Hand structure and humanoid robot convenient to install

Abstract

The application relates to the technical field of humanoid robots, and discloses a hand structure convenient to install and a humanoid robot, which comprises a fixed arm and a connecting arm, one end of the connecting arm is fixedly connected with a plug rod, the bottom surface of the fixed arm is provided with a connecting groove corresponding to the position of the plug rod, a plurality of clamping plates are fixedly connected to the outer wall of the plug rod, a plurality of clamping grooves corresponding to the positions of the clamping plates are formed in the inner wall of the connecting groove, a limiting assembly is connected in the plug rod, a conductive plug is fixedly connected to the bottom surface of the fixed arm, and a conductive plug groove is formed in one end of the connecting arm. The hand structure convenient to install and the humanoid robot, through the cooperation of the limiting assembly and the plug rod, the connecting arm can be quickly replaced by the staff, so that the hand structure can be quickly disassembled and installed, the hand structure can be quickly switched, various different operation tasks can be adapted, the downtime of the robot can be significantly reduced, and the operation efficiency of the robot can be improved.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, specifically to a hand structure that is easy to install and a humanoid robot. Background Technology

[0002] Humanoid robots are robots with a humanoid appearance that can mimic human behavior and movements. They typically have structures such as a head, torso, hands, and legs, and possess a certain degree of perception, decision-making, and execution capabilities. The hand structure is an important component of humanoid robots, including the arm, palm, and fingers, which are similar to human hands and designed to mimic the complex functions of human hands.

[0003] For example, in the prior art, patent CN118682798A discloses a dexterous hand and a humanoid robot. The dexterous hand includes a palm shell, control components, and mechanical fingers. An accommodating cavity is formed inside the palm shell, and the drive components are mainly housed within this cavity, thus confining most of the cables within it. The cables connected to each drive component are connected to the control components and interface with the signal terminals of the wrist joint structure via plug-in terminals. This reduces exposed cables, thereby reducing direct contact and friction between the cables and mechanical moving parts (such as finger joints). This not only extends the cable lifespan but also reduces the risk of signal interruption or malfunction due to cable wear. Hiding the cables within the accommodating cavity prevents them from being haphazardly distributed externally, resulting in a cleaner and more aesthetically pleasing appearance for the dexterous hand.

[0004] However, existing humanoid robot hand structures have certain drawbacks in use: the requirements for the robot's hand structure vary depending on the object being handled. For example, when handling small or fragile items such as eggs or coins, a hand structure with high precision and a high degree of freedom is needed to avoid damaging the items during handling. In contrast, when handling heavy objects, a hand structure with strong load-bearing capacity is required, without the need for high degrees of freedom. Because existing humanoid robot hand structures are connected to the robot via bolts or other means, they cannot be quickly replaced. This leads to frequent shutdowns of the robot to change hand structures to adapt to different task requirements when facing diverse tasks, severely impacting the robot's work efficiency. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an easy-to-install hand structure and a humanoid robot, facilitating quick replacement of the hand structure to adapt to different usage scenarios.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a hand structure and humanoid robot that are easy to install, including a fixed arm and a connecting arm. A plug rod is fixedly connected to one end of the connecting arm. A connecting groove corresponding to the position of the plug rod is opened on the bottom surface of the fixed arm. Multiple snap-fit ​​plates are fixedly connected to the outer wall of the plug rod. Multiple snap-fit ​​grooves corresponding to the positions of the snap-fit ​​plates are opened on the inner wall of the connecting groove. A limit component is connected inside the plug rod. A conductive plug is fixedly connected to the bottom surface of the fixed arm. A conductive slot is opened at one end of the connecting arm.

[0007] Furthermore, the limiting component includes an electric push rod, a connecting rod, an extrusion block, a limiting block, and a tension spring. The insert rod has an installation groove corresponding to the position of the electric push 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. The insert rod has a sliding groove corresponding to the position of the extrusion block. Multiple moving grooves are formed on the upper outer wall of the insert rod. Limiting blocks are slidably connected within the moving grooves. The side of the limiting block near the extrusion block is sloped, and the limiting block fits against the outer wall of the extrusion block. A limiting groove corresponding to the position of the limiting block is formed in the snap-fit ​​groove. A fixing groove is formed on one side of the limiting block, and a tension spring is fixedly connected within the fixing groove. The other end of the tension spring is fixedly connected to the inner wall of the moving groove. A stabilizing component is connected to the top of the extrusion block.

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

[0009] Furthermore, a sealing ring is fixedly connected to the bottom surface of the fixed arm, and a sealing groove corresponding to the position of the sealing 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 is positioned corresponding to the limiting plate. A fixing rod is fixedly connected to the side of the push plate away from the limiting plate. A piston is fixedly connected to the top of the fixing rod. A pressure-boosting groove corresponding to the position of the piston is provided in the fixing arm. A connecting pipe is fixedly connected between the top of the pressure-boosting groove and the sealing ring. 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, and a slot is opened on the surface of the fixing plate. A button is fixedly connected in the slot, and the button is electrically connected to the electric push rod. A baffle is rotatably connected in the slot.

[0012] Furthermore, a storage groove is provided on the outer wall of the connecting arm away from the fixed plate. A protective film is fixedly connected in the storage groove. An anti-detachment plate is rotatably connected to one side of the storage groove. A zipper tape is fixedly connected to the middle of the protective film. 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 groove corresponding to the position of the elastic strips is opened on one side of the anti-detachment plate.

[0014] The present invention also provides a humanoid robot, including a robot body, the robot body including the aforementioned hand structure for easy installation, and fixed arms installed on both sides of the robot body.

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

[0016] (1) This easy-to-install hand structure and humanoid robot, through the cooperation of the limiting components and the plug rod, enables the operator to quickly replace the connecting arm, thereby realizing the quick disassembly and installation of the hand structure, the quick switching of the hand structure, adapting to various different work tasks, thus significantly reducing the robot's downtime and improving the robot's work efficiency.

[0017] (2) By utilizing the cooperation between the snap plate and the snap groove, the torque on the limit block and the conductive plug can be distributed, the pressure on the limit block and the conductive plug 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 and the connecting arm can be ensured, and the connection can be prevented from becoming loose or failing due to uneven force.

[0018] (3) By using the limiting plate and the extrusion block, bidirectional extrusion of the top of the insertion rod is achieved, thereby further improving the stability of the insertion rod and the connecting arm, avoiding swaying in the axial direction of the insertion rod, and maintaining the stability of the connection even when subjected to external impact or vibration.

[0019] (4) The staff can control the opening and closing of the electric push rod through the button. The fixing plate can shield the button to prevent the humanoid robot from accidentally touching the button during operation. The fixing plate and the slot are fixed by the squeezing force and friction.

[0020] (5) The protective film can provide dustproof and waterproof functions for the connecting arm when it is placed, prevent the electrical components inside the connecting arm from short-circuiting or rusting, which would affect the normal operation of the connecting arm, prevent oil stains, chemicals and other contaminants from polluting the surface of the connecting arm, keep it clean and extend its service life. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the entire invention;

[0022] Figure 2 This is a three-dimensional disassembled structural diagram of the fixed arm and connecting arm of the present invention;

[0023] Figure 3 This is a three-dimensional cross-sectional structural diagram of the fixing arm, sealing ring, and conductive plug of the present invention;

[0024] Figure 4 This is a three-dimensional structural diagram of another embodiment of the present invention;

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

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

[0027] Figure 7 This is a three-dimensional sectional view of the insertion rod, limiting component, and stabilizing component of the present invention.

[0028] Figure 8 This is a three-dimensional disassembled structural diagram of the limiting block and spring of the present invention;

[0029] Figure 9 This is a three-dimensional cross-sectional structural diagram of the connecting arm, insert rod, button, and baffle of the present invention;

[0030] Figure 10 This is a three-dimensional cross-sectional structural diagram of the connecting arm, protective film, anti-detachment plate, and elastic strip of the present invention;

[0031] Figure 11 This is a three-dimensional cross-sectional structural diagram of the fixing arm and conductive plug of the present invention;

[0032] Figure 12 This is a three-dimensional structural diagram of the connecting pipe and sealing ring of the present invention;

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

[0034] In the diagram: 1. Robot body; 2. Fixed arm; 3. Connecting arm; 4. Insert rod; 5. Connecting slot; 6. Snap-fit ​​plate; 7. Snap-fit ​​slot; 8. Conductive plug; 9. Conductive slot; 10. Mounting slot; 11. Electric push rod; 12. Connecting rod; 13. Pressing block; 14. Slide groove; 15. Moving groove; 16. Limiting block; 17. Fixed groove; 18. Tension spring; 19. Limiting rod; 20. Limiting plate; 21. Telescopic groove 22. Fixing plate; 23. Button; 24. Slot; 25. Baffle; 26. Storage slot; 27. Protective film; 28. Zipper belt; 29. ​​Zipper head; 30. Anti-slip plate; 31. Elastic strip; 32. Positioning slot; 33. Sealing slot; 34. Sealing ring; 35. Limiting slot; 36. Sliding slot; 37. Pressurizing slot; 38. Push plate; 39. Fixing rod; 40. Piston; 41. Pressure spring; 42. Connecting pipe. Detailed Implementation

[0035] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0036] Please see 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. The bottom surface of the fixed arm 2 is provided with a connecting groove 5 corresponding to the position of the plug rod 4. Multiple snap-fit ​​plates 6 are fixedly connected to the outer wall of the plug rod 4. Multiple snap-fit ​​grooves 7 corresponding to the positions of the snap-fit ​​plates 6 are provided on the inner wall of the connecting groove 5. A limit component is connected inside the plug rod 4. A conductive plug 8 is fixedly connected to the bottom surface of the fixed arm 2. A conductive slot 9 is provided at one end of the connecting arm 3.

[0037] As a preferred embodiment of the present invention, the limiting component includes an electric push rod 11, a connecting rod 12, a pressing block 13, a limiting block 16, and a tension spring 18. An installation groove 10 corresponding to the position of the electric push rod 11 is provided inside the insert 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 pressing block 13. A sliding groove 14 corresponding to the position of the pressing block 13 is provided inside the insert rod 4. Multiple moving grooves 15 are provided on the upper outer wall of the insert rod 4. A limiting block 16 is slidably connected within the moving grooves 15. The side of the limiting block 16 closest to the pressing block 13 is sloped, and the limiting block 16 fits against the outer wall of the pressing block 13. A limiting groove 35 corresponding to the position of the limiting block 16 is provided inside the snap-fit ​​groove 7. A fixing groove 17 is provided on one side of the limiting block 16, and a tension spring 18 is fixedly connected within the fixing groove 17. The other end of the tension spring 18 is fixedly connected to the inner wall of the moving groove 15. A stabilizing component is connected to the top of the pressing block 13.

[0038] The easy-to-install hand structure of this invention allows for adjustments to the hand structure type for humanoid robots facing diverse tasks. By activating the electric push rod 11, the connecting rod 12 pulls the compression block 13 to retract, separating it from the limiting block 16. Under the action of the tension spring 18, the limiting block 16 separates from the limiting groove 35, losing its fixation on the insertion rod 4. The operator can then pull out the connecting arm 3 and the insertion rod 4, separating them from the fixed arm 2. Next, the insertion rod 4 on another type of connecting arm 3 is aligned with the connecting groove 5 and inserted, ensuring a stable connection between the conductive plug 8 and the conductive slot 9. The humanoid robot supplies power to 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 activated, pushing the compression block 13 to move via the connecting rod 12. At this time, the surface of the compression block 13 will compress the limiting position. The inclined surface of block 16 pushes the limiting block 16 into the limiting groove 35. The limiting block 16 and the limiting groove 35 provide fixation between the connecting arm 3 and the fixed arm 2. The electrical connection between the conductive plug 8 and the conductive slot 9 provides power to the connecting arm 3. Through the cooperation of the limiting component and the plug rod 4, the operator can quickly replace the connecting arm 3, thereby realizing the rapid disassembly and installation of the hand structure and the rapid switching of the hand structure to adapt to various different tasks, thus significantly reducing the robot's downtime and improving the robot's working efficiency. The cooperation of the snap plate 6 and the snap groove 7 can distribute the torque on the limiting block 16 and the conductive plug 8, reduce the pressure on the limiting block 16 and the conductive plug 8, reduce the risk of wear and deformation, extend the service life of the components, ensure the connection stability between the fixed arm 2 and the connecting arm 3, and prevent the connection from loosening or failing due to uneven force.

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

[0040] Specifically, when the electric push rod 11 pushes the extrusion block 13 to move, the limiting plate 20 will also move in the telescopic groove 21 under the drive of the limiting rod 19. After the limiting block 16 and the limiting groove 35 are engaged, the limiting plate 20 will also abut against the inner wall of the connecting groove 5. By using the limiting plate 20 and the extrusion block 13, bidirectional extrusion of the top of the insertion rod 4 is achieved, thereby further improving the stability of the insertion rod 4 and the connecting arm 3, avoiding swaying in the axial direction 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 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 ring 34 is opened on one side of the connecting arm 3.

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

[0043] In a preferred embodiment 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 within the sliding groove 36, and the push plate 38 corresponds to the position of the limiting plate 20. A fixing rod 39 is fixedly connected to the side of the push plate 38 away from the limiting plate 20. A piston 40 is fixedly connected to the top of the fixing rod 39. A pressure-boosting groove 37 corresponding to the position of the piston 40 is provided inside the fixing arm 2. A connecting pipe 42 is fixedly connected between the top of the pressure-boosting groove 37 and the sealing ring 34. 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 pressure-boosting groove 37 is sufficient to fill and expand the sealing ring 34, so as to make the sealing ring 34 more tightly filled between the fixing arm 2 and the connecting arm 3.

[0044] Specifically, the pressure groove 37 is filled with high-pressure gas. When the electric push rod 11 pushes the limiting plate 20 to move, the limiting plate 20 will squeeze the push plate 38, which in turn drives the piston 40 to move within the pressure groove 37. At this time, the high-pressure gas in the pressure groove 37, under the compression of the piston 40, will enter the sealing ring 34 through the connecting pipe 42, supporting the sealing ring 34 and making the sealing ring 34 more tightly filled between the fixed arm 2 and the connecting arm 3. This further improves the sealing performance at the connection between the connecting arm 3 and the fixed arm 2, which can not only effectively prevent liquid and contaminant intrusion, but also enhance the stability of the connection, reduce the risk of loosening caused by vibration or external impact, and ensure that the hand structure can still operate stably and reliably in complex and harsh working environments, significantly improving the robot's working efficiency and service life. The pressure spring 41 is used for the reset of 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 opened 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. A baffle 25 is rotatably connected in the slot 24.

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

[0047] As a preferred technical solution of the present invention, 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-detachment 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. A zipper head 29 is slidably connected to one end of the zipper tape 28.

[0048] Specifically, after detaching the connecting arm 3, flatten or fold the connecting arm 3, then open the anti-detachment plate 30, pull the zipper strap 28 to pull out the protective film 27, then flip the protective film 27 so that it covers the connecting arm 3, and then use the zipper head 29 to pull up the zipper strap 28, forming the shape shown in the attached figure. Figure 4 The shape presented in the middle achieves the sealing of the protective film 27; the protective film 27 can provide dustproof and waterproof functions for the connecting arm 3 when it is placed, avoid short circuit or rust of electrical components inside the connecting arm 3, which would affect the normal operation of the connecting arm 3, prevent oil stains, chemicals and other contaminants from polluting the surface of the connecting arm 3, keep it clean 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 slot 26, and a positioning slot 32 corresponding to the position of the elastic strips 31 is opened on one side of the anti-detachment plate 30.

[0050] Specifically, the elastic strip 31 and the positioning groove 32 can be used to fix the anti-slip plate 30, so as to prevent the protective film 27 from falling off when the anti-slip plate 30 is opened during the use of the hand structure, thereby improving the stability of the anti-slip plate 30.

[0051] The present invention also provides a humanoid robot, including a robot body 1, the robot body 1 including the aforementioned hand structure for easy installation, and fixed arms 2 installed on both sides of the robot body 1.

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

[0053] Of course, other structures and working principles of the robot body 1 are understandable and achievable by those skilled in the art, and will not be described in detail in this invention.

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

Claims

1. A hand structure for easy installation, characterized in that The arm 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). The bottom surface of the fixed arm (2) is provided with a connecting groove (5) corresponding to the position of the plug rod (4). Multiple snap-fit ​​plates (6) are fixedly connected to the outer wall of the plug rod (4). Multiple snap-fit ​​grooves (7) corresponding to the positions of the snap-fit ​​plates (6) are provided on the inner wall of the connecting groove (5). A limit assembly is connected inside the plug rod (4). A conductive plug (8) is fixedly connected to the bottom surface of the fixed arm (2). A conductive slot (9) is provided at one end of the connecting arm (3). The limit assembly includes an electric push rod (11), a connecting rod (12), a pressing block (13), a limit block (16), and a tension spring (18). 4) An installation groove (10) corresponding to the position of the electric push rod (11) is provided inside. A connecting rod (12) is fixedly connected to the output end of the electric push rod (11). An extrusion block (13) is fixedly connected to the other end of the connecting rod (12). A sliding groove (14) corresponding to the position of the extrusion block (13) is provided inside the insertion rod (4). Multiple moving 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 moving groove (15). The side of the limit block (16) close to the extrusion block (13) is set with an inclined surface. The limit block (16) fits against 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 snap-fit ​​groove (7). A fixing groove (17) is provided on one side of the limiting block (16), and a tension spring (18) is fixedly connected in the fixing groove (17). The other end of the tension spring (18) is fixedly connected to the inner wall of the moving groove (15). A stabilizing component is connected to the top of the extrusion block (13). The stabilizing component includes a limiting rod (19) and a limiting plate (20). The limiting rod (19) is fixedly connected to the top surface of the extrusion block (13), and the limiting plate (20) is fixedly connected to the top of the limiting rod (19). A telescopic groove (21) corresponding to the position of the limiting plate (20) is provided at the top of the insertion rod (4). A sealing ring (34) is fixedly connected to the bottom surface of the fixing arm (2), and a sealing ring (34) is provided on one side of the connecting arm (3). 34) The sealing groove (33) corresponding to the position; 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 limiting plate (20), a fixed rod (39) is fixedly connected on the side of the push plate (38) away from the limiting plate (20), a piston (40) is fixedly connected at the top of the fixed rod (39), a pressure 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 pressure groove (37) and the sealing ring (34), and a pressure spring (41) is fixedly connected between the push plate (38) and the inner wall of the sliding groove (36).

2. A hand structure for easy installation according to claim 1, characterized in that The connecting arm (3) is fixedly connected to a fixing plate (22) on its outer wall. 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). A baffle (25) is rotatably connected in the slot (24).

3. A hand structure for easy installation according to claim 2, characterized in that The outer wall of the connecting arm (3) is provided with a storage groove (26) on the side away from the fixed plate (22). A protective film (27) is fixedly connected inside the storage groove (26). An anti-detachment plate (30) is rotatably connected to one side of the storage groove (26). A zipper belt (28) is fixedly connected to the middle of the protective film (27). A zipper head (29) is slidably connected to one end of the zipper belt (28).

4. A hand structure for easy installation according to claim 3, characterized in that Two elastic strips (31) are fixedly connected to one side of the storage slot (26), and a positioning slot (32) corresponding to the position of the elastic strips (31) is provided on one side of the anti-detachment plate (30).

5. A humanoid robot comprising a robot body (1), characterized in that The robot body (1) includes a hand structure that is easy to install as described in any one of claims 1-4, and fixed arms (2) are installed on both sides of the robot body (1).

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