic cylinder; as shown in fig. 4, a drive unit is used to control a roll unit 5, a hip unit 6 or a knee unit 7, respectively; the controller is connected with the servo motor 3 and is used for controlling parameters of the servo motor 3.

Preferably, the servo motor 3 is a direct-current servo motor, the hydraulic pump 2 is preferably a bidirectional plunger pump, the energy accumulator 1 is preferably an oil tank and energy accumulator, and the controller is preferably a single chip microcomputer with the model number of AT90S 8535; the explosion-proof bin 10 is formed by welding a plurality of explosion-proof plates, in order to enable the appearance of the quadruped robot to be attractive and harmonious, the explosion-proof bin 10 is cuboid, a control system mounting plate 101 and a power lithium battery are further mounted inside the explosion-proof bin 10, and the cuboid explosion-proof bin 10 is convenient for mounting the control system mounting plate 101 and the power lithium battery.

As shown in fig. 2, the leg-foot structure has three degrees of freedom of lateral swing, hip pitch and knee pitch, and adopts a topological structure component of the front elbow and the back knee; specifically, the yaw unit 5 includes a first fixed block 51 and a yaw joint 53; the first fixed block 51 is connected with the bottom of the explosion-proof bin 10; hip unit 6 comprises hip base 61, hip joint 62 and thigh 63, knee unit 7 comprises knee joint 71 and lower leg 72; the first fixed block 51 is hinged with the hip base 61 through a side swing joint 53, the thigh 63 is hinged with the hip base 61 through a hip joint 62, and the calf 72 is hinged with the thigh 63 through a knee joint 71.

Specifically, as shown in fig. 2, the hydraulic cylinder includes a fixed end and a telescopic end; the fixed end of the hydraulic cylinder 41 of the side swing unit is hinged with the second fixed block 52, the telescopic end of the hydraulic cylinder 41 of the side swing unit is hinged with the hip base 61, and the hydraulic cylinder 41 of the side swing unit stretches and drives the hip base 61 to rotate around the side swing joint 53, so that the hip base 61 drives the hip unit 6, the knee unit 7 and other leg and foot structures to perform side swing movement; the fixed end of the hydraulic cylinder 41 of the hip unit is hinged with the hip base 61, the telescopic end of the hydraulic cylinder 41 of the hip unit is hinged with the thigh 63, and the hydraulic cylinder 41 of the hip unit is telescopic to drive the thigh 63 to rotate around the hip joint 62, so that the pitching motion of the hip joint 62 is realized; the fixed end of the hydraulic cylinder 41 of the knee unit is hinged with the thigh 63, and the telescopic end of the hydraulic cylinder 41 of the knee unit is hinged with the shank 72; the hydraulic cylinder 41 of the knee unit stretches and retracts to drive the lower leg 72 to rotate around the knee joint 71, so that the pitching motion of the knee joint 71 is realized;

specifically, the hydraulic pump 2 is driven to rotate by adjusting the rotation of the servo motor 3 through the controller, so that hydraulic oil of the energy accumulator 1 or the hydraulic cylinder flows to generate certain pressure and flow, parameters such as the rotation angle, the rotation speed and the torque of the servo motor 3 are adjusted through the controller to change the flow, the pressure and the steering of the hydraulic cylinder, and further the displacement, the speed and the stretching direction of the movement of the piston rod of the hydraulic cylinder are controlled, so that the rotation of the side swing joint 53/the hip joint 62/the knee joint 71 with different moments, different speeds and different angular displacements is realized, and the leg movement of the quadruped robot is realized.

As shown in fig. 2, the leg and foot assembly further includes an ankle 75; one end of ankle 75 is connected to lower leg 72 through damping spring 74, and the other end of ankle 75 is further connected to foot end 77, and foot end 77 is a member of the leg-foot structure of the quadruped robot contacting with the ground; to prevent relative rotation between lower leg 72 and ankle 75, the leg and foot assembly further includes a rotation stop tab 73, one end of rotation stop tab 73 being connected to lower leg 72 and the other end of rotation stop tab 73 being connected to ankle 75.

Preferably, a dimension force sensor is further arranged between the foot end 77 and the ankle 75, the dimension force sensor is connected with the controller, and the dimension force sensor is used for detecting the stress of the foot end 77; a displacement sensor is arranged at the telescopic end of the hydraulic cylinder and is connected with a controller, specifically, the optimal type of the displacement sensor is LD700-WY-01, and the displacement sensor transmits the displacement of the hydraulic cylinder to the controller;

the controller is also internally stored with a computer control system which is divided into an upper layer and a lower layer, wherein the upper layer is a robot gait control system and is responsible for gait planning, joint motion track calculation, hydraulic pump 2 and piston cylinder displacement calculation of the quadruped robot; the lower layer is a joint control system which controls the motion of each joint of the robot by using a force-position mixed feedback control method. When the foot end 77 touches the ground, the joint control system of the leg uses a force feedback PID control method of a dimensional force sensor; when foot end 77 is not touching the ground, the joint control system for the leg uses a piston cylinder position feedback PID control method with a displacement sensor. The control method makes the action gait of the robot more stable. Because the utility model mainly protects the mechanical structure, the driving structure and the driving connection relation of the robot, and does not relate to the control method, the control program or the control system of the robot, the details are not repeated here; in addition, the control method, control program or control system of the hydraulic cylinder quadruped robot belongs to the prior art, such as the control method, device, system and storage medium of the hydraulic system in patent 202210044484.4.

As shown in fig. 2, in order to prevent the quadruped robot from vibrating or falling down due to the excessive force applied when the foot end 77 lands on the ground, which affects the inspection of the robot, a rubber block 76 is further provided at the end of the foot end 77 not connected to the ankle 75, to cushion the foot end 77 when the foot end 77 lands on the ground.

As shown in fig. 3, the explosion-proof bin 10 is provided with a bin opening 104, and a prestressed bar 105 is connected between opposite side walls of the bin opening 104. Specifically, mounting threads are arranged at two ends of a prestressed rod 105, opposite mounting through holes are arranged on opposite side walls of the bin opening 104, the diameter of each mounting through hole is larger than that of the prestressed rod 105, the length of the prestressed rod 105 is larger than the distance between the opposite side walls of the bin opening 104, one end of the prestressed rod 105 penetrates through the opposite mounting through holes, the prestressed rod 105 is locked between the opposite side walls of the bin opening 104 by using a nut 106 matched with the mounting threads, the prestress effect of the explosion-proof bin 10 is realized by utilizing the resilience of the prestressed rod 105, partial load generated by explosion can be eliminated by virtue of prestress, the resilience load is transferred to the explosion-proof bin 10 by utilizing the contact of the nut 106 and the explosion-proof bin 10, and the explosion-proof performance of the explosion-proof bin 10 is improved; when the robot is patrolling and examining the inside explosion that takes place of in-process, above-mentioned scheme can avoid explosion-proof storehouse 10 to take place crack or deformation effectively, leads to the flame to leak, endangers the environmental security who patrols and examines. In other embodiments, the pre-stressed rods 105 may also be connected between opposing sidewalls of the bin mouth 104 by welding.

Preferably, a cover plate is further arranged at the bin opening 104 of the explosion-proof bin 10.

As shown in fig. 1, the integrated block 102 is installed on the opposite outer side wall of the explosion-proof bin 10, the servo motor 3 and the hydraulic pump 2 are respectively located at two ends of the integrated block 102, the servo motor 3 is located inside the explosion-proof bin 10, the hydraulic pump 2 is located outside the explosion-proof bin 10, and the servo motor 3 and the hydraulic pump 2 are connected through a coupler.

As shown in fig. 1, when the number of the manifold blocks 102 is large, if too many screw holes are provided in the explosion-proof bin 10, the explosion-proof performance of the explosion-proof bin 10 may be reduced, so that the end plates 103 having a hollow structure are provided between the manifold blocks 102 and the explosion-proof bin 10, and are respectively mounted on the opposite outer side walls of the explosion-proof bin 10, and the mounting holes of the manifold blocks 102 and other components are provided on the end plates 103, so that the manifold blocks 102 are mounted on the end plates 103.

Preferably, in order to detect the operating temperature of the hydraulic system and ensure the driving environment of the quadruped robot, the temperature sensor 9 is installed on the integrated block 102, the temperature sensor 9 is connected with the controller, the controller constantly monitors the detection data of the temperature sensor 9, and when the operating temperature is too high, the quadruped robot stops acting; in particular, the temperature sensor 9 is preferably of the type DS18S20.

As shown in fig. 4, the accumulator 1 is provided with a first oil port 11 and a second oil port 12; the manifold block 102 is provided with a third oil port 21, a fourth oil port 22, a fifth oil port 23 and a sixth oil port 24, the hydraulic pump 2 further comprises a seventh oil port and an eighth oil port, the third oil port 21 is communicated with the seventh oil port, the fourth oil port 22 is communicated with the eighth oil port, and the fifth oil port 23 is communicated with the sixth oil port 24; the hydraulic cylinder comprises a rod cavity oil port and a rodless cavity oil port;

the first oil port 11 is connected with the third oil port 21 through a first pipeline 111, the fourth oil port 22 is connected with the rodless cavity oil port through a second pipeline 112, the rod cavity oil port is connected with the sixth oil port 24 through a second pipeline 112, and the fourth and fifth oil ports are connected with the second oil port 12 through a first pipeline 111.

As shown in fig. 4, since the accumulator 1 and the hydraulic pump 2 do not move relatively, the first pipe 111 is preferably a metal hard pipe, so as to prevent the first pipe 111 from moving during the movement of the robot and affecting the movement of the robot; since relative movement between the hydraulic cylinder and the hydraulic pump 2 occurs, the second conduit 112 is preferably a hose in order to avoid the hydraulic cylinder being blocked during movement and affecting the robot movement. In order to ensure that the first pipe 111 is broken and exploded, which endangers the safety of the robot, the first pipe 111 is preferably an explosion-proof metal pipe, and the second pipe 112 is preferably an explosion-proof hose.

Preferably, since the hydraulic cylinder includes a rod chamber and a rodless chamber, the volume of the rod chamber is smaller than that of the rodless chamber, when hydraulic oil flows into the rodless chamber from the rod chamber, the hydraulic oil is less than enough to fill the rodless chamber, and therefore the hydraulic oil needs to be extracted from the accumulator 1, and therefore the check valve 8 is further arranged between the first oil port 11 and the third oil port 21; because the volume of the rod cavity is smaller than that of the rodless cavity, when hydraulic oil flows into the rod cavity from the rodless cavity, the hydraulic oil is excessive, and therefore an overflow valve is further arranged between the oil port of the rod cavity and the sixth oil port 24, and redundant hydraulic oil flows into the energy accumulator 1 through the overflow valve.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. The utility model provides an explosion-proof four-footed robot of hydraulic control which characterized in that: comprises a hydraulic structure and a mechanical structure;

the mechanical structure comprises an explosion-proof bin (10) and 4 leg and foot assemblies; the 4 leg and foot components are respectively arranged at the bottom of the explosion-proof bin (10), and each leg and foot component comprises a side swing unit (5), a hip unit (6) and a knee unit (7);

the hydraulic structure comprises an energy accumulator (1) and a driving unit, wherein the driving unit comprises a servo motor (3), a hydraulic pump (2) and a hydraulic cylinder which are sequentially connected; the energy accumulator (1) is respectively connected with the hydraulic pump (2) and the hydraulic cylinder; each of the lateral swing unit (5), the hip unit (6) or the knee unit (7) is controlled by a drive unit.

2. The hydraulic pump-controlled explosion-proof quadruped robot as claimed in claim 1, characterized in that: the hydraulic structure also comprises a controller, the controller is connected with the servo motor (3), and the controller is used for controlling parameters of the servo motor (3);

the side swing unit (5) comprises a first fixed block (51) and a side swing joint (53); the first fixed block (51) is connected with the bottom of the explosion-proof bin (10); the hip unit (6) comprises a hip base (61), a hip joint (62) and a thigh (63), and the knee unit (7) comprises a knee joint (71) and a shank (72); the first fixing block (51) is hinged with the hip base (61) through a side swing joint (53), the thigh (63) is hinged with the hip base (61) through a hip joint (62), and the calf (72) is hinged with the thigh (63) through a knee joint (71).

3. The hydraulic pump-controlled explosion-proof quadruped robot as claimed in claim 2, wherein: the side swing unit (5) further comprises a second fixed block (52), the second fixed block (52) is connected with the bottom of the explosion-proof bin (10), the fixed end of a hydraulic cylinder (41) of the side swing unit is hinged with the second fixed block (52), and the telescopic end of the hydraulic cylinder (41) of the side swing unit is hinged with the hip base (61); the fixed end of the hydraulic cylinder (42) of the hip unit is hinged with the hip base (61), and the telescopic end of the hydraulic cylinder (42) of the hip unit is hinged with the thigh (63); the fixed end of the hydraulic cylinder (43) of the knee unit is hinged with the thigh (63), and the telescopic end of the hydraulic cylinder (43) of the knee unit is hinged with the shank (72).

4. A hydraulic pump-controlled explosion-proof quadruped robot as claimed in claim 2 or 3, wherein: the leg and foot assembly further comprises an ankle (75); one end of the ankle (75) is connected with the lower leg (72) through a damping spring (74), and the other end of the ankle (75) is also connected with a foot end (77); the leg and foot assembly further comprises a rotation stopping sheet (73), one end of the rotation stopping sheet (73) is connected with the lower leg (72), and the other end of the rotation stopping sheet (73) is connected with the ankle (75).

5. The hydraulic pump-controlled explosion-proof quadruped robot as claimed in claim 4, wherein: a force maintaining sensor is also arranged between the foot end (77) and the ankle (75), and the force maintaining sensor is connected with the controller; the end of the foot end (77) which is not connected with the ankle (75) is also provided with a rubber block (76).

6. The hydraulic pump-controlled explosion-proof quadruped robot as claimed in claim 1, 2, 3 or 5, wherein: the explosion-proof bin (10) is provided with a bin opening (104), and a prestress rod (105) is connected between the opposite side walls of the bin opening (104).

7. The hydraulic pump-controlled explosion-proof quadruped robot as claimed in claim 1, 2, 3 or 5, wherein: install integrated package (102) on the relative lateral wall in explosion-proof storehouse (10), servo motor (3) are located the both ends of integrated package (102) respectively with hydraulic pump (2), and inside servo motor (3) were located explosion-proof storehouse (10), and hydraulic pump (2) are located explosion-proof storehouse (10) outside, and servo motor (3) pass through the coupling joint with hydraulic pump (2).

8. The hydraulic pump-controlled explosion-proof quadruped robot as claimed in claim 7, wherein: the temperature sensor (9) is installed on the integrated block (102), and the temperature sensor (9) is connected with the controller.

9. A hydraulic pump controlled explosion-proof quadruped robot as claimed in claim 1, 2, 3, 5 or 8, wherein: the energy accumulator (1) is provided with a first oil port (11) and a second oil port (12); the integrated block (102) is provided with a third oil port (21), a fourth oil port (22), a fifth oil port (23) and a sixth oil port (24), the hydraulic pump (2) further comprises a seventh oil port and an eighth oil port, the third oil port (21) is communicated with the seventh oil port, the fourth oil port (22) is communicated with the eighth oil port, and the fifth oil port (23) is communicated with the sixth oil port (24); the hydraulic cylinder comprises a rod cavity oil port and a rodless cavity oil port;

the first oil port (11) is connected with the third oil port (21) through a first pipeline (111), the fourth oil port (22) is connected with the rodless cavity oil port through a second pipeline (112), the rod cavity oil port is connected with the sixth oil port (24) through a second pipeline (112), and the fourth five oil port is connected with the second oil port (12) through the first pipeline (111).

10. The hydraulic pump-controlled explosion-proof quadruped robot as claimed in claim 9, wherein: a check valve (8) is arranged between the first oil port (11) and the third oil port (21), and an overflow valve is arranged between the rod cavity oil port and the sixth oil port (24).