A micro-robot skeleton structure

Abstract

A micro-robot skeleton structure includes a plurality of body mounting parts with different profiling structures. The body mounting parts respectively include a trunk part, a scapular part, an arm part, a thoracic part, a femoral part, and a leg part. Each of the body mounting parts is fixedly connected by a joint connecting shaft. The scapular part, the thoracic part, and the femoral part are respectively formed by clamping with a front clip and a rear clip of their respective profiling structures. There is an installation gap between the corresponding front clip and rear clip of the scapular part, the thoracic part, and the femoral part. The plate surfaces of the front clip and the rear clip bulge outwards respectively, so that the installation gap forms a movable cavity at the corresponding bulging part. By movably installing the connecting end of the joint connecting shaft in the movable cavity, the connection between the body mounting parts with different profiling structures is realized. The present invention can improve the joint freedom degree between the body mounting parts, and at the same time ensure that each body mounting part can maintain the deformed shape after being pulled and deformed.

Description

Technical Field

[0001] The present invention relates to the technical field of robot toys, and particularly to a micro-robot skeleton structure. Background Art

[0002] Due to the limitation of production and processing technology, the existing micro-robots with humanoid structures have relatively low degrees of freedom of movement for each joint, and it is not easy to maintain the deformed state after the joints are bent and deformed. Summary of the Invention

[0003] The purpose of the present invention is to propose a micro-robot skeleton structure in view of the defects in the background art. An installation gap is provided between the front clip and the rear clip of the present invention, and the plate surfaces of the front clip and the rear clip bulge outwards respectively, so that the installation gap forms a movable cavity corresponding to the bulging part. A sliding sphere is provided at the connecting end of the joint connecting shaft, and the sliding sphere is movably installed in the movable cavity to improve the joint degrees of freedom between the various body installation parts.

[0004] The present invention fixes the front clip and the rear clip by setting fixing holes and using rivets to ensure that the joint connecting shaft is stably installed in the movable cavity between the front clip and the rear clip. At the same time, injection holes are provided in the front clip and the rear clip, which is convenient for the injection material to enter the installation gap during injection, so that when the sliding sphere moves in the movable cavity, it can ensure that the various body installation parts can maintain the deformed shape after being bent and deformed.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] A micro-robot skeleton structure includes a plurality of body installation parts with different imitation structures. The body installation parts respectively include a trunk part, a scapular part, an arm part, a thoracic part, a femoral part and a leg part; the various body installation parts are connected and fixed through joint connecting shafts.

[0007] The scapular part, the thoracic part and the femoral part are all formed by clamping with the front clip and the rear clip of their respective imitation structures.

[0008] An installation gap is left between the corresponding front clip and rear clip of the scapular part, the thoracic part and the femoral part. The plate surfaces of the front clip and the rear clip bulge outwards respectively, so that the installation gap forms a movable cavity corresponding to the bulging part.

[0009] The connection between the body installation parts with different imitation structures is realized by movably installing the connecting end of the joint connecting shaft in the movable cavity.

[0010] Preferably, the front clip and the rear clip are both provided with corresponding fixing holes and injection holes.

[0011] Fix the front clip and the rear clip by passing a fastener through the fixing hole.

[0012] The aperture of the fixing hole is larger than that of the injection hole.

[0013] Preferably, the trunk part includes a first trunk connecting shaft and a second trunk connecting shaft;

[0014] The first trunk connecting shaft is provided with a trunk node, and the second trunk connecting shaft is provided with a trunk groove. The trunk node is embedded in the trunk groove to fix the first trunk connecting shaft to the second trunk connecting shaft;

[0015] The trunk node can swing in the trunk groove to make the first trunk connecting shaft swing relative to the second trunk connecting shaft.

[0016] Preferably, the trunk part further includes a trunk joint connecting shaft;

[0017] The chest part is provided with a first chest movable cavity and a second chest movable cavity;

[0018] The groin part is provided with a first groin movable cavity;

[0019] The second trunk connecting shaft is provided with a sliding sphere, and the sliding sphere of the second trunk connecting shaft is installed in the first chest movable cavity of the chest part;

[0020] Both connecting ends of the trunk joint connecting shaft are respectively provided with the sliding sphere. One sliding sphere of the joint connecting shaft is installed in the second chest movable cavity of the chest part, and the other sliding sphere is installed in the first groin movable cavity of the groin part.

[0021] Preferably, the scapular part is provided with a first scapular movable cavity and a second scapular movable cavity;

[0022] The chest part further includes a third chest movable cavity and a chest joint connecting shaft;

[0023] Both connecting ends of the chest joint connecting shaft are respectively provided with the sliding sphere. One sliding sphere of the chest joint connecting shaft is installed in the third chest movable cavity, and the other sphere is installed in the second scapular movable cavity;

[0024] The scapular part connects the arm part through the first scapular movable cavity.

[0025] Preferably, the arm part includes an arm joint connecting shaft, a first arm connecting shaft and a second arm connecting shaft;

[0026] One end of the arm joint connecting shaft is provided with the sliding sphere, and the other end is provided with an arm node;

[0027] Both ends of the first arm connecting shaft are respectively provided with arm grooves;

[0028] The second arm connecting shaft is provided with the arm node;

[0029] The sliding sphere of the arm joint connecting shaft is installed in the first scapular movable cavity;

[0030] The arm node of the arm joint connecting shaft is embedded and installed in one arm groove of the first arm connecting shaft to fix the arm joint connecting shaft to the first arm connecting shaft, and the first arm connecting shaft can swing relative to the arm joint connecting shaft;

[0031] The arm node of the second arm connecting shaft is embedded and installed in the other arm groove of the first arm connecting shaft to fix the first arm connecting shaft to the second arm connecting shaft, and the second arm connecting shaft can swing relative to the first arm connecting shaft.

[0032] Preferably, the second arm connecting shaft includes two split arm shafts. One end of each split arm shaft is provided with the sliding sphere, and the other end is provided with a chute;

[0033] The sliding spheres of the two split arm shafts are respectively slidably installed in the chutes of each other.

[0034] Preferably, the leg includes a leg joint connecting shaft and a thigh connecting shaft;

[0035] The thigh connecting shaft is provided with a first leg movable cavity;

[0036] Both connecting ends of the leg joint connecting shaft are respectively provided with the sliding sphere. One sliding sphere is embedded and installed in the second femoral movable cavity of the groin, and the other sliding sphere is embedded and installed in the first leg movable cavity.

[0037] Preferably, the leg further includes a calf connecting shaft;

[0038] The calf connecting shaft is provided with a leg node;

[0039] The thigh connecting shaft is provided with a leg groove;

[0040] The leg node is embedded and installed in the leg groove to fix the calf connecting shaft to the thigh connecting shaft, and the calf connecting shaft can swing relative to the thigh connecting shaft.

[0041] The beneficial effects produced by the technical solution of this application:

[0042] 1. The present invention provides an installation gap between the front clamping piece and the rear clamping piece. The plate surfaces of the front clamping piece and the rear clamping piece bulge outwards respectively, so that a movable cavity is formed corresponding to the bulging part of the installation gap. A sliding sphere is arranged at the connecting end of the joint connecting shaft, and the sliding sphere is movably installed in the movable cavity to improve the joint freedom degree between various shaped installation parts;

[0043] 2. The present invention fixes the joint connecting shaft firmly between the front clamping piece and the rear clamping piece by setting fixing holes in the front clamping piece and the rear clamping piece and using rivets for fixing. At the same time, injection holes are set in the front clamping piece and the rear clamping piece, which is convenient for the injection material to enter the installation gap during injection, so that when the sliding sphere moves in the movable cavity, it can ensure that after the various shaped installation parts are bent and deformed, they can still maintain the deformed shape. Description of the Drawings

[0044] Figure 1 is the front view of the micro-robot skeleton structure of an embodiment of the present invention;

[0045] Figure 2 is the schematic diagram of the micro-robot skeleton structure of an embodiment of the present invention;

[0046] Figure 3 is the schematic diagram of the trunk structure of an embodiment of the present invention;

[0047] Figure 4 is the schematic diagram of the scapular part and the arm part of an embodiment of the present invention;

[0048] Figure 5 is the schematic diagram of the thoracic part and the inguinal part of an embodiment of the present invention;

[0049] Figure 6 is the schematic diagram of the leg structure of an embodiment of the present invention.

[0050] Wherein: the trunk 1, the first trunk connecting shaft 11, the second trunk connecting shaft 12, the trunk joint connecting shaft 13, the trunk node 14, the trunk groove 15, the scapular part 2, the scapular first movable cavity 21, the scapular second movable cavity 22, the arm part 3, the arm joint connecting shaft 31, the first arm connecting shaft 32, the second arm connecting shaft 33, the arm node 34, the arm groove 35, the branch arm shaft 36, the sliding groove 37, the thoracic part 4, the thoracic first movable cavity 41, the thoracic second movable cavity 42, the thoracic third movable cavity 43, the inguinal part 5, the inguinal first movable cavity 51, the inguinal second movable cavity 52, the leg part 6, the leg joint connecting shaft 61, the thigh connecting shaft 62, the calf connecting shaft 63, the leg first movable cavity 64, the leg node 65, the leg groove 66, the front clamping piece 71, the rear clamping piece 72, the fixing hole 81, the injection hole 82, the sliding sphere 9. Detailed implementation manners

[0051] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation manners.

[0052] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0053] Due to the limitation of production and processing technology, the existing micro-robots with humanoid structures have relatively low degrees of freedom of movement for each joint, and it is not easy for each joint to maintain the deformed state after being bent and deformed. To solve the above problems, the present application proposes a micro-robot skeleton structure. It should be noted that the micro-robot skeleton structure of the present application adopts powder metallurgy injection molding design, and the micro-robot skeleton structure described in the present application is manufactured by processing technologies such as powder metallurgy injection molding, degreasing, sintering, magnetic abrasive polishing and shaping. At the same time, the micro-robot skeleton structure is used for subsequent injection molding and coating with silica gel to form the final toy product.

[0054] Specifically, it includes a plurality of body mounting parts with different profiling structures. The body mounting parts respectively include a trunk part 1, a shoulder part 2, an arm part 3, a chest part 4, a groin part 5 and a leg part 6; the body mounting parts are connected and fixed through joint connecting shafts.

[0055] The shoulder part 2, the chest part 4 and the groin part 5 are all formed by clamping with front clips 71 and rear clips 72 with respective profiling structures.

[0056] An installation gap is left between the front clip 71 and the rear clip 72 corresponding to the shoulder part 2, the chest part 4 and the groin part 5. The plate surfaces of the front clip 71 and the rear clip 72 bulge outwards respectively, so that the installation gap forms a movable cavity corresponding to the bulging part.

[0057] The connection between the body mounting parts with different profiling structures is realized by movably installing the connection end of the joint connecting shaft in the movable cavity.

[0058] In this embodiment, the micro robot skeleton structure is assembled from a plurality of body mounting parts with different imitation structures, and these body mounting parts are respectively a torso 1, a shoulder blade 2, an arm 3, a chest cavity 4, a groin 5 and a leg 6 according to the humanoid design, and the above-mentioned parts are connected and fixed by a joint connecting shaft, so as to realize the assembly of the parts to form a complete robot skeleton;

[0059] Furthermore, the scapular portion 2, the thoracic portion 4 and the inguinal portion 5 are all formed by clamping the front clip 71 and the rear clip 72 of their respective profiling structures, and an installation gap is retained between the front clip 71 and the rear clip 72. At the same time, the plate surfaces of the front clip 71 and the rear clip 72 will protrude in the direction away from the installation gap, so that a movable cavity is formed at the protrusion corresponding to the installation gap. When connecting various parts, it is only necessary to place the connecting end of the joint connecting shaft into the movable cavity. At the same time, the connecting end of the joint connecting shaft can also move slightly in the movable cavity. The friction between the connecting end of the joint connecting shaft and the movable cavity is used to ensure that after the parts are deformed by the joint connecting shaft, they can maintain the deformed shape.

[0060] Preferably, the front clip 71 and the rear clip 72 are both provided with corresponding fixing holes 81 and injection holes 82;

[0061] Pass a fastener through the fixing hole 81 to fix the front clip 71 and the rear clip 72;

[0062] The diameter of the fixing hole 81 is larger than the diameter of the injection hole 82 .

[0063] In this embodiment, the shoulder blade portion 2, the thoracic portion 4 and the groin portion 5 are all formed by clamping the front clip 71 and the rear clip 72, wherein the front clip 71 and the rear clip 72 can be fixed by fasteners passing through the fixing holes 81. It should be noted that when fixing, it is necessary to ensure that there is an installation gap between the front clip 71 and the rear clip 72.

[0064] Furthermore, injection molding holes 82 are dispersedly provided on the plate surfaces of the front clip 71 and the rear clip 72. When the micro robot skeleton of the present application is subsequently injection-molded with silicone to form a product, the injection molding material can enter the installation gap through the injection molding holes 82, so that the installation gap is filled with the injection molding material. At the same time, the periphery of the front clip 71 and the rear clip 72 is wrapped with the injection molding material, and the injection molding is performed by utilizing the cooperation of the injection molding holes 82 and the installation gap. While ensuring the stability of the front clip 71 and the rear clip 72, it can also prevent the front clip 71 and the rear clip 72 from displacement deviation, thereby ensuring that after each part is deformed by being pulled and deformed through the joint connecting axis, it can still maintain the deformed shape.

[0065] The connection relationships between various body installments will be elaborated with specific embodiments below.

[0066] Preferably, the trunk 1 includes a first trunk connection shaft 11 and a second trunk connection shaft 12;

[0067] The first trunk connection shaft 11 is provided with a trunk node 14, and the second trunk connection shaft 12 is provided with a trunk groove 15. The trunk node 14 is embedded in the trunk groove 15 to fix the first trunk connection shaft 11 to the second trunk connection shaft 12;

[0068] The trunk node 14 can swing within the trunk groove 15 to enable the first trunk connection shaft 11 to swing relative to the second trunk connection shaft 12.

[0069] In this embodiment, one end of the first trunk connection shaft 11 can be understood as the head mounting end, and the other end is provided with a trunk node 14. The second trunk connection shaft 12 is provided with a trunk groove 15. The trunk node 14 of the first trunk connection shaft 11 is inserted into the trunk groove 15 of the second trunk connection shaft 12. At the same time, both the trunk node 14 and the groove wall of the trunk groove 15 are provided with slot holes. By inserting rivets into the slot holes, the fixation between the two can be achieved, and the first trunk connection shaft 11 can rotate around the rivets to swing in the front-back direction relative to the second trunk connection shaft 12.

[0070] Preferably, the trunk 1 further includes a trunk joint connection shaft 13;

[0071] The chest part 4 is provided with a first chest movable cavity 41 and a second chest movable cavity 42;

[0072] The groin part 5 is provided with a first groin movable cavity 51;

[0073] The second trunk connection shaft 12 is provided with a sliding sphere 9, and the sliding sphere 9 of the second trunk connection shaft 12 is installed in the first chest movable cavity 41 of the chest part 4;

[0074] Both connection ends of the trunk joint connection shaft 13 are provided with the sliding sphere 9. One sliding sphere 9 of the joint connection shaft is installed in the second chest movable cavity 42 of the chest part 4, and the other sliding sphere 9 is installed in the first groin movable cavity 51 of the groin part 5.

[0075] In this embodiment, the second torso connecting shaft 12 is provided with a sliding sphere 9, and the sliding sphere 9 can be placed into the first thoracic movable cavity 41, so as to realize the connection and fixation between the second torso connecting shaft 12 and the thoracic part 4. At the same time, the sliding sphere 9 can rotate with multiple degrees of freedom within the first thoracic movable cavity 41, so as to realize the swing of the trunk part 1 relative to the thoracic part 4;

[0076] Furthermore, the trunk part 1 further includes a trunk joint connecting shaft 13, and the trunk joint connecting shaft 13 is used to connect the thoracic part 4 and the femoral part 5. The sliding spheres 9 at both ends of the trunk joint connecting shaft 13 are respectively connected to the second thoracic movable cavity 42 and the first femoral movable cavity 51, so as to realize the fixation between the thoracic part 4 and the femoral part 5 and the relative swing amplitude therebetween.

[0077] Preferably, the scapular part 2 is provided with a first scapular movable cavity 21 and a second scapular movable cavity 22;

[0078] The thoracic part 4 further includes a third thoracic movable cavity 43 and a thoracic joint connecting shaft;

[0079] The two connecting ends of the thoracic joint connecting shaft are respectively provided with the sliding spheres 9. One sliding sphere 9 of the thoracic joint connecting shaft is installed in the third thoracic movable cavity 43, and the other sphere is installed in the second scapular movable cavity 22;

[0080] The scapular part 2 is connected to the arm part 3 through the first scapular movable cavity 21.

[0081] In this embodiment, the scapular part 2 and the arm part 3 are symmetrically arranged left and right. Therefore, one side structure of the present application is described; specifically, the two connecting ends of the thoracic joint connecting shaft are also provided with the sliding spheres 9. One sliding sphere 9 is installed in the second scapular movable cavity 22, and the other sliding sphere 9 is installed in the third thoracic movable cavity 43, so as to realize the connection and fixation between the scapular part 2 and the thoracic part 4, and at the same time, it also realizes the mutual swing of the scapular part 2 relative to the thoracic part 4;

[0082] Furthermore, the arm part 3 realizes the connection fixation and swing with the scapular part 2 through the first scapular movable cavity 21.

[0083] Preferably, the arm part 3 includes an arm joint connecting shaft 31, a first arm connecting shaft 32 and a second arm connecting shaft 33;

[0084] One end of the arm joint connecting shaft 31 is provided with the sliding sphere 9, and the other end is provided with an arm node 34;

[0085] Both ends of the first arm connecting shaft 32 are respectively provided with arm grooves 35;

[0086] The second arm connecting shaft 33 is provided with the arm node 34;

[0087] The sliding sphere 9 of the arm joint connecting shaft 31 is installed in the first scapular movable cavity 21;

[0088] The arm node 34 of the arm joint connecting shaft 31 is embedded and installed in an arm groove 35 of the first arm connecting shaft 32 to fix the arm joint connecting shaft 31 to the first arm connecting shaft 32, and the first arm connecting shaft 32 can swing relative to the arm joint connecting shaft 31;

[0089] The arm node 34 of the second arm connecting shaft 33 is embedded and installed in the other arm groove 35 of the first arm connecting shaft 32 to fix the first arm connecting shaft 32 to the second arm connecting shaft 33, and the second arm connecting shaft 33 can swing relative to the first arm connecting shaft 32.

[0090] In this embodiment, one end of the arm joint connecting shaft 31 is provided with a sliding sphere 9, and the sliding sphere 9 is installed in the first scapular movable cavity 21, so as to realize the fixation and relative swing of the arm joint connecting shaft 31 and the scapular part 2;

[0091] Further, the other end of the arm joint connecting shaft 31 is provided with an arm node 34, and the arm node 34 can be inserted into one of the arm grooves 35 of the first arm connecting shaft 32, so as to realize the fixation and relative swing between the arm joint connecting shaft 31 and the first arm connecting shaft 32;

[0092] Furthermore, the arm groove 35 at the other end of the first arm connecting shaft 32 is used to cooperate with the arm node 34 of the second arm connecting shaft 33 to realize the fixation and relative swing between the first arm connecting shaft 32 and the second arm connecting shaft 33;

[0093] It should be noted that the fixing method between the above-mentioned arm node 34 and arm groove 35 is the same as the fixing method between the trunk node 14 and trunk groove 15, and is fixed by inserting a rivet into a slot hole.

[0094] Preferably, the second arm connecting shaft 33 includes two split arm shafts 36. One end of the split arm shaft 36 is provided with the sliding sphere 9, and the other end is provided with a chute 37;

[0095] The sliding spheres 9 of the two split arm shafts 36 are respectively slidably installed in the chutes 37 of each other.

[0096] In this embodiment, the second arm connecting shaft 33 is provided with two split arm shafts 36, one on the left and one on the right. The sliding sphere 9 of the left split arm shaft 36 is installed in the chute 37 of the right split arm shaft 36, and the sliding sphere 9 of the right split arm shaft 36 is installed in the chute 37 of the left split arm shaft 36, and they are fixed in a head-to-tail and tail-to-head form. Moreover, the sliding spheres 9 of the two split arm shafts 36 can slide in the chute 37. By sliding the left split arm shaft 36 to the left and the right split arm shaft 36 to the right, the separation between the two split arm shafts 36 can be achieved.

[0097] Preferably, the leg 6 includes a leg joint connecting shaft 61 and a thigh connecting shaft 62;

[0098] The thigh connecting shaft 62 is provided with a first leg activity cavity 64;

[0099] The two connecting ends of the leg joint connecting shaft 61 are respectively provided with the sliding spheres 9. One of the sliding spheres 9 is embedded and installed in the second femoral activity cavity 52 of the groin part 5, and the other sliding sphere 9 is embedded and installed in the first leg activity cavity 64.

[0100] In this embodiment, the sliding sphere 9 at one connecting end of the leg joint connecting shaft 61 is inserted into the second femoral activity cavity 52, and the sliding sphere 9 at the other connecting end is inserted into the first leg activity cavity 64, so as to achieve the fixation and relative swing between the leg 6 and the groin part 5. It should be noted that the leg 6 has a left-right symmetric structure. Therefore, only one side structure of this application is described, and the other side structure is the same as that described.

[0101] Preferably, the leg 6 further includes a calf connecting shaft 63;

[0102] The calf connecting shaft 63 is provided with a leg node 65;

[0103] The thigh connecting shaft 62 is provided with a leg groove 66;

[0104] The leg node 65 is embedded and installed in the leg groove 66 to fix the calf connecting shaft 63 to the thigh connecting shaft 62, and the calf connecting shaft 63 can swing relative to the thigh connecting shaft 62.

[0105] In this embodiment, by placing the leg node 65 into the leg groove 66 and fixing it by means of riveting the connecting slots, the fixation and relative swing between the thigh connecting shaft 62 and the calf connecting shaft 63 can be achieved.

[0106] The technical principle of the present invention has been described in conjunction with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be construed as limiting the protection scope of the present invention in any way. Based on the explanations herein, those skilled in the art can readily conceive of other specific embodiments of the present invention without creative efforts, and these embodiments will fall within the protection scope of the present invention.

Claims

1. A micro-robot skeleton structure, characterized in that: A body mounting member including a plurality of different profiling structures, each of the body mounting members respectively including a trunk part, a scapular part, an arm part, a chest part, a groin part and a leg part; the body mounting members are fixedly connected by joint connecting shafts; The scapular part, the chest part and the groin part are respectively formed by clamping with a front clip and a rear clip of their respective profiling structures; An installation gap is left between the corresponding front clip and rear clip of the scapular part, the chest part and the groin part, and the plate surfaces of the front clip and the rear clip bulge outwards respectively, so that the installation gap forms a movable cavity corresponding to the bulging part; The connection ends of the joint connecting shafts are movably installed in the movable cavity to realize the connection between the body mounting members of different profiling structures; Both the front clip and the rear clip are provided with corresponding fixing holes and injection holes; The front clip and the rear clip are fixed by a fastener passing through the fixing hole; The aperture of the fixing hole is larger than the aperture of the injection hole; The trunk part includes a first trunk connecting shaft and a second trunk connecting shaft; The first trunk connecting shaft is provided with a trunk node, and the second trunk connecting shaft is provided with a trunk groove, and the trunk node is embedded in the trunk groove to fix the first trunk connecting shaft to the second trunk connecting shaft; The trunk node can swing in the trunk groove so that the first trunk connecting shaft swings relative to the second trunk connecting shaft.

2. The structure of a micro-robot skeleton according to claim 1, wherein: The trunk part further includes a trunk joint connecting shaft; The chest part is provided with a first chest movable cavity and a second chest movable cavity; The groin part is provided with a first groin movable cavity; The second trunk connecting shaft is provided with a sliding sphere, and the sliding sphere of the second trunk connecting shaft is installed in the first chest movable cavity of the chest part; Both connection ends of the trunk joint connecting shaft are provided with the sliding spheres, one sliding sphere of the joint connecting shaft is installed in the second chest movable cavity of the chest part, and the other sliding sphere is installed in the first groin movable cavity of the groin part.

3. The structure of a micro-robot skeleton according to claim 2, wherein: The scapular part is provided with a first scapular movable cavity and a second scapular movable cavity; The chest part further includes a third chest movable cavity and a chest joint connecting shaft; Both connection ends of the chest joint connecting shaft are provided with the sliding spheres, one sliding sphere of the chest joint connecting shaft is installed in the third chest movable cavity, and the other sphere is installed in the second scapular movable cavity; The scapular part is connected to the arm part through the first scapular movable cavity.

4. The structure of a micro-robot skeleton according to claim 3, wherein: The arm part includes an arm joint connecting shaft, a first arm connecting shaft and a second arm connecting shaft; One end of the arm joint connecting shaft is provided with the sliding sphere, and the other end is provided with an arm node; Both ends of the first arm connecting shaft are respectively provided with arm grooves; The second arm connecting shaft is provided with the arm node; The sliding sphere of the arm joint connecting shaft is installed in the first movable cavity of the scapula; The arm node of the arm joint connecting shaft is embedded and installed in an arm groove of the first arm connecting shaft to fix the arm joint connecting shaft to the first arm connecting shaft, and the first arm connecting shaft can swing relative to the arm joint connecting shaft; The arm node of the second arm connecting shaft is embedded and installed in another arm groove of the first arm connecting shaft to fix the first arm connecting shaft to the second arm connecting shaft, and the second arm connecting shaft can swing relative to the first arm connecting shaft.

5. The structure of a micro-robot skeleton according to claim 4, wherein: The second arm connecting shaft includes two sub-arm shafts, one end of each sub-arm shaft is provided with the sliding sphere, and the other end is provided with a chute; The sliding spheres of the two sub-arm shafts are respectively slidably installed in the chutes of each other.

6. The structure of a micro-robot skeleton according to claim 5, wherein: The leg includes a leg joint connecting shaft and a thigh connecting shaft; The thigh connecting shaft is provided with a first movable cavity of the leg; The two connecting ends of the leg joint connecting shaft are respectively provided with the sliding spheres, one of the sliding spheres is embedded and installed in the second movable cavity of the groin of the groin part, and the other sliding sphere is embedded and installed in the first movable cavity of the leg.

7. The structure of a micro-robot skeleton according to claim 6, wherein: The leg further includes a calf connecting shaft; The calf connecting shaft is provided with a leg node; The thigh connecting shaft is provided with a leg groove; The leg node is embedded and installed in the leg groove to fix the calf connecting shaft to the thigh connecting shaft, and the calf connecting shaft can swing relative to the thigh connecting shaft.

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