Hand structure convenient to install and humanoid robot

Abstract

The invention relates to the technical field of humanoid robots, and discloses a hand structure convenient to install and a humanoid robot, the hand structure comprises a fixed arm and a connecting arm, one end of the connecting arm is fixedly connected with an inserting rod, the bottom surface of the fixed arm is provided with a connecting groove corresponding to the inserting rod in position, and the outer wall of the inserting rod is fixedly connected with a plurality of clamping plates; a plurality of clamping grooves corresponding to the clamping plates in position are formed in the inner wall of the connecting groove, a limiting assembly is connected into the inserting rod, a conductive plug is fixedly connected to the bottom face of the fixing arm, and a conductive inserting groove is formed in one end of the connecting arm. According to the hand structure convenient to install and the humanoid robot, through mutual cooperation of the limiting assembly and the inserting rod, a worker can quickly replace the connecting arm, so that quick disassembly and assembly of the hand structure are achieved, quick switching of the hand structure is achieved, the hand structure adapts to various different operation tasks, the downtime of the robot is remarkably shortened, and the working efficiency of the robot is improved. The operation efficiency of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, in particular to a hand structure and a humanoid robot that are easy to install. Background Art

[0002] Humanoid robots are robots with humanoid appearance that can imitate human behaviors and movements. They usually have a head, torso, hands, legs and other structures, and have certain perception, decision-making and execution capabilities. The hand structure is an important component of humanoid robots, including arms, palms and fingers, which are similar to human hands and are designed to imitate the complex functions of human hands.

[0003] For example, in the prior art, the patent with the authorization publication number CN118682798A discloses a dexterous hand and a humanoid robot, wherein the dexterous hand includes a palm shell, a control component and a mechanical finger; a receiving cavity is formed inside the palm shell, and the driving component is mainly arranged in the receiving cavity inside the palm shell, thereby limiting most of the cables in the receiving cavity; the cables connected to each driving component are connected to the control component, and connected to the signal terminal of the wrist joint structure through the plug-in terminal, thereby reducing the exposed cables, thereby reducing the direct contact and friction between the cables and the mechanical moving parts (such as the finger joints), which can not only extend the service life of the cables, but also reduce the risk of signal interruption or failure caused by cable wear. Hiding the cables in the receiving cavity avoids the cables from being randomly distributed outside, making the appearance of the dexterous hand more neat and beautiful.

[0004] However, the existing humanoid robot hand structure has certain defects when in use: in the process of using the humanoid robot to perform operations, the requirements for the robot hand structure are different when facing different objects. For example, when facing small or fragile objects such as eggs and coins, a high-precision, high-degree-of-freedom hand structure is required to avoid damaging the objects when picking them up. In the face of heavy object handling scenarios, a hand structure with strong load-bearing capacity is required, which does not require a high degree of freedom. Since the existing humanoid robot hand structure is connected to the humanoid robot by bolts and the like, the hand structure cannot be replaced quickly, which will result in the robot needing to frequently shut down to replace the hand structure to adapt to different task requirements when facing diversified work tasks, which seriously affects the robot's operating efficiency. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a hand structure and a humanoid robot that are easy to install, so as to facilitate rapid replacement of the hand structure to adapt to different usage scenarios.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a hand structure and a humanoid robot that are easy to install, comprising a fixed arm and a connecting arm, wherein one end of the connecting arm is fixedly connected to a plug rod, a connecting groove corresponding to the position of the plug rod is provided on the bottom surface of the fixed arm, a plurality of clip-on plates are fixedly connected to the outer wall of the plug rod, a plurality of clip-on grooves corresponding to the position of the clip-on plates are provided on the inner wall of the connecting groove, a limiting component is connected inside the plug rod, a conductive plug is fixedly connected to the bottom surface of the fixed arm, and a conductive slot is provided at one end of the connecting arm.

[0007] Furthermore, the limit assembly includes an electric push rod, a connecting rod, an extrusion block, a limit block and a tension spring. An installation groove corresponding to the position of the electric push rod is opened in the insertion rod, the output end of the electric push rod is fixedly connected to the connecting rod, and the other end of the connecting rod is fixedly connected to the extrusion block. A sliding groove corresponding to the position of the extrusion block is opened in the insertion rod, and a plurality of movable grooves are opened on the outer wall of the upper end of the insertion rod. The limit block is slidably connected in the movable groove, and the side of the limit block close to the extrusion block is set as an inclined surface, and the limit block is fitted with the outer wall of the extrusion block. A limit groove corresponding to the position of the limit block is opened in the clamping groove, and a fixed groove is opened on one side of the limit block, and a tension spring is fixedly connected in the fixed groove. The other end of the tension spring is fixedly connected to the inner wall of the movable groove, and a stabilizing assembly is connected to the top of the extrusion block.

[0008] Furthermore, the stabilizing assembly includes a limiting rod and a limiting plate, the top surface of the extrusion block is fixedly connected to the limiting rod, the top of the limiting rod is fixedly connected to the limiting plate, and the top of the insertion rod is provided with a telescopic groove corresponding to the position of the limiting plate.

[0009] Furthermore, a sealing rubber ring is fixedly connected to the bottom surface of the fixed arm, and a sealing groove corresponding to the position of the sealing rubber ring is opened on one side of the connecting arm.

[0010] Furthermore, a sliding groove is provided on the top surface of the inner wall of the connecting groove, and a push plate is slidably connected in the sliding groove, the push plate corresponds to the position of the limit plate, a fixed rod is fixedly connected to the side of the push plate away from the limit plate, a piston is fixedly connected to the top of the fixed rod, a boosting groove corresponding to the position of the piston is provided in the fixed arm, a connecting pipe is fixedly connected between the top of the boosting groove and the sealing rubber ring, and a pressure spring is fixedly connected between the push plate and the inner wall of the sliding groove.

[0011] Furthermore, a fixing plate is fixedly connected to the outer wall of the connecting arm, a slot is provided on the surface of the fixing plate, a button is fixedly connected in the slot, the button is electrically connected to the electric push rod, and a baffle is rotatably connected in the slot.

[0012] Furthermore, a storage groove is opened on the side of the outer wall of the connecting arm away from the fixed plate, a protective film is fixedly connected in the storage groove, an anti-slip plate is rotatably connected to one side of the storage groove, a zipper tape is fixedly connected to the middle of the protective film, and a zipper head is slidably connected to one end of the zipper tape.

[0013] Furthermore, two elastic strips are fixedly connected to one side of the storage slot, and a positioning slot corresponding to the position of the elastic strip is provided on one side of the anti-slip plate.

[0014] The present invention also provides a humanoid robot, including a robot body, the robot body including the above-mentioned hand structure that is easy to install, and fixed arms are installed on both sides of the robot body.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] (1) The hand structure and humanoid robot that are easy to install enable the worker to quickly replace the connecting arm through the cooperation between the limit assembly and the insertion rod, thereby realizing the rapid disassembly and installation of the hand structure, realizing the rapid switching of the hand structure, and adapting to various different working tasks, thereby significantly reducing the downtime of the robot and improving the working efficiency of the robot;

[0017] (2) The mutual cooperation between the clamping plate and the clamping groove can distribute the torque on the limit block and the conductive plug, reduce the pressure on the limit block and the conductive plug, reduce the risk of wear and deformation, extend the service life of the components, ensure the connection stability between the fixed arm and the connecting arm, and prevent the connection from loosening or failure due to uneven force;

[0018] (3) By using the limit plate and the extrusion block, the top of the plug rod is extruded in both directions, thereby further improving the stability of the plug rod and the connecting arm, avoiding the shaking of the plug rod in the axial direction, and maintaining the stability of the connection even when subjected to external impact or vibration;

[0019] (4) Through the button, the staff can control the opening and closing of the electric push rod. The fixing plate can provide a shield for the button to prevent the humanoid robot from accidentally touching the button during operation. The fixing plate and the card slot are fixed by extrusion force and friction force;

[0020] (5) The protective film can provide dust and water proof functions for the connecting arm when it is placed, prevent the electrical components in the connecting arm from short circuiting or rusting, which would affect the normal operation of the connecting arm, and prevent oil, chemicals, etc. from contaminating the surface of the connecting arm, thereby maintaining its cleanliness and extending its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the three-dimensional split structure of the fixed arm and the connecting arm of the present invention;

[0023] Figure 3 It is a schematic diagram of the three-dimensional cross-sectional structure of the fixed arm, the sealing rubber ring and the conductive plug of the present invention;

[0024] Figure 4 It is a three-dimensional structural schematic diagram of another form of the present invention;

[0025] Figure 5 It is a schematic diagram of a three-dimensional split structure of another form of the present invention;

[0026] Figure 6 It is a schematic diagram of the three-dimensional structure of the insertion rod, the connecting arm and the limiting block of the present invention;

[0027] Figure 7 It is a schematic diagram of a three-dimensional split cross-sectional structure of the insertion rod, the limiting assembly and the stabilizing assembly of the present invention;

[0028] Figure 8 It is a schematic diagram of the three-dimensional split structure of the limit block and the spring of the present invention;

[0029] Fig. 9 It is a schematic diagram of the three-dimensional cross-sectional structure of the connecting arm, the plug rod, the button and the baffle of the present invention;

[0030] Fig.10 It is a schematic diagram of the three-dimensional cross-sectional structure of the connecting arm, the protective film, the anti-slip plate and the elastic strip of the present invention;

[0031] Fig.11 It is a schematic diagram of a three-dimensional cross-sectional structure of a fixed arm and a conductive plug of the present invention;

[0032] Fig.12 It is a schematic diagram of the three-dimensional structure of the connecting pipe and the sealing rubber ring of the present invention;

[0033] Fig.13 It is a three-dimensional structural schematic diagram of the piston, pressure spring and push plate of the present invention.

[0034] In the figure: 1. robot body; 2. fixed arm; 3. connecting arm; 4. plug rod; 5. connecting slot; 6. snap plate; 7. snap slot; 8. conductive plug; 9. conductive slot; 10. mounting slot; 11. electric push rod; 12. connecting rod; 13. extrusion block; 14. slide slot; 15. moving slot; 16. limit block; 17. fixed slot; 18. tension spring; 19. limit rod; 20. limit plate; 21. telescopic slot ; 22. Fixed plate; 23. Button; 24. Card slot; 25. Baffle; 26. Storage slot; 27. Protective film; 28. Zipper tape; 29. ​​Zipper head; 30. Anti-slip plate; 31. Elastic strip; 32. Positioning slot; 33. Sealing slot; 34. Sealing rubber ring; 35. Limiting slot; 36. Sliding slot; 37. Boosting slot; 38. Push plate; 39. Fixed rod; 40. Piston; 41. Pressure spring; 42. Connecting pipe. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0036] See also Figures 1 to 13 A hand structure that is easy to install includes a fixed arm 2 and a connecting arm 3, one end of the connecting arm 3 is fixedly connected to a plug rod 4, a connecting groove 5 corresponding to the position of the plug rod 4 is opened on the bottom surface of the fixed arm 2, a plurality of clamping plates 6 are fixedly connected to the outer wall of the plug rod 4, a plurality of clamping grooves 7 corresponding to the position of the clamping plates 6 are opened on the inner wall of the connecting groove 5, a limiting component is connected inside the plug rod 4, a conductive plug 8 is fixedly connected to the bottom surface of the fixed arm 2, and a conductive slot 9 is opened at one end of the connecting arm 3.

[0037] As a preferred technical solution of the present invention, the limit assembly includes an electric push rod 11, a connecting rod 12, an extrusion block 13, a limit block 16 and a tension spring 18. A mounting groove 10 corresponding to the position of the electric push rod 11 is provided in the insertion rod 4, the output end of the electric push rod 11 is fixedly connected to the connecting rod 12, and the other end of the connecting rod 12 is fixedly connected to the extrusion block 13. A sliding groove 14 corresponding to the position of the extrusion block 13 is provided in the insertion rod 4, and a plurality of movable grooves 15 are provided on the outer wall of the upper end of the insertion rod 4. The movable groove 15 is slidably connected to the limit block 16. The side of the limit block 16 close to the extrusion block 13 is set as an inclined surface, and the limit block 16 is fitted with the outer wall of the extrusion block 13. A limit groove 35 corresponding to the position of the limit block 16 is provided in the clamping groove 7. A fixed groove 17 is provided on one side of the limit block 16, and a tension spring 18 is fixedly connected in the fixed groove 17. The other end of the tension spring 18 is fixedly connected to the inner wall of the movable groove 15, and a stabilizing assembly is connected to the top of the extrusion block 13.

[0038] The hand structure that is easy to install in the present invention can be used to adjust the type of hand structure of the humanoid robot when facing various work tasks. The electric push rod 11 can be started. At this time, the connecting rod 12 will pull the extrusion block 13 to contract, so that the extrusion block 13 is separated from the limit block 16. At this time, under the action of the tension spring 18, the limit block 16 will be separated from the limit groove 35, and the fixation of the insertion rod 4 will be lost. At this time, the staff can pull out the connecting arm 3 and the insertion rod 4, separate them from the fixed arm 2, and then align the insertion rod 4 on another type of connecting arm 3 with the connecting groove 5, and then insert the insertion rod 4, so that the conductive plug 8 and the conductive slot 9 are stably plugged in. The humanoid robot will power the electric push rod 11 through the electrical connection between the conductive plug 8 and the conductive slot 9. After the insertion rod 4 is fully inserted, the electric push rod 11 can be started to push the extrusion block 13 to move through the connecting rod 12. At this time, the surface of the extrusion block 13 will squeeze the limit The inclined surface of block 16 pushes the limit block 16 into the limit groove 35, and the limit block 16 and the limit groove 35 are used to provide fixation between the connecting arm 3 and the fixed arm 2, and the electrical connection between the conductive plug 8 and the conductive slot 9 provides power for the connecting arm 3; through the mutual cooperation of the limit assembly and the plug rod 4, the staff can quickly replace the connecting arm 3, thereby realizing the rapid disassembly and installation of the hand structure, realizing the rapid switching of the hand structure, and adapting to various different work tasks, thereby significantly reducing the downtime of the robot and improving the working efficiency of the robot; by using the mutual cooperation of the clamping plate 6 and the clamping groove 7, the torque exerted on the limit block 16 and the conductive plug 8 can be shared, the pressure on the limit block 16 and the conductive plug 8 can be reduced, the risk of wear and deformation can be reduced, the service life of the components can be extended, the connection stability between the fixed arm 2 and the connecting arm 3 can be ensured, and the loose connection or failure due to uneven force can be prevented.

[0039] As a preferred technical solution of the present invention, the stabilizing assembly includes a limit rod 19 and a limit plate 20. The top surface of the extrusion block 13 is fixedly connected to the limit rod 19, the top of the limit rod 19 is fixedly connected to the limit plate 20, and the top of the insertion rod 4 is provided with a telescopic groove 21 corresponding to the position of the limit plate 20.

[0040] Specifically, when the electric push rod 11 pushes the extrusion block 13 to move, driven by the limit rod 19, the limit plate 20 will also move in the telescopic groove 21. When the limit block 16 and the limit groove 35 are connected, the limit plate 20 will also be against the inner wall of the connecting groove 5. The limit plate 20 and the extrusion block 13 are used to achieve two-way extrusion of the top of the insertion rod 4, thereby further improving the stability of the insertion rod 4 and the connecting arm 3, avoiding axial shaking of the insertion rod 4, and maintaining the stability of the connection even when subjected to external impact or vibration.

[0041] As a preferred technical solution of the present invention, a sealing rubber ring 34 is fixedly connected to the bottom surface of the fixed arm 2 , and a sealing groove 33 corresponding to the position of the sealing rubber ring 34 is opened on one side of the connecting arm 3 .

[0042] Specifically, the sealing rubber ring 34 can improve the sealing of the connection between the connecting arm 3 and the fixed arm 2, prevent water, oil, corrosive liquids, etc. from entering the connection, and at the same time protect the internal components of the hand structure to avoid damage caused by liquid intrusion, and further improve the reliability of the hand structure and the humanoid robot.

[0043] As a preferred technical solution of the present invention, a sliding groove 36 is provided on the top surface of the inner wall of the connecting groove 5, a push plate 38 is slidably connected in the sliding groove 36, the push plate 38 corresponds to the position of the limit plate 20, a fixed rod 39 is fixedly connected to the side of the push plate 38 away from the limit plate 20, a piston 40 is fixedly connected to the top of the fixed rod 39, a boosting groove 37 corresponding to the position of the piston 40 is provided in the fixed arm 2, a connecting pipe 42 is fixedly connected between the top of the boosting groove 37 and the sealing rubber ring 34, and a pressure spring 41 is fixedly connected between the push plate 38 and the inner wall of the sliding groove 36. The volume of gas in the boosting groove 37 is sufficient to fill and expand the sealing rubber ring 34, so as to make the sealing rubber ring 34 more tightly filled between the fixed arm 2 and the connecting arm 3.

[0044] Specifically, the boost groove 37 is filled with high-pressure gas. When the electric push rod 11 pushes the limit plate 20 to move, the limit plate 20 will squeeze the push plate 38, thereby driving the piston 40 to move in the boost groove 37. At this time, the high-pressure gas in the boost groove 37 will enter the sealing rubber ring 34 through the connecting pipe 42 under the squeezing of the piston 40, propping up the sealing rubber ring 34, so that the sealing rubber ring 34 is more tightly filled between the fixed arm 2 and the connecting arm 3, thereby further improving the sealing of the connection between the connecting arm 3 and the fixed arm 2, which can not only effectively prevent the intrusion of liquids and contaminants, but also enhance the stability of the connection, reduce the risk of loosening due to vibration or external impact, and ensure that the hand structure can still operate stably and reliably in complex and harsh working environments, thereby significantly improving the working efficiency and service life of the robot; the pressure spring 41 is used to reset the push plate 38 and the piston 40.

[0045] As a preferred technical solution of the present invention, a fixing plate 22 is fixedly connected to the outer wall of the connecting arm 3, a slot 24 is provided on the surface of the fixing plate 22, a button 23 is fixedly connected in the slot 24, the button 23 is electrically connected to the electric push rod 11, and a baffle 25 is rotatably connected in the slot 24.

[0046] Specifically, through the button 23, the staff can control the opening and closing of the electric push rod 11. The fixed plate 22 can provide a shield for the button 23 to prevent the humanoid robot from accidentally touching the button 23 during operation. The fixed plate 22 and the slot 24 are fixed by extrusion force and friction force.

[0047] As a preferred technical solution of the present invention, a storage groove 26 is opened on the side of the outer wall of the connecting arm 3 away from the fixed plate 22, a protective film 27 is fixedly connected to the storage groove 26, an anti-slip plate 30 is rotatably connected to one side of the storage groove 26, a zipper tape 28 is fixedly connected to the middle of the protective film 27, and a zipper head 29 is slidably connected to one end of the zipper tape 28.

[0048] Specifically, after the connecting arm 3 is removed, the connecting arm 3 is flattened or folded, and then the anti-slip plate 30 is opened, the zipper tape 28 is pulled, and then the protective film 27 is pulled out, and then the protective film 27 is turned over so that the protective film 27 wraps the connecting arm 3, and then the zipper head 29 is used to pull up the zipper tape 28 to form the attached Figure 4 The protective film 27 is sealed in the shape presented in the figure; when the connecting arm 3 is placed, the protective film 27 can provide dustproof and waterproof functions for the connecting arm 3, avoid short circuit or rust of electrical components in the connecting arm 3, affect the normal operation of the connecting arm 3, prevent oil, chemicals, etc. from contaminating the surface of the connecting arm 3, maintain its cleanliness, and extend its service life.

[0049] As a preferred technical solution of the present invention, two elastic strips 31 are fixedly connected to one side of the storage groove 26 , and a positioning groove 32 corresponding to the position of the elastic strip 31 is opened on one side of the anti-slip plate 30 .

[0050] Specifically, the elastic strip 31 and the positioning groove 32 can be used to fix the anti-drop plate 30, thereby preventing the anti-drop plate 30 from opening and causing the protective film 27 to fall off during the use of the hand structure, thereby improving the stability of the anti-drop plate 30.

[0051] The present invention further provides a humanoid robot, comprising a robot body 1 , wherein the robot body 1 comprises the above-mentioned hand structure that is easy to install, and fixed arms 2 are installed on both sides of the robot body 1 .

[0052] Specifically, since the hand structure that is easy to install according to the embodiment of the present invention has the above-mentioned technical effects, the robot body 1 according to the embodiment of the present invention should also have the corresponding technical effects, that is, the robot body 1 of the present invention adopts the hand structure that is easy to install, so that the robot body 1 can adapt to different usage scenarios by quickly replacing the hand structure, thereby improving the robot's operating efficiency.

[0053] Of course, for those skilled in the art, other structures of the robot body 1 and its working principles can be understood and implemented, and will not be described in detail in the present invention.

[0054] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A hand structure that is easy to install, characterized in that: The invention comprises a fixed arm (2) and a connecting arm (3), wherein one end of the connecting arm (3) is fixedly connected to an insertion rod (4), a connecting groove (5) corresponding to the position of the insertion rod (4) is provided on the bottom surface of the fixed arm (2), a plurality of clamping plates (6) are fixedly connected to the outer wall of the insertion rod (4), a plurality of clamping grooves (7) corresponding to the position of the clamping plates (6) are provided on the inner wall of the connecting groove (5), a limiting component is connected inside the insertion rod (4), a conductive plug (8) is fixedly connected to the bottom surface of the fixed arm (2), and a conductive slot (9) is provided on one end of the connecting arm (3).

2. A hand structure that is easy to install according to claim 1, characterized in that: The limiting assembly comprises an electric push rod (11), a connecting rod (12), an extrusion block (13), a limiting block (16) and a tension spring (18); a mounting groove (10) corresponding to the position of the electric push rod (11) is provided in the insertion rod (4); the output end of the electric push rod (11) is fixedly connected to the connecting rod (12); the other end of the connecting rod (12) is fixedly connected to the extrusion block (13); a sliding groove (14) corresponding to the position of the extrusion block (13) is provided in the insertion rod (4); a plurality of movable grooves (15) are provided on the outer wall of the upper end of the insertion rod (4); A limit block (16) is slidably connected in the movable groove (15); a side of the limit block (16) close to the extrusion block (13) is provided with an inclined surface; the limit block (16) is fitted with an outer wall of the extrusion block (13); a limit groove (35) corresponding to the position of the limit block (16) is provided in the clamping groove (7); a fixed groove (17) is provided on one side of the limit block (16); a tension spring (18) is fixedly connected in the fixed groove (17); the other end of the tension spring (18) is fixedly connected to the inner wall of the movable groove (15); and a stabilizing component is connected to the top of the extrusion block (13).

3. A hand structure that is easy to install according to claim 2, characterized in that: The stabilizing assembly comprises a limiting rod (19) and a limiting plate (20); the top surface of the extrusion block (13) is fixedly connected to the limiting rod (19); the top of the limiting rod (19) is fixedly connected to the limiting plate (20); and the top of the insertion rod (4) is provided with a telescopic groove (21) corresponding to the position of the limiting plate (20).

4. The hand structure that is easy to install according to claim 3, characterized in that: A sealing rubber ring (34) is fixedly connected to the bottom surface of the fixed arm (2), and a sealing groove (33) corresponding to the position of the sealing rubber ring (34) is provided on one side of the connecting arm (3).

5. The hand structure that is easy to install according to claim 4, characterized in that: The top surface of the inner wall of the connecting groove (5) is provided with a sliding groove (36), a push plate (38) is slidably connected in the sliding groove (36), the push plate (38) corresponds to the position of the limit plate (20), a fixed rod (39) is fixedly connected to the side of the push plate (38) away from the limit plate (20), a piston (40) is fixedly connected to the top of the fixed rod (39), a boosting groove (37) corresponding to the position of the piston (40) is provided in the fixed arm (2), a connecting pipe (42) is fixedly connected between the top of the boosting groove (37) and the sealing rubber ring (34), and a pressure spring (41) is fixedly connected between the push plate (38) and the inner wall of the sliding groove (36).

6. A hand structure that is easy to install according to claim 1, 2, 3, 4 or 5, characterized in that: The outer wall of the connecting arm (3) is fixedly connected to a fixing plate (22), a surface of the fixing plate (22) is provided with a slot (24), a button (23) is fixedly connected in the slot (24), the button (23) is electrically connected to the electric push rod (11), and a baffle (25) is rotatably connected in the slot (24).

7. The hand structure that is easy to install according to claim 6, characterized in that: A storage groove (26) is provided on the side of the outer wall of the connecting arm (3) away from the fixing plate (22), a protective film (27) is fixedly connected in the storage groove (26), an anti-slip plate (30) is rotatably connected to one side of the storage groove (26), a zipper tape (28) is fixedly connected to the middle of the protective film (27), and a zipper head (29) is slidably connected to one end of the zipper tape (28).

8. The hand structure that is easy to install according to claim 7, characterized in that: Two elastic strips (31) are fixedly connected to one side of the storage groove (26), and a positioning groove (32) corresponding to the position of the elastic strips (31) is provided on one side of the anti-slip plate (30).

9. A humanoid robot, comprising a robot body (1), characterized in that: The robot body (1) comprises a hand structure for easy installation as claimed in any one of claims 1 to 8, and fixed arms (2) are installed on both sides of the robot body (1).

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