A multi-stage gear Z-type lifting module for a large-load explosion-proof humanoid robot and an explosion-proof humanoid robot

Abstract

The present invention provides a multi-stage gear Z-type lifting module for a large-load explosion-proof humanoid robot and the explosion-proof humanoid robot, belonging to the technical field of robots. The module comprises a main arm and a slave arm, wherein the upper end of the main arm is rotatably connected to the lower end of the slave arm, and further comprises an electric cylinder, a fixed gear at the main arm end, and a synchronous pitch module; the output end of the electric cylinder is connected to the lower end of the main arm, and when the electric cylinder is working, the main arm is driven to rotate; the synchronous pitch module is connected to the flange of the main arm via a middle flange, and when the pitch module moves, the main arm flange is driven to move synchronously, thereby realizing the movement of the main arm; the present invention can greatly improve the load capacity, realize the synchronous pitch action of the main arm and the slave arm, and has a wide range of applications.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a multi-stage gear Z-shaped lifting module of a large-load explosion-proof humanoid robot and the explosion-proof humanoid robot. Background Art

[0002] Humanoid robots are one of the most promising and attractive branches in the field of robotics. They integrate advanced technologies such as artificial intelligence, high-end manufacturing, and new materials. They have a structural layout similar to that of humans. They can adapt to more complex terrain conditions, have a more flexible working space and rapid movement capabilities, and can accomplish more complex tasks, such as handling, assembly, precise grasping, contact detection and other subdivided scenarios.

[0003] Currently, the common forms of the lower body of humanoid robots on the market are bipedal, multi-joint folding and lifting, and linear lifting, etc., which are basically used in the consumer and service fields. Their load capacity and operational adaptability are relatively weak, and they are unable to meet the large industrial loads or real operational needs in life. Summary of the Invention

[0004] Purpose of the invention: The purpose of the present invention is to address the deficiencies in the prior art and provide a multi-stage gear Z-type lifting module for a large-load explosion-proof humanoid robot and an explosion-proof humanoid robot, which can greatly improve the load capacity, realize the synchronous pitching movement of the main arm and the slave arm, and has a wide range of applications.

[0005] Technical Solution: The present invention discloses a multi-stage gear Z-type lifting module for a large-load explosion-proof humanoid robot, comprising a master arm and a slave arm. The upper end of the master arm is rotatably connected to the lower end of the slave arm. The module also includes an electric cylinder, a fixed gear at the master arm end, and a synchronous pitch module. The output end of the electric cylinder is connected to the lower end of the master arm. When the electric cylinder is in operation, it drives the master arm to rotate. The synchronous pitch module is connected to the flange of the master arm via a middle flange. When the pitch module moves, it drives the master arm flange to move synchronously, thereby realizing the movement of the master arm.

[0006] The synchronous pitch module includes a fixed end mounting plate fixedly mounted on the upper end of the slave arm, and the left and right sides of the fixed end mounting plate are respectively connected to the left joint fixed end mounting piece and the right joint fixed end mounting piece, the left joint fixed end mounting piece and the right joint fixed end mounting piece are respectively connected to the fixed ends of the pitch left joint and the pitch right joint, the output ends of the pitch left joint and the pitch right joint are respectively fixedly connected to the left joint output end mounting piece and the right joint output end mounting piece, the left joint output end mounting piece and the right joint output end mounting piece are fixedly connected through the output end front plate, the output end rear plate and the output end mounting plate, and the output end mounting plate is connected to the main arm, so that when the synchronous pitch module is working, the main arm and the slave arm perform synchronous pitching movements.

[0007] Furthermore, the main arm includes a main arm mounting piece, a main arm end fixing gear is installed above the main arm mounting piece, the main arm end fixing gear includes a main end tooth base, a main end tooth body is fixed above the main end tooth base, and the bottom of the main end tooth body is penetrated by the main end tooth front adjustment shaft, the main end tooth middle mounting shaft and the main end tooth rear adjustment shaft; the left and right sides of the upper part of the main end tooth body are respectively installed with the mounting shaft left fastener and the mounting shaft right fastener, the rear side of the main end tooth body is installed with the main end tooth surface, the main end tooth rear adjustment bolt is installed on the main end tooth surface, and the main end tooth front adjustment bolt is installed on the front bolt hole position of the main end tooth base.

[0008] Furthermore, it also includes a transmission device, which includes a first transmission gear, a second transmission gear and a third transmission gear. The left and right sides of the installation shaft of the first transmission gear are respectively connected to the first transmission gear adjustment block installation groove on the main arm through the first transmission gear left adjustment block and the first gear right adjustment block. The left and right sides of the installation shaft of the second transmission gear are respectively connected to the second transmission gear mounting hole on the main arm. The left and right sides of the installation shaft of the third transmission gear are respectively connected to the third transmission gear adjustment block installation groove on the main arm through the third transmission gear left adjustment block and the third gear right adjustment block.

[0009] Furthermore, the structures of the first transmission gear, the second transmission gear and the third transmission gear are consistent, and are composed of a right transmission gear sleeve, a right transmission gear bearing retaining ring, a right transmission gear bearing, a transmission gear surface, a transmission gear body, a transmission gear mounting shaft, a left transmission gear bearing, a left transmission gear bearing retaining ring, and a left transmission gear sleeve, and the transmission gear surface and the transmission gear body are installed with an interference fit.

[0010] Furthermore, the main arm also includes a left side plate of the main arm and a right side plate of the main arm that are rotatably connected to the fixed gear at the main arm end. One end of the left support bearing of the main arm is installed on the inner side of the lower end of the left side plate of the main arm, and the other end of the left support bearing of the main arm is connected to the fixed gear at the main arm end. One end of the left support bearing of the slave arm is installed on the inner side of the upper end of the left side plate of the main arm, and the other end of the left support bearing of the slave arm is connected to the slave arm. One end of the right support bearing of the main arm is installed on the inner side of the lower end of the right side plate of the main arm, and the other end of the right support bearing of the main arm is connected to the fixed gear at the main arm end. One end of the right support bearing of the slave arm is installed on the inner side of the upper end of the right side plate of the main arm, and the other end of the right support bearing of the slave arm is connected to the slave arm.

[0011] Furthermore, the main arm also includes a main arm lower side plate, and the left and right mounting positions of the mounting side of the main arm lower side plate are fixedly mounted to the lower mounting surface of the left side plate of the main arm and the lower mounting surface of the right side plate of the main arm respectively. It also includes a main arm reinforcement piece, which is installed at both ends of the main arm to connect the left side plate of the main arm with the right side plate of the main arm.

[0012] Furthermore, the slave arm includes a slave arm left side plate and a slave arm right side plate, and the slave arm left side plate and the slave arm right side plate are reinforced and fixed by the slave arm upper side plate and the slave arm lower side plate.

[0013] Furthermore, the slave arm also includes a fixed gear at the slave arm end, and the left and right sides of the mounting shaft of the fixed gear at the slave arm end respectively pass through the lower end mounting hole of the left side plate of the slave arm and the lower end mounting hole of the right side plate of the slave arm, and are then connected to the main arm through the left support bearing of the slave arm and the right support bearing of the slave arm. The left stopper of the slave arm and the right stopper of the slave arm are respectively installed on the shafts on the left and right sides of the fixed gear at the slave arm end, and the left stopper of the slave arm and the right stopper of the slave arm are respectively installed on the mounting slots of the left side plate of the slave arm and the mounting slots of the right side plate of the slave arm.

[0014] The present invention also provides an explosion-proof humanoid robot, including the above-mentioned multi-stage gear Z-type lifting module of a large-load explosion-proof humanoid robot. The Z-type lifting module can be used in conjunction with the humanoid robot's mobile chassis structure for fixed installation, and can also be used in other application scenarios. For example, other types of working robots can be installed on it, such as dual-arm robots, lifting work platforms, actuators, etc.

[0015] Beneficial effects: Compared with the prior art, the advantages of the present invention are:

[0016] (1) The present invention is designed with a synchronous pitch module. Through the design of left and right double joints, the synchronous pitch movement of the master arm and the slave arm can be achieved while maintaining the stability of the entire device to adapt to different scene requirements;

[0017] (2) The present invention is designed to have a multi-stage transmission gear device, in which the transmission tooth surface and the transmission tooth body are installed with an interference fit, and the two are made of different materials, which effectively reduces the overall weight of the structure while meeting the structural strength and stability;

[0018] (3) The present invention is designed with multi-stage gear backlash adjustment, which can reduce the gap when the gears are meshing, thereby improving the accuracy of the transmission system. In particular, in applications requiring high-precision positioning, the present invention can achieve small or no backlash gears, thereby improving accuracy;

[0019] (4) The multi-stage gear Z-shaped lifting module designed by the present invention can be matched with different types of robot upper body modules and different installation platforms, and can be expanded into different types of humanoid robots for different scenarios;

[0020] (5) The present invention can also be expanded to an explosion-proof design. For example, an explosion-proof design can be achieved through the explosion-proof sealing design of the structural frame shell and the positive pressure design inside the system, which can solve the needs of most dangerous scene operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present invention;

[0022] Figure 2 It is the retracted state of the multi-stage gear Z-type lifting module;

[0023] Figure 3 It is the raised state of the multi-stage gear Z-type lifting module;

[0024] Figure 4 It is a structural exploded diagram of the main arm in the present invention;

[0025] Figure 5 It is an exploded view of the structure of the transmission gear in the present invention;

[0026] Figure 6 This is an exploded view of the structure of the fixed gear at the main arm end of the present invention;

[0027] Figure 7 It is an exploded view of the structure of the slave arm in the present invention;

[0028] Figure 8 This is an exploded view of the structure of the gear fixed from the arm end in the present invention;

[0029] Figure 9 It is an exploded view of the synchronous pitch structure in the present invention. DETAILED DESCRIPTION

[0030] The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

[0031] like Figure 1 The multi-stage gear Z-type lifting module of a large-load explosion-proof humanoid robot shown in the figure includes a main arm 1 and a slave arm 2, as well as an electric cylinder 113, a fixed gear 114 at the main arm end, and a synchronous pitch module 207. The output end of the electric cylinder 113 is connected to the lower end of the main arm 1, and the upper end of the main arm 1 is rotationally connected to the lower end of the slave arm 2. The synchronous pitch module 207 is connected to the flange of the main arm 1 through the middle flange. When the pitch module moves, it drives the main arm flange to move synchronously, thereby realizing the movement of the main arm. When the main arm and the slave arm are folded, as shown in FIG. Figure 2 As shown in the figure, the multi-stage gear Z-type lifting module is in the retracted state; when the main arm and the slave arm are unfolded, as shown in the figure, Figure 3 The figure shows the raised state of the multi-stage gear Z-type lifting module.

[0032] like Figure 4As shown, the main arm 1 includes a main arm mounting assembly 112. Below this assembly 112, there are an electric cylinder mounting rod 110 and an electric cylinder mounting assembly 114. The electric cylinder mounting rod is used to connect to the electric cylinder output shaft, and the electric cylinder mounting assembly is used to secure the electric cylinder base. An electric cylinder 113 is mounted on this assembly. Flanked by electric cylinder 113 are a left electric cylinder mounting assembly 108 and a right electric cylinder mounting assembly 118. These mounting assemblies are respectively equipped with a left electric cylinder support bearing 109 and a right electric cylinder support bearing 117. These support bearings 109 and 117 respectively secure the motor output shaft and provide positioning, thereby transmitting torque. Above this assembly 112, a main arm end fixed gear 114 is mounted. The output end of the electric cylinder 113 is connected to this fixed gear 114, driving the rotation of this gear 114.

[0033] The main arm 1 also includes a main arm left side plate 101 and a main arm right side plate 116 that are rotatably connected to the main arm end fixed gear 114. One end of the main arm left support bearing 107 is installed on the inner side of the lower end of the main arm left side plate 101, and the other end of the main arm left support bearing 107 is connected to the main arm end fixed gear 114. One end of the slave arm left support bearing 102 is installed on the inner side of the upper end of the main arm left side plate 101, and the other end of the slave arm left support bearing 102 is connected to the slave arm 2. One end of the main arm right support bearing 119 is installed on the inner side of the lower end of the main arm right side plate 116, and the other end of the main arm right support bearing 119 is connected to the main arm end fixed gear 114. One end of the slave arm right support bearing 123 is installed on the inner side of the upper end of the main arm right side plate 116, and the other end of the slave arm right support bearing 123 is connected to the slave arm 2.

[0034] The main arm 1 also includes a transmission device, which includes a first transmission gear 105, a second transmission gear 121, and a third transmission gear 104. The left and right sides of the mounting shaft of the first transmission gear 105 are connected to the first transmission gear adjustment block mounting slot on the left side plate 101 of the main arm and the first transmission gear adjustment block mounting slot on the right side plate 116 of the main arm through the first transmission gear left adjustment block 106 and the first gear right adjustment block 120, respectively. The position of the first transmission gear 105 structure can be adjusted by adjusting the screw-in depth of the adjustment bolt. This structure can achieve multi-stage gear backlash adjustment, thereby improving the adaptability of the present invention. The left and right sides of the mounting shaft of the second transmission gear 121 are connected to the second transmission gear mounting hole on the left side plate 101 of the main arm and the second transmission gear mounting hole on the right side plate 116 of the main arm, respectively. The left and right sides of the mounting shaft of the third transmission gear 104 are connected to the third transmission gear adjustment block mounting slots of the left side plate 101 and the right side plate 116 of the main arm via the third transmission gear left adjustment block 103 and the third gear right adjustment block 122, respectively. The position of the third transmission gear 104 can be adjusted by adjusting the screw-in depth of the adjustment bolts. The adjustment bolts are used to slide the end faces, thereby changing the spacing between the adjustment shafts. The multi-stage gears are installed in each adjustment shaft, and the wheelbase of each adjustment shaft changes to achieve the tooth gap adjustment of the multi-stage gears.

[0035] like Figure 5As shown, the first transmission gear 105, the second transmission gear 121, and the third transmission gear 104 have the same structure. Adjusting bolts are used to slide the end faces, thereby changing the spacing between the adjustment shafts. Multi-stage gears are installed in each adjustment shaft, and the wheelbase of each adjustment shaft changes to achieve multi-stage gear backlash adjustment. The adjusting bolts are respectively installed on the side of the slave arm right side plate 204 via the slave arm left stopper 201 and slide and adjust. The adjusting bolts are installed on the side of the slave arm left side plate 206 via the slave arm right stopper 208 and slide and adjust. This, in turn, adjusts the gear of the slave arm end fixed gear 202, achieving multi-stage gear backlash adjustment. The structure of the transmission gear is as follows: it is composed of a transmission gear right shaft sleeve 3a, a transmission gear right bearing retaining ring 3b, a transmission gear right bearing 3c, a transmission gear surface 3d, a transmission gear body 3e, a transmission gear mounting shaft 3f, a transmission gear left bearing 3g, a transmission gear left bearing retaining ring 3h, and a transmission gear left shaft sleeve 3i. The transmission gear surface 3d and the transmission gear body 3e are installed with an interference fit, and the two are made of different materials. In this embodiment, the transmission gear surface is made of 45 steel and the transmission gear body is made of 6061 aluminum alloy, which effectively reduces the overall weight of the structure while meeting the structural strength and stability. The transmission gear left bearing 3g and the transmission gear right bearing 3c are installed inside the transmission gear body, and the transmission gear left bearing retaining ring 3h and the transmission gear right bearing retaining ring 3b are installed on the left and right sides respectively to prevent axial runout of the bearing. The transmission gear mounting shaft 3f is installed in the inner hole of the bearing, and the transmission gear left shaft sleeve 3i and the transmission gear right shaft sleeve 3a are installed on the left and right ends to prevent axial deviation of the transmission gear and improve the stability of the mechanism.

[0036] The main arm also includes a main arm lower side plate 115. The left and right mounting positions on the mounting side of the main arm lower side plate 115 are fixedly mounted to the lower mounting surface of the main arm left side plate 101 and the lower mounting surface of the main arm right side plate 116 respectively. It also includes a main arm reinforcement 125. The main arm reinforcement 125 is installed at both ends of the main arm, connecting the main arm left side plate 101 and the main arm right side plate 116, which can enhance the strength and stability of the overall structure of the main arm. The main arm support 124 is arranged on the rear upper mounting side of the main arm mounting member 112, which can provide a low position limit for the Z-type lifting module, and at the same time can provide support for the retracted state to reduce the load on the gears and electric cylinders, thereby extending the service life of the mechanism.

[0037] like Figure 6As shown, the main arm end fixed gear 114, the fixed gear serves as the transmission axis and fixed base, performs fixed axis transmission, inputs the motor torque, and transmits the torque to the other gears, mainly including the main end tooth base 114j, the main end tooth body 114i is fixed on the top of the main end tooth base 114j, the main end tooth front adjustment shaft 114a, the main end tooth middle installation shaft 114b and the main end tooth rear adjustment shaft 114c pass through the bottom of the main end tooth body 114i; the left fastener 114h of the installation shaft and the right fastener 114c of the installation shaft are respectively installed on the left and right sides of the upper part of the main end tooth body 114i. 14d, the main end tooth surface 114e is installed on the rear side of the main end tooth body 114i, and the main end tooth rear adjusting bolt 114f is installed on the main end tooth surface 114e, and the main end tooth front adjusting bolt 114g is installed on the front bolt hole of the main end tooth base 114j. Each adjusting shaft is used to adjust the gap between gears at each level, and is also used to install gears to achieve torque transmission; the adjusting bolts are used to fix the mounting holes and relative spacing on both sides of the adjusting shaft, and the bolts are adjusted by sliding to achieve changes in the shaft spacing, thereby achieving gear gap changes; the adjusting bolts and the bearings of each shaft are installed on the two side plates of the main arm.

[0038] like Figure 7 As shown, the slave arm 2 includes a slave arm left side plate 206 and a slave arm right side plate 204. The slave arm left side plate 206 and the slave arm right side plate 204 are reinforced by the slave arm upper side plate 205 and the slave arm lower side plate 203 to improve the strength and stability of the slave arm. The slave arm also includes a slave arm end fixed gear 202. The left and right sides of the mounting shaft of the slave arm end fixed gear 202 respectively pass through the lower end mounting holes of the slave arm left side plate 206 and the lower end mounting holes of the slave arm right side plate 204, and are then connected to the master arm through the slave arm left support bearing 102 and the slave arm right support bearing 123 respectively. The left stopper 201 of the slave arm and the right stopper 208 of the slave arm are respectively installed on the shafts on the left and right sides of the fixed gear 202 at the end of the slave arm. The left stopper 201 of the slave arm and the right stopper 208 of the slave arm are respectively installed on the mounting slots of the left side plate 206 of the slave arm and the mounting slots of the right side plate 204 of the slave arm. The stops can provide a low position limit for the Z-type lifting module and at the same time provide certain support for the retracted state.

[0039] like Figure 8 As shown, the slave arm end fixed gear 202 includes a slave end gear 202a and a slave end gear mounting shaft 202b, and the slave end gear mounting shaft 202b is mounted in the intermediate shaft mounting hole of the slave end gear 202a.

[0040] like Figure 7 and Figure 9As shown, a synchronous pitch module 207 is fixed to the upper ends of the left side plate 206 of the slave arm and the right side plate 204 of the slave arm. The synchronous pitch module 207 includes a fixed end mounting plate 207m fixedly mounted to the upper ends of the left side plate 206 of the slave arm and the right side plate 204 of the slave arm. The left and right sides of the fixed end mounting plate 207m are respectively connected to a left joint fixed end mounting piece 207j and a right joint fixed end mounting piece 207b. The left joint fixed end mounting piece 207j and the right joint fixed end mounting piece 207b are respectively connected to the fixed ends of the pitch left joint 207i and the pitch right joint 207a. The output ends of the left and right pitch joints 207i and 207a are fixedly connected to the left and right joint output mounting members 207g and 207d, respectively. The left and right joint output mounting members 207g and 207d are fixedly connected via the output front plate 207l, the output rear plate 207e, and the output mounting plate 207f. The output mounting plate 207f is connected to both ends of the output front plate 207l and the output rear plate 207e. The synchronous module 207 is driven by motion, thereby achieving synchronized pitching. Furthermore, to enhance support, the synchronized pitch module 207 is provided with four reinforcing ribs: an upper right reinforcing rib 207c, an upper left reinforcing rib 207h, a lower left reinforcing rib 207k, and a lower right reinforcing rib 207n, enhancing structural strength and stability.

[0041] In this embodiment, Figure 1 As shown, the main arm 1 can be fixedly mounted on the humanoid robot mobile chassis structure through the main arm mounting member 112, and can also be used in other application scenarios. For example, other types of working robots can be installed on it, such as dual-arm robots, lifting work platforms, actuators, etc.

[0042] The working principle of this embodiment is:

[0043] When the multi-stage gear Z-type lifting module is in the lowest retracted state, the electric cylinder 113 is in the extended state; when the electric cylinder 113 performs the retraction action, it drives the main arm 1 to rotate counterclockwise around the axis of the middle installation shaft 114c of the main end gear. During this action, the fixed gear 114 at the main arm end is fixed, the first transmission gear 105 rotates counterclockwise, the second transmission gear 121 rotates clockwise, the third transmission gear 104 rotates counterclockwise, and the fixed gear 202 at the slave arm end rotates clockwise, thereby driving the slave arm 2 to rotate clockwise around the axis of the slave end gear installation shaft 202b, completing the lifting action;

[0044] When the electric cylinder 113 performs the extension action, it drives the main arm 1 to rotate clockwise around the axis of the middle installation axis 114c of the main end teeth. During this action, the fixed gear 114 at the main arm end is fixed, the first transmission gear 105 rotates clockwise, the second transmission gear 121 rotates counterclockwise, the third transmission gear 104 rotates clockwise, and the fixed gear 202 at the slave arm end rotates counterclockwise, thereby driving the slave arm 2 to rotate counterclockwise around the axis of the slave end tooth installation axis 202b to complete the lifting action. The pitch right joint 207a and the pitch left joint 207i are synchronous drive joints. The synchronous rotation drives their output end structures to swing within a certain angle to meet the different working pitch angle requirements of the humanoid robot.

[0045] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes may be made to it in form and detail without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A multi-stage gear Z-type lifting module for a large-load explosion-proof humanoid robot, comprising a master arm (1) and a slave arm (2), wherein the upper end of the master arm (1) is rotatably connected to the lower end of the slave arm (2), and characterized in that: It also includes an electric cylinder (113), a main arm end fixed gear (114) and a synchronous pitch module (207); the output end of the electric cylinder (113) is connected to the lower end of the main arm (1), and when the electric cylinder (113) is working, it drives the main arm (1) to rotate; the synchronous pitch module (207) is connected to the flange of the main arm (1) through the middle flange, and when the pitch module moves, it drives the main arm flange to move synchronously, thereby realizing the movement of the main arm; The synchronous pitch module (207) comprises a fixed end mounting plate (207m) fixedly mounted on the upper end of the slave arm (2); the left and right sides of the fixed end mounting plate (207m) are respectively connected to a left joint fixed end mounting piece (207j) and a right joint fixed end mounting piece (207b); the left joint fixed end mounting piece (207j) and the right joint fixed end mounting piece (207b) are respectively connected to the fixed ends of the pitch left joint (207i) and the pitch right joint (207a); the pitch left joint (207i) and the pitch right joint (207a) are respectively connected to the fixed ends of the pitch left joint (207i) and the pitch right joint (207b). The output end of the joint (207a) is fixedly connected to a left joint output end mounting piece (207g) and a right joint output end mounting piece (207d), respectively; the left joint output end mounting piece (207g) and the right joint output end mounting piece (207d) are fixedly connected via an output end front plate (207l), an output end rear plate (207e) and an output end mounting plate (207f); the output end mounting plate (207f) is connected to the master arm (1), thereby realizing that when the synchronous pitch module (207) is in operation, the master arm (1) and the slave arm (2) perform synchronous pitching motion.

2. The multi-stage gear Z-type lifting module of a large-load explosion-proof humanoid robot according to claim 1, characterized in that: The main arm (1) includes a main arm mounting member (112), a main arm end fixed gear (114) is installed above the main arm mounting member (112), the main arm end fixed gear (114) includes a main end tooth base (114j), a main end tooth body (114i) is fixed above the main end tooth base (114j), and the bottom of the main end tooth body (114i) is penetrated by a main end tooth front adjustment shaft (114a), a main end tooth intermediate mounting shaft (114b) and a main end tooth rear An adjusting shaft (114c); a left mounting shaft fastener (114h) and a right mounting shaft fastener (114d) are respectively installed on the left and right sides of the upper portion of the main end tooth body (114i); a main end tooth surface (114e) is installed on the rear side of the main end tooth body (114i); a main end tooth rear adjusting bolt (114f) is installed on the main end tooth surface (114e); and a main end tooth front adjusting bolt (114g) is installed on the front bolt hole position of the main end tooth base (114j).

3. The multi-stage gear Z-shaped lifting module for a large-load explosion-proof humanoid robot according to claim 2, characterized in that: The invention also includes a transmission device, which includes a first transmission gear (105), a second transmission gear (121) and a third transmission gear (104). The left and right sides of the installation shaft of the first transmission gear (105) are respectively connected to the first transmission gear adjustment block installation groove on the main arm (1) through the first transmission gear left adjustment block (106) and the first gear right adjustment block (120). The left and right sides of the installation shaft of the second transmission gear (121) are respectively connected to the second transmission gear installation hole on the main arm (1). The left and right sides of the installation shaft of the third transmission gear (104) are respectively connected to the third transmission gear adjustment block installation groove on the main arm (1) through the third transmission gear left adjustment block (103) and the third gear right adjustment block (122).

4. The multi-stage gear Z-shaped lifting module for a large-load explosion-proof humanoid robot according to claim 3, characterized in that: The first transmission gear (105), the second transmission gear (121) and the third transmission gear (104) have the same structure, and are sequentially composed of a transmission gear right shaft sleeve (3a), a transmission gear right bearing retaining ring (3b), a transmission gear right bearing (3c), a transmission tooth surface (3d), a transmission tooth body (3e), a transmission tooth mounting shaft (3f), a transmission gear left bearing (3g), a transmission gear left bearing retaining ring (3h) and a transmission gear left shaft sleeve (3i). The transmission tooth surface (3d) and the transmission tooth body (3e) are installed by interference fit.

5. The multi-stage gear Z-shaped lifting module for a large-load explosion-proof humanoid robot according to claim 4, characterized in that: The main arm (1) further comprises a main arm left side plate (101) and a main arm right side plate (116) which are rotatably connected to the main arm end fixed gear (114); one end of a main arm left support bearing (107) is installed on the inner side of the lower end of the main arm left side plate (101); the other end of the main arm left support bearing (107) is connected to the main arm end fixed gear (114); one end of a slave arm left support bearing (102) is installed on the inner side of the upper end of the main arm left side plate (101); the slave arm The other end of the left support bearing (102) is connected to the slave arm (2); one end of the master arm right support bearing (119) is installed on the inner side of the lower end of the right side plate (116) of the master arm; the other end of the master arm right support bearing (119) is connected to the master arm end fixed gear (114); one end of the slave arm right support bearing (123) is installed on the inner side of the upper end of the right side plate (116) of the master arm; the other end of the slave arm right support bearing (123) is connected to the slave arm (2).

6. The multi-stage gear Z-shaped lifting module for a large-load explosion-proof humanoid robot according to claim 5, characterized in that: The main arm further comprises a main arm lower side plate (115), wherein the left and right mounting positions of the mounting side of the main arm lower side plate (115) are fixedly mounted to the lower mounting surface of the main arm left side plate (101) and the lower mounting surface of the main arm right side plate (116), respectively. The main arm further comprises a main arm reinforcement member (125), wherein the main arm reinforcement member (125) is mounted at both ends of the main arm and connects the main arm left side plate (101) and the main arm right side plate (116).

7. The multi-stage gear Z-shaped lifting module for a large-load explosion-proof humanoid robot according to claim 5, characterized in that: The slave arm (2) comprises a slave arm left side plate (206) and a slave arm right side plate (204), and the slave arm left side plate (206) and the slave arm right side plate (204) are reinforced and fixed by a slave arm upper side plate (205) and a slave arm lower side plate (203).

8. The multi-stage gear Z-shaped lifting module for a large-load explosion-proof humanoid robot according to claim 6, characterized in that: The slave arm also includes a fixed gear (202) at the end of the slave arm. The left and right sides of the mounting shaft of the fixed gear (202) at the end of the slave arm respectively pass through the lower mounting hole of the left side plate (206) of the slave arm and the lower mounting hole of the right side plate (204) of the slave arm, and are then connected to the master arm through the left support bearing (102) and the right support bearing (123) of the slave arm. The left and right shafts of the fixed gear (202) at the end of the slave arm are respectively installed with a left stopper (201) and a right stopper (208) of the slave arm. The left stopper (201) and the right stopper (208) of the slave arm are respectively installed on the mounting notch of the left side plate (206) of the slave arm and the mounting notch of the right side plate (204) of the slave arm.

9. An explosion-proof humanoid robot, characterized in that; The invention comprises a multi-stage gear Z-shaped lifting module of a large-load explosion-proof humanoid robot as described in any one of claims 1 to 8.

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