Bio-robot with two clamping feet

Abstract

The invention provides a bionic robot with two clamping feet, and relates to the technical field of service robots. The bionic robot with the two feet capable of being clamped comprises a vehicle body, a box body is arranged on the upper wall of the vehicle body, and the left side and the right side of the box body are each rotationally connected with a set of mechanical arms through a set of arm bases. According to the invention, by arranging the box body, objects can be carried and contained; the guide wheels can be matched with the driving wheels to support the vehicle body when the robot is static and travels on the flat ground, the connecting rod adjusting device can adjust the motion posture according to the road condition, and therefore the robot can be integrally kept in the horizontal motion state in cooperation with the guide wheels and the driving wheels, and bouncing action can be achieved to improve the obstacle crossing capacity. The first balance structure can keep the stability of the vehicle body when the clamping structure carries out the clamping action, a rubber sleeve provided with a magnetic powder bag and an electromagnetic coil is arranged in the third finger joint, when an object with an uneven surface or an irregular shape is clamped, the third finger joint can be made to be matched with the shape of the clamped object, and the clamping safety is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of service robots, in particular to a two-footed bionic robot capable of gripping. Background Art

[0002] Service robots have high working efficiency, high precision, and strong ability to adapt to the working environment. They can not only reduce human resource investment and bring convenience to work and life, but also in some extreme environments such as high temperature, low temperature, dust, odor, toxic pollution, etc., they can even replace people to work under the impact of explosion waves, improve working conditions, and avoid personal injuries at work. Service robots have a wide range of applications and are mainly engaged in maintenance, repair, transportation, cleaning, security, rescue, monitoring and other tasks.

[0003] At present, most grasping service robots can operate in a good environment. For example, a Chinese patent with application number 202221920523.4 discloses a mobile grasping robot, including an AGV mobile cart, a cache table is arranged on the AGV mobile cart, a six-axis robotic arm is arranged on the cache table, the six-axis robotic arm is connected to a force-controlled gripper, a positioning camera is arranged on the six-axis mechanical axis, and two sets of foldable guardrail mechanisms are symmetrically arranged on the cache table.

[0004] There are at least the following problems in the above patents: First, the operating road conditions are limited. The AGV mobile car can only travel on specific flat ground, which is not enough to adapt to other complex and changeable ground conditions. When traveling on uneven ground, the car will reduce its speed or even roll over, and the structure is unstable, which poses a safety hazard; second, the obstacle-passing ability is weak, and it cannot directly pass through obstacles such as steps and grooves, and needs to take a detour; third, when the gripper part of the grasping robot grips an object with an uneven surface or an irregular shape, the contact area between the gripper and the surface of the object is small, and it is easy to cause loose grip or slippage;

[0005] In summary, it is necessary to develop a bipedal bionic robot that can grasp objects in order to solve the above problems. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a bipedal bionic robot that can grip objects, which solves the problems in the prior art of service robots being unable to adapt to complex and changeable terrains, being unable to pass through steps and grooves with their knuckles, and having a small contact area between the claws and objects.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a bipedal bionic robot that can grip, including a body, a box body is arranged on the upper wall of the body, a group of mechanical arms are rotatably connected to the left and right sides of the box body through a group of arm bases, a clamping claw structure is arranged at one end of the mechanical arm away from the arm base, the clamping claw structure includes a connecting seat and three groups of fingers, a group of connecting rod adjustment devices are arranged on the left and right sides of the body, the connecting rod adjustment devices include two groups of first connecting rods and two groups of second connecting rods, and a driving wheel for contacting the ground is arranged at one end of the connecting rod adjustment device away from the body.

[0008] Preferably, the connecting seat is rotatably connected to the end of the mechanical arm away from the arm base through a motor, and the three groups of fingers are rotatably connected to the end of the connecting seat away from the mechanical arm, the fingers are composed of a first finger joint, a second finger joint and a third finger joint, the first finger joint is rotatably connected to the connecting seat through a motor, the second finger joint is rotatably connected to the end of the first finger joint away from the connecting seat, and the third finger joint is rotatably connected to the end of the second finger joint away from the first finger joint, two groups of the first connecting rods are respectively rotatably connected to the side wall of the vehicle body through a group of motors, two groups of the second connecting rods are respectively rotatably connected to the end of a group of first connecting rods away from the vehicle body through a group of bearings, and the ends of the two groups of the second connecting rods away from the first connecting rods are rotatably connected to a flange shaft together, and the driving wheel is rotatably connected to the axial end of the flange shaft, the second connecting rod is located between the first connecting rod and the flange shaft and is provided with a first balancing structure for balancing the vehicle body when the clamping structure clamps an object, and the front and rear sides of the vehicle body are provided with second balancing structures for keeping the vehicle body balanced when the driving wheel drives the vehicle body to move on flat ground.

[0009] Preferably, the third finger joint consists of a knuckle skeleton plate and two groups of rubber sleeves, the knuckle skeleton plate is rotatably connected to the second finger joint, the two groups of rubber sleeves are respectively fixedly connected to both sides of the knuckle skeleton plate, an electromagnetic coil is arranged inside the rubber sleeve and on the side close to the knuckle skeleton plate, a thin film pressure sensor is arranged inside the rubber sleeve and on the side away from the knuckle skeleton plate, and a magnetic powder bag is arranged inside the rubber sleeve.

[0010] Preferably, a reset spring for supporting the rubber sleeve is arranged between the side of the thin film pressure sensor facing the knuckle skeleton plate and the side of the inside of the rubber sleeve close to the knuckle skeleton plate.

[0011] Preferably, the first balancing structure includes a groove, a support arm, an electric telescopic rod and a support wheel, the groove is arranged on the side of the second connecting rod facing the ground, the support arm is rotatably connected to the inner wall of the groove through a rotating shaft, the rotating shaft is arranged in the groove at one end close to the driving wheel, the support wheel is rotatably connected to the end of the support arm away from the rotating shaft, and the electric telescopic rod is rotatably connected between the upper wall of the support arm and the inner upper wall of the groove.

[0012] Preferably, the second balancing structure includes two groups of guide wheels, the front wall and the rear wall of the vehicle body are fixedly connected with guide wheel frames, and the two groups of guide wheels are rotatably connected to the lower wall of one group of guide wheel frames respectively.

[0013] Preferably, the driving wheel includes a hub motor, a hub frame and a rubber bag, the hub motor protruding shaft is fixedly connected to the flange rotating shaft end, the hub motor is rotatably connected to the second connecting rod on one side facing the second connecting rod through a flange bearing, the hub frame is fixedly connected to the outer wall of the hub motor, and the rubber bag is coated on the outer wall of the hub frame.

[0014] Preferably, a plurality of groups of partitions are arranged inside the box body, and the interior of the box body is divided into a plurality of storage cavities by the plurality of groups of partitions.

[0015] Preferably, the front wall and the rear wall of the vehicle body are both provided with a first camera.

[0016] Preferably, a second camera is provided on the outer wall of one end of the two groups of robotic arms away from the arm base.

[0017] The present invention provides a bionic robot capable of gripping with two feet. It has the following beneficial effects:

[0018] 1. Compared with the prior art, the bipedal bionic robot can carry and hold objects by providing a box; by providing guide wheels, it can cooperate with the driving wheels to support the vehicle body when stationary and when traveling on flat ground to achieve vehicle body balance; by providing a connecting rod adjustment device, it can adjust the movement posture according to the road conditions, so as to cooperate with the guide wheels and the driving wheels to keep the robot in a horizontal motion state as a whole, and can achieve bouncing action, which can improve the robot's obstacle-crossing ability.

[0019] 2. Compared with the prior art, the bipedal bionic robot that can clamp is provided with a first balancing structure on the connecting rod adjusting device. After the vehicle body is raised in height through the connecting rod adjusting device, the supporting arm can be extended through the electric telescopic rod, and the supporting wheel can be made to contact the ground, so as to maintain the stability of the vehicle body when the clamping structure is clamping at this height.

[0020] 3. Compared with the prior art, the bipedal bionic robot that can grip is provided with a rubber sleeve containing a magnetic powder bag and an electromagnetic coil in the third finger joint. When gripping objects with uneven surfaces or irregular shapes, the rubber sleeve can fully contact with the clamped object through the flexibility of the rubber sleeve and the loose state of the magnetic powder in the magnetic powder bag. The contact area is sensed by a thin film pressure sensor toward the side of the clamped object. When the appropriate contact area is reached, the electromagnetic coil is energized to generate magnetism to solidify the magnetic powder, so that the third finger joint perfectly adapts to the shape of the clamped object, greatly improving the safety of gripping. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0022] Figure 2 For the present invention Figure 1 A partial enlarged view of the middle A;

[0023] Figure 3 For the present invention Figure 1 A partial enlarged view of point B in the middle;

[0024] Figure 4 It is a side view of the vehicle body, box body, mechanical arm, connecting rod adjustment device and driving wheel connection structure of the present invention;

[0025] Figure 5 It is a side sectional view of the driving wheel structure of the present invention;

[0026] Figure 6 It is a partial schematic diagram of the connection structure of the driving wheel, the second connecting rod and the supporting arm of the present invention;

[0027] Figure 7 It is a partial cross-sectional view of the connection structure of the second connecting rod, the support arm, the support wheel and the electric telescopic rod of the present invention;

[0028] Figure 8 It is a partial cross-sectional view of the top view of the internal structure of the third finger joint of the present invention.

[0029] Among them, 1. body; 2. box body; 201. partition; 3. guide wheel; 301. guide wheel frame; 4. connecting rod adjustment device; 401. first connecting rod; 402. second connecting rod; 403. support wheel; 404. groove; 405. support arm; 406. electric telescopic rod; 5. mechanical arm; 501. arm base; 6. connecting seat; 601. first finger joint; 602. second finger joint; 603. third finger joint; 6031. finger joint skeleton plate; 6032. rubber sleeve; 6033. electromagnetic coil; 6034. magnetic powder bag; 6035. reset spring; 6036. thin film pressure sensor; 7. driving wheel; 701. flange shaft; 702. flange bearing; 703. hub motor; 704. hub skeleton; 705. rubber bag; 8. first camera; 9. second camera. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Example:

[0032] like Figures 1 to 8 As shown, an embodiment of the present invention provides a bipedal gripping bionic robot, comprising a body 1, a box body 2 is provided on the upper wall of the body 1, a plurality of groups of partitions 201 are provided inside the box body 2, the inside of the box body 2 is divided into a plurality of storage cavities by the plurality of groups of partitions 201, a group in the middle of the plurality of storage cavities is a storage area, and the rest are component installation areas, a main control board with a gyroscope commonly found on the market is provided in the component installation area, and objects can be carried and stored by providing the storage area;

[0033] In order to adapt to the object grabbing action in various usage scenarios, a group of mechanical arms 5 are rotatably connected to the left and right sides of the box body 2 through a group of arm bases 501, and the front wall and the rear wall of the body 1 are both provided with a first camera 8. The outer wall of the two groups of mechanical arms 5 away from the arm base 501 is provided with a second camera 9. The mechanical arms 5 are common mechanical arms with multiple degrees of freedom on the market. The mechanical arms 5 can adapt to various usage scenarios and meet the requirements of grabbing objects in the whole space.

[0034] In order to smoothly clamp objects with different shapes and surfaces, a gripper structure is provided at one end of the robot arm 5 away from the arm base 501, and the gripper structure includes a connecting seat 6 and three groups of fingers. The connecting seat 6 is rotatably connected to the end of the robot arm 5 away from the arm base 501 through a motor, and the three groups of fingers are rotatably connected to the end of the connecting seat 6 away from the robot arm 5. The fingers are composed of a first finger joint 601, a second finger joint 602 and a third finger joint 603. The first finger joint 601 is rotatably connected to the connecting seat 6 through a motor, and the second finger joint 603 is rotatably connected to the connecting seat 6 through a motor. The finger joint 602 is rotatably connected to the end of the first finger joint 601 away from the connecting seat 6, the third finger joint 603 is rotatably connected to the end of the second finger joint 602 away from the first finger joint 601, the third finger joint 603 is composed of a finger joint skeleton plate 6031 and two sets of rubber sleeves 6032, the finger joint skeleton plate 6031 is rotatably connected to the second finger joint 602, the two sets of rubber sleeves 6032 are respectively fixedly connected to both sides of the finger joint skeleton plate 6031, and an electromagnetic wire is arranged on one side of the rubber sleeve 6032 near the finger joint skeleton plate 6031 A film pressure sensor 6036 is arranged on the side of the rubber sleeve 6032 away from the finger joint skeleton plate 6031, a magnetic powder bag 6034 is arranged inside the rubber sleeve 6032, a return spring 6035 for supporting the rubber sleeve 6032 is arranged between the side of the film pressure sensor 6036 facing the finger joint skeleton plate 6031 and the side of the rubber sleeve 6032 close to the finger joint skeleton plate 6031, and a rubber sleeve 6032 equipped with a magnetic powder bag 6034 and an electromagnetic coil 6033 is arranged in the third finger joint 603, which can When clamping an object with an uneven surface or irregular shape, the flexibility of the rubber sleeve 6032 and the loose state of the magnetic powder in the magnetic powder bag 6034 allow the rubber sleeve 6032 to fully contact the surface of the clamped object and fill the concave part of the surface of the object. The contact area is sensed by the thin film pressure sensor 6036 toward the side of the clamped object. When the appropriate contact area is reached, the electromagnetic coil 6033 is energized to generate magnetism to solidify the magnetic powder, so that the third finger joint 603 perfectly adapts to the shape of the clamped object, greatly improving the clamping safety.

[0035] In order to adjust the height of the vehicle body 1 and achieve the ability to cross obstacles, a group of connecting rod adjustment devices 4 are respectively arranged on the left and right sides of the vehicle body 1, and the connecting rod adjustment devices 4 include two groups of first connecting rods 401 and two groups of second connecting rods 402. The end of the connecting rod adjustment device 4 away from the vehicle body 1 is provided with a driving wheel 7 for contacting the ground; the two groups of first connecting rods 401 are respectively rotatably connected to the side wall of the vehicle body 1 through a group of motors, and the two groups of second connecting rods 402 are respectively rotatably connected to the end of a group of first connecting rods 401 away from the vehicle body 1 through a group of bearings. The two groups of motors connected to the first connecting rods 401 rotate in opposite directions to drive the two groups of first connecting rods 401 to move closer or farther away from each other. Since the end of the second connecting rod 402 away from the first connecting rod 401 is restricted together by the flange shaft 701, when the two groups of first connecting rods 401 move closer or farther away from each other, the height of the vehicle body 1 is increased or decreased. When the motor rotates forward and reverse rapidly, a jumping force that drives the vehicle body 1 to jump can be formed to achieve the ability of the vehicle body 1 to cross obstacles;

[0036] In order to drive the vehicle body 1 to move, the ends of the two sets of second connecting rods 402 away from the first connecting rod 401 are rotatably connected with the flange shaft 701, and the driving wheel 7 is rotatably connected to the axial end of the flange shaft 701. The driving wheel 7 includes a hub motor 703, a hub frame 704 and a rubber bag 705. The hub motor 703 extends out of the shaft and is fixedly connected to the end of the flange shaft 701. The side of the hub motor 703 facing the second connecting rod 402 is rotatably connected to the second connecting rod 402 through a flange bearing 702. The hub frame 704 is fixedly connected to the outer wall of the hub motor 703, and the rubber bag 705 is coated on the outer wall of the hub frame 704. When the two sets of hub motors 703 are started, they can drive the vehicle body 1 to move forward, backward and turn, and the rubber bag 705 can enhance the gripping ability;

[0037] In order to maintain stability when clamping an object after the vehicle body 1 is raised, the second connecting rod 402 is located between the first connecting rod 401 and the flange rotating shaft 701, and a first balancing structure for balancing the vehicle body 1 when the clamping structure clamps an object is arranged on the side facing the ground. The first balancing structure includes a groove 404, a support arm 405, an electric telescopic rod 406 and a support wheel 403. The groove 404 is arranged on the side of the second connecting rod 402 facing the ground, and the support arm 405 is rotatably connected to the inner side wall of the groove 404 through a rotating shaft. The rotating shaft is arranged in the groove 404 close to the driving At one end of the wheel 7, the support wheel 403 is rotatably connected to the end of the support arm 405 away from the rotating shaft, and the electric telescopic rod 406 is rotatably connected between the upper wall of the support arm 405 and the inner upper wall of the groove 404. After the vehicle body 1 is raised by the connecting rod adjustment device 4, the guide wheel 3 cannot touch the ground. At this time, when the mechanical arm 5 drives the clamping action, it is difficult for the vehicle body 1 to maintain balance. At this time, by starting the electric telescopic rod 406 to drive the support arm 405 to extend, and make the support wheel 403 contact the ground, so as to maintain the stability of the vehicle body 1 when the clamping structure clamps at this height;

[0038] In order to achieve the stability of the vehicle body 1 when it is traveling on flat ground or stationary, a second balancing structure is provided on both the front and rear sides of the vehicle body 1 for driving the vehicle body 1 with the driving wheels 7 to keep the vehicle body balanced when it moves on flat ground. The second balancing structure includes two sets of guide wheels 3. The front and rear walls of the vehicle body 1 are fixedly connected to guide wheel frames 301. The two sets of guide wheels 3 are rotatably connected to the lower wall of a set of guide wheel frames 301 respectively. When the vehicle body 1 is traveling on flat ground or stationary, the two sets of guide wheels 3 and the two sets of driving wheels 7 fall to the ground at the same time, so that the vehicle body 1 can be in a balanced state.

[0039] Working principle: the interior of the box body 2 is divided into multiple storage cavities by multiple groups of partitions 201, the middle group of the multiple storage cavities is a storage area, and the rest are component installation areas. The component installation area is provided with a main control board with a gyroscope commonly found on the market. By setting up the storage area, objects can be carried and placed. The robotic arm 5 is a common robotic arm with multiple degrees of freedom on the market, which can adapt to various usage scenarios and meet the needs of grasping objects in the entire space. A rubber sleeve 6032 containing a magnetic powder bag 6034 and an electromagnetic coil 6033 is provided in the third finger joint 603. When clamping objects with uneven surfaces or irregular shapes, the rubber sleeve 6032 can be fully in contact with the surface of the clamped object through the flexibility of the rubber sleeve 6032 and the loose state of the magnetic powder in the magnetic powder bag 6034, filling the surface of the object. The contact area is sensed by the thin film pressure sensor 6036 on the side of the clamped object. When the appropriate contact area is reached, the electromagnetic coil 6033 is energized to generate magnetism to solidify the magnetic powder, so that the third finger joint 603 perfectly adapts to the shape of the clamped object, greatly improving the clamping safety. When the two sets of wheel hub motors 703 are started, they can drive the vehicle body 1 to move forward, backward and turn. The rubber package 705 can enhance the gripping ability. By starting the electric telescopic rod 406, the support arm 405 is driven to extend, and the support wheel 403 is brought into contact with the ground, thereby maintaining the stability of the vehicle body 1 during the clamping action of the clamping structure at this height. When the vehicle body 1 is traveling on flat ground or stationary, the two sets of guide wheels 3 and the two sets of drive wheels 7 fall to the ground at the same time, so as to achieve a balanced state of the vehicle body 1.

[0040] 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 bionic robot capable of grasping with two feet, characterized in that: The invention comprises a vehicle body (1), wherein a box body (2) is arranged on the upper wall of the vehicle body (1), wherein a group of mechanical arms (5) are rotatably connected to the left and right sides of the box body (2) through a group of arm bases (501), wherein a clamping claw structure is arranged at one end of the mechanical arm (5) away from the arm base (501), wherein the clamping claw structure comprises a connecting seat (6) and three groups of fingers, wherein a group of connecting rod adjustment devices (4) are arranged on the left and right sides of the vehicle body (1), wherein the connecting rod adjustment devices (4) comprise two groups of first connecting rods (401) and two groups of second connecting rods (402), and wherein a driving wheel (7) for contacting the ground is arranged at one end of the connecting rod adjustment device (4) away from the vehicle body (1).

2. A two-footed bionic robot capable of gripping according to claim 1, characterized in that: The connecting seat (6) is rotatably connected to one end of the mechanical arm (5) away from the arm base (501) through a motor, and the three groups of fingers are rotatably connected to one end of the connecting seat (6) away from the mechanical arm (5), and the fingers are composed of a first finger joint (601), a second finger joint (602) and a third finger joint (603), the first finger joint (601) is rotatably connected to the connecting seat (6) through a motor, the second finger joint (602) is rotatably connected to one end of the first finger joint (601) away from the connecting seat (6), and the third finger joint (603) is rotatably connected to one end of the second finger joint (602) away from the first finger joint (601), and the two groups of the first connecting rods (401) are respectively rotatably connected to one end of the second finger joint (602) away from the first finger joint (601). The second connecting rods (402) are connected to the side wall of the vehicle body (1), and the two groups of the second connecting rods (402) are respectively rotatably connected to one end of a group of the first connecting rods (401) away from the vehicle body (1) through a group of bearings. The two groups of the second connecting rods (402) are rotatably connected to a flange shaft (701) at one end away from the first connecting rod (401). The driving wheel (7) is rotatably connected to the axial end of the flange shaft (701). The second connecting rod (402) is located between the first connecting rod (401) and the flange shaft (701) and is provided with a first balancing structure for balancing the vehicle body (1) when the clamping structure clamps an object on the side facing the ground. The front and rear sides of the vehicle body (1) are both provided with a second balancing structure for keeping the vehicle body (1) balanced when the driving wheel (7) drives the vehicle body (1) to move on flat ground.

3. A two-footed bionic robot capable of gripping according to claim 2, characterized in that: The third finger joint (603) is composed of a finger joint skeleton plate (6031) and two groups of rubber sleeves (6032); the finger joint skeleton plate (6031) is rotatably connected to the second finger joint (602); the two groups of rubber sleeves (6032) are respectively fixedly connected to both sides of the finger joint skeleton plate (6031); an electromagnetic coil (6033) is arranged inside the rubber sleeve (6032) and on a side close to the finger joint skeleton plate (6031); a thin film pressure sensor (6036) is arranged inside the rubber sleeve (6032) and on a side away from the finger joint skeleton plate (6031); and a magnetic powder bag (6034) is arranged inside the rubber sleeve (6032).

4. A two-footed bionic robot capable of gripping according to claim 3, characterized in that: A return spring (6035) for supporting the rubber sleeve (6032) is arranged between the side of the thin film pressure sensor (6036) facing the knuckle skeleton plate (6031) and the side of the rubber sleeve (6032) inside close to the knuckle skeleton plate (6031).

5. The two-foot gripping bionic robot according to claim 4, characterized in that: The first balancing structure comprises a groove (404), a support arm (405), an electric telescopic rod (406) and a support wheel (403); the groove (404) is arranged on the side of the second connecting rod (402) facing the ground; the support arm (405) is rotatably connected to the inner wall of the groove (404) via a rotating shaft; the rotating shaft is arranged at one end of the groove (404) close to the driving wheel (7); the support wheel (403) is rotatably connected to one end of the support arm (405) away from the rotating shaft; and the electric telescopic rod (406) is rotatably connected between the upper wall of the support arm (405) and the inner upper wall of the groove (404).

6. The two-foot gripping bionic robot according to claim 5, characterized in that: The second balancing structure comprises two groups of guide wheels (3), the front wall and the rear wall of the vehicle body (1) are fixedly connected to a guide wheel frame (301), and the two groups of guide wheels (3) are respectively rotatably connected to the lower wall of one group of guide wheel frames (301).

7. The two-foot gripping bionic robot according to claim 6, characterized in that: The driving wheel (7) comprises a hub motor (703), a hub frame (704) and a rubber coating (705); the hub motor (703) extends out of a shaft and is fixedly connected to the end of a flange shaft (701); the hub motor (703) is rotatably connected to the second connecting rod (402) on one side thereof, via a flange bearing (702); the hub frame (704) is fixedly connected to the outer wall of the hub motor (703); and the rubber coating (705) is coated on the outer wall of the hub frame (704).

8. The two-footed bionic robot capable of gripping according to claim 7, characterized in that: A plurality of groups of partitions (201) are arranged inside the box body (2), and the interior of the box body (2) is divided into a plurality of storage cavities by the plurality of groups of partitions (201).

9. The two-footed bionic robot capable of gripping according to claim 8, characterized in that: The front wall and the rear wall of the vehicle body (1) are both provided with a first camera (8).

10. The two-footed bionic robot capable of gripping according to claim 9, characterized in that: The outer walls of the two sets of mechanical arms (5) at one end away from the arm base (501) are both provided with a second camera (9).

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